CN208100360U - Blind person's avoidance robot - Google Patents
Blind person's avoidance robot Download PDFInfo
- Publication number
- CN208100360U CN208100360U CN201820638202.2U CN201820638202U CN208100360U CN 208100360 U CN208100360 U CN 208100360U CN 201820638202 U CN201820638202 U CN 201820638202U CN 208100360 U CN208100360 U CN 208100360U
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- Prior art keywords
- actuator
- drive rod
- blind person
- rod
- avoidance
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Abstract
The utility model provides a kind of blind person's avoidance robot, including body, guiding cane, the first actuator, support component, steering assembly, the second actuator and controller.The internal body is equipped with installation cavity, and the body is equipped with upper installing hole and lower mounting hole.The guiding cane includes the first drive rod and grasps bar, and the lower end of first drive rod passes through in the upper installing hole to the installation cavity.First actuator is installed in the installation cavity.The support component includes the first mounting rack and back-up roller wheel.The steering assembly includes the second drive rod, the second mounting rack and turns to idler wheel, and the upper end of second drive rod passes through in the lower mounting hole to the installation cavity.Second actuator is installed in the installation cavity and is drivingly connected with second drive rod.The controller and first actuator and the second actuator are electrically connected.The utility model can enable blind person not received reminding turning intrusively by outside noise.
Description
Technical field
The utility model relates to blind-guidance robot technical fields, in particular to a kind of blind person's avoidance robot.
Background technique
Blind person is outgoing to will use blind person's avoidance robot, the barrier encountered when helping blind person to detect walking often.It is existing
There is blind person's avoidance robot in technology to generally include body, the idler wheel for being installed on organism bottom, be installed on the body and use
To detect the obstacle detector of barrier（Such as infrared distance measuring device, supersonic range finder）, be installed on the machine
The voice prompt device of body and the controller being electrically connected with the obstacle detector and the voice prompt device,
The controller is mentioned to control the voice prompt device sending voice according to the testing result of the obstacle detector
Show.However, the attention of blind person can be done by extraneous sound when using the blind person avoidance robot in a noisy environment
It disturbs, and is easy because there is no to notice voice prompting due to security risk.
Summary of the invention
The main purpose of the utility model is to propose a kind of blind person's avoidance robot, it is intended to enable blind person not by outside noise
Intrusively receive reminding turning.
In order to realize the above technical purpose, the utility model proposes a kind of blind person's avoidance robots, including：
Body is vertically in the form of a column setting to extension, and inside is equipped with installation cavity, and the upper end wall of the body has provided peace
Hole is filled, the lower end wall of the body has provided lower mounting hole；
Be oriented to cane, including vertically to extended first drive rod and along front and back to be extended and be located at described in
Grasping bar outside installation cavity, the front end for grasping bar is connect with first drive rod upper end, under first drive rod
End is in the upper installing hole to the lower installation cavity；
First actuator is installed in the installation cavity and is drivingly connected with first drive rod, described to drive
The rotation of first drive rod；
Support component, including the first mounting rack for being fixed on the body lower end surface and rotational installation in described first
The back-up roller wheel of mounting rack；
Steering assembly is set in front of the support component and is located on the downside of the body, including vertically to extended
The second drive rod, be fixed on second drive rod lower end the second mounting rack and rotational installation in it is described second installation
The upper end of the steering idler wheel of frame, second drive rod passes through in the mounting hole to the installation cavity；
Second actuator is installed in the installation cavity and is drivingly connected with second drive rod, described to drive
The rotation of second drive rod；And
Controller is electrically connected with first actuator and the second actuator, is driven to control first actuator
It moves the first drive rod rotation and drives the second drive rod rotation to control second actuator.
Preferably, first actuator and/or second actuator are motor.
Preferably, there are two the back-up roller wheel is set, described two back-up roller wheels are along left and right in interval and positioned at described
Turn to the left and right sides of idler wheel.
Preferably, the steering assembly further includes the driven gear for being fixed on second drive rod upper end；
Second actuator is the motor with the power output shaft for extending downwardly setting, the power output of the motor
The driving gear engaged with the driven gear is fixed on axis.
Preferably, the guiding cane further includes being connected between the front end and first drive rod upper end for grasping bar
Connecting rod, the connecting rod is obliquely installed forward from up to down.
Preferably, the connecting rod is arranged in telescopic rod.
