CN212490691U

CN212490691U - Blind guiding robot

Info

Publication number: CN212490691U
Application number: CN202020214939.9U
Authority: CN
Inventors