Preferably, the connecting rod includes：
Outer rod piece is arranged in the tubular of lower ending opening, and the upper end of the outer rod piece is connected to the front end for grasping bar, institute
The side wall for stating outer rod piece has provided first positioning hole；
Interior rod piece, the upper end of the interior rod piece can slide up and down in the outer rod piece, the lower end of the interior rod piece
It is connected to first drive rod upper end, the side wall of the interior rod piece is recessed with multiple second location holes, and the multiple second is fixed
Position hole is in be intervally arranged along the length direction of the interior rod piece；And
Locating piece across the first positioning hole and is selectively matched with one of the multiple second location hole
It closes.
Preferably, the second location hole is arranged in threaded hole, and the locating piece is to cooperate with the second location hole
Spiro connecting piece.
In the technical solution of the utility model, first actuator is controlled by controller and drives first drive rod
Rotation enables blind person not received intrusively by outside noise in this way so that reminding blind changes direction of travel with avoiding obstacles
Reminding turning.And controlling second actuator by controller drives second drive rod to rotate, and can change blind person's machine
The preceding line direction of device people under the action of inertia moves ahead so as to play guidance blind person.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the part-structure sectional view of an embodiment of blind person's avoidance provided by the utility model robot；
Fig. 2 is the bottom view of blind person's avoidance shown in FIG. 1 robot；
Fig. 3 is the part-structure sectional view of another embodiment of blind person's avoidance provided by the utility model robot；
Fig. 4 is the bottom view of blind person's avoidance shown in Fig. 3 robot.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 1 | Body | 4 | Support component |
| 11 | Installation cavity | 41 | First mounting rack |
| 12 | Upper installing hole | 42 | Back-up roller wheel |
| 13 | Lower mounting hole | 5 | Steering assembly |
| 2 | It is oriented to cane | 51 | Second drive rod |
| 21 | First drive rod | 52 | Second mounting rack |
| 22 | Grasp bar | 53 | Turn to idler wheel |
| 23 | Connecting rod | 54 | Driven gear |
| 231 | Outer rod piece | 6 | Second actuator |
| 232 | Interior rod piece | 7 | Driving gear |
| 233 | Locating piece | 8 | Ground |
| 3 | First actuator |
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that if relating to directionality instruction in the utility model embodiment（Such as upper and lower, left and right, it is preceding,
Afterwards ...）, then directionality instruction is only used for explanation in a certain particular pose（As shown in the picture）Under it is opposite between each component
Positional relationship, motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the
Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning
The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one
A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not within the protection scope of the requires of the utility model.
The utility model provides a kind of blind person's avoidance robot, Fig. 1 and Fig. 2 be the utility model proposes blind person's avoidance machine
The embodiment of device people, blind person's avoidance robot include body 1, guiding cane 2, the first actuator 3, support component 4, turn to
Component 5, the second actuator 6 and controller.Wherein, the body 1 is vertically in the form of a column setting to extension, and inside is equipped with installation cavity
11, the upper end wall of the body 1 has provided upper installing hole 12, and the lower end wall of the body 1 has provided lower mounting hole 13.It is described to lead
It include vertically to extended first drive rod 21 and along front and back to being extended and positioned at the installation cavity 11 to cane 2
Outer grasping bar 22, the front end for grasping bar 22 are connect with 21 upper end of the first drive rod, first drive rod 21
Lower end passes through in the upper installing hole 12 to the installation cavity 11.First actuator 3 be installed in the installation cavity 11 and
It is drivingly connected with first drive rod 21, to drive first drive rod 21 to rotate.The support component 4 includes fixing
In the first mounting rack 41 of 1 lower end surface of body and rotational installation in the back-up roller wheel 42 of first mounting rack 41.Institute
It states steering assembly 5 to be set to 4 front of the support component and be located at 1 downside of body, including vertically to extended the
Two drive rods 51, the second mounting rack 52 for being fixed on 51 lower end of the second drive rod and rotational installation are in second peace
52 steering idler wheel 53 is shelved, the upper end of second drive rod 51 passes through in the lower mounting hole 13 to the installation cavity 11.
Second actuator 6 is installed in the installation cavity 11 and is drivingly connected with second drive rod 51, described to drive
The rotation of second drive rod 51.The controller and first actuator 3 and the second actuator 6 are electrically connected, to control
The first actuator 3 is stated to drive first drive rod 21 to rotate and drive described second to drive to control second actuator 6
Lever 51 rotates.
In use, blind person robot is placed on ground 8, back-up roller wheel 42 and steering idler wheel 53 is made to be in contact with ground 8,
Blind person holds the grasping bar 22 of the guiding cane 2, and blind person's avoidance robot is pushed to advance when walking.When guiding cane 2 is sent out
When raw rotation, blind person can change direction of travel according to the rotation direction of guiding cane 2 enables blind person not with avoiding obstacles in this way
Reminding turning is intrusively received by outside noise.Also, controlling second actuator 6 by controller drives described second to drive
Lever 51 rotates, and steering idler wheel 53 can be made to turn to, so as to change the forward side of blind person robot under the action of inertia
To, and then can play the role of guiding blind person.
In the present embodiment, first actuator 3 is controlled by controller, first drive rod 21 is driven to rotate, thus
Reminding blind changes direction of travel enables blind person not received reminding turning intrusively by outside noise in this way with avoiding obstacles.
And controlling second actuator 6 by controller drives second drive rod 51 to rotate, and can change blind person robot and exist
Preceding line direction under the action of inertia moves ahead so as to play guidance blind person.
Specifically, in the present embodiment, blind person's avoidance robot further includes the detection of obstacles for being installed on the body 1
Device（Such as infrared distance measuring device, supersonic range finder）, to obstruction detection, the controller and the barrier
Detection device is electrically connected, to drive described first to drive as a result, controlling first actuator 3 according to obstruction detection
Bar 21 rotates, and controls second actuator 6 and second drive rod 51 is driven to rotate.
There is blind person's avoidance robot in the prior art can act automatically according to the result of obstruction detection（Such as
It is automatic to issue voice prompting）Technical solution, on this basis, the inventive point of the utility model be to blind person robot carry out
Improvement in structure, by rotate guiding cane 2 can under the driving of the first actuator 21 relative to body 1, so that blind person can
To be alerted by the rotation for being oriented to cane 2, by making steering assembly 5 can be under the driving of the second actuator 51 relative to body
1 rotation, enables the preceding line direction of blind person robot to be under the action of inertia changed, so that blind person be guided to change advance side
To.
The utility model to the specific structure of first actuator 3 and second actuator 6 with no restriction, described
One actuator 3 and second actuator 6 can be electromagnetic actuator device etc..Specifically, in the present embodiment, first driving
Part 3 and second actuator 6 are motor, it is clear that or first actuator 3 and second actuator 6
One of them is motor.In the technical solution of the utility model, the scheme using controller control actuator is the prior art, and
It is common in household electrical appliance, in case where actuator is motor, common transit mixer, is generally included in daily life
Controller, motor and agitating shaft, when meeting the preset condition for starting stirring, the controller of transit mixer will be controlled automatically
The agitating shaft of the motor driven transit mixer of blender rotates.
It is described in embodiment as shown in Figure 3 and Figure 4 to improve the stability that supports to blind person's avoidance robot
There are two back-up roller wheel 42 is set, described two back-up roller wheels 42 are along left and right in interval and positioned at the left and right for turning to idler wheel 53
Two sides.
To prevent from turning to the extruding force from ground 8 of the receiving of idler wheel 53, through the second mounting rack 52 and the second drive rod 51
It is transferred to the second actuator 6, and influences the work of the second actuator 6.In embodiment as shown in Figure 3 and Figure 4, the steering group
Part 5 further includes the driven gear 54 for being fixed on 51 upper end of the second drive rod, and second actuator 6 is with extending downwardly
The motor of the power output shaft of setting is fixed with the active engaged with the driven gear 54 on the power output shaft of the motor
Gear 7.
For blind person when pushing blind person's avoidance robot to move ahead, the motive force for being applied to blind person's avoidance machine is usual
From up to down towards top rake, topple forward under the action of the motive force to prevent blind person's avoidance machine, such as Fig. 3 and figure
In embodiment shown in 4, the guiding cane 2 further includes being connected on the front end for grasping bar 22 and first drive rod 21
Connecting rod 23 between end, the connecting rod 23 are obliquely installed forward from up to down.It can make blind person by the way that connecting rod 23 is arranged
The position for applying motive force moves back, to reduce the arm of force for the torque for making blind person's avoidance machine topple, thus anti-
Only blind person's avoidance machine topples.
To enable the development length for being oriented to cane 2 to be adjusted according to the practical height of blind person, reality as shown in Figure 3 and Figure 4
It applies in example, the connecting rod 23 is arranged in telescopic rod.
The utility model to it is described in telescopic rod setting connecting rod 23 specific structure with no restriction, such as Fig. 3 and Fig. 4 institute
In the embodiment shown, the connecting rod 23 includes outer rod piece 231, interior rod piece 232 and locating piece 233.Wherein, the outer rod piece
231 are arranged in the tubular of lower ending opening, and the upper end of the outer rod piece 231 is connected to the front end for grasping bar 22, the outer bar
The side wall of part 231 has provided first positioning hole.The upper end of the interior rod piece 232 can slide up and down to set on the outer rod piece 231
Interior, the lower end of the interior rod piece 232 is connected to first drive rod upper end, and the side wall of the interior rod piece 232 is recessed with multiple
Second location hole, the multiple second location hole are in be intervally arranged along the length direction of the interior rod piece 232.The locating piece
233 pass through the first positioning hole and selectively with the cooperation of one of the multiple second location hole.The present embodiment mentions
23 structure of connecting rod of confession is simple, facilitate manufacture and it is low in cost.Specifically, the second location hole can be set in threaded hole
It sets, the locating piece 233 can be the spiro connecting piece cooperated with the second location hole.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
It is all under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes
It changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (8)
1. a kind of blind person's avoidance robot, which is characterized in that including：
Body is vertically in the form of a column setting to extension, and inside is equipped with installation cavity, and the upper end wall of the body has provided installation
Hole, the lower end wall of the body have provided lower mounting hole；
It is oriented to cane, including vertically to extended first drive rod and along front and back to being extended and positioned at the installation
Grasping bar outside chamber, the front end for grasping bar are connect with first drive rod upper end, and the lower end of first drive rod is worn
It crosses in the upper installing hole to the installation cavity；
First actuator is installed in the installation cavity and is drivingly connected with first drive rod, to drive described first
Drive rod rotation；
Support component, including the first mounting rack for being fixed on the body lower end surface and rotational installation in first installation
The back-up roller wheel of frame；
Steering assembly is set in front of the support component and is located on the downside of the body, including vertically to extended the
Two drive rods, the second mounting rack for being fixed on second drive rod lower end and rotational installation are in second mounting rack
Idler wheel is turned to, the upper end of second drive rod passes through in the lower mounting hole to the installation cavity；
Second actuator is installed in the installation cavity and is drivingly connected with second drive rod, to drive described second
Drive rod rotation；And
Controller is electrically connected with first actuator and the second actuator, to control the first actuator driving institute
It states the rotation of the first drive rod and drives the second drive rod rotation to control second actuator.
2. blind person's avoidance as described in claim 1 robot, which is characterized in that first actuator and/or described second
Actuator is motor.
3. blind person's avoidance as described in claim 1 robot, which is characterized in that there are two the back-up roller wheel is set, described two
A back-up roller wheel is along left and right in interval and positioned at the left and right sides for turning to idler wheel.
4. blind person's avoidance as described in claim 1 robot, which is characterized in that the steering assembly further include be fixed on it is described
The driven gear of second drive rod；
Second actuator is the motor with the power output shaft for extending downwardly setting, on the power output shaft of the motor
It is fixed with the driving gear engaged with the driven gear.
5. blind person's avoidance as described in claim 1 robot, which is characterized in that the guiding cane further includes being connected to described grab
Connecting rod between the front end of holding rod and first drive rod upper end, the connecting rod are obliquely installed forward from up to down.
6. blind person's avoidance as claimed in claim 5 robot, which is characterized in that the connecting rod is arranged in telescopic rod.
7. blind person's avoidance as claimed in claim 6 robot, which is characterized in that the connecting rod includes：
Outer rod piece is arranged in the tubular of lower ending opening, and the upper end of the outer rod piece is connected to the front end for grasping bar, described outer
The side wall of rod piece has provided first positioning hole；
Interior rod piece, the upper end of the interior rod piece can slide up and down in the outer rod piece, the lower end connection of the interior rod piece
In first drive rod upper end, the side wall of the interior rod piece is recessed with multiple second location holes, the multiple second location hole
Length direction along the interior rod piece is in be intervally arranged；And
Locating piece, pass through the first positioning hole and selectively with the cooperation of one of the multiple second location hole.
8. blind person's avoidance as claimed in claim 7 robot, which is characterized in that the second location hole is arranged in threaded hole,
The locating piece is the spiro connecting piece cooperated with the second location hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820638202.2U CN208100360U (en) | 2018-05-02 | 2018-05-02 | Blind person's avoidance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820638202.2U CN208100360U (en) | 2018-05-02 | 2018-05-02 | Blind person's avoidance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208100360U true CN208100360U (en) | 2018-11-16 |
Family
ID=64113908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820638202.2U Expired - Fee Related CN208100360U (en) | 2018-05-02 | 2018-05-02 | Blind person's avoidance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208100360U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
| CN113456437A (en) * | 2021-07-05 | 2021-10-01 | 中北大学 | Intelligent cruise blind-guiding vehicle |
-
2018
- 2018-05-02 CN CN201820638202.2U patent/CN208100360U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
| CN113456437A (en) * | 2021-07-05 | 2021-10-01 | 中北大学 | Intelligent cruise blind-guiding vehicle |
| CN113456437B (en) * | 2021-07-05 | 2022-09-27 | 中北大学 | Intelligent cruise blind-guiding vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181116 Termination date: 20190502 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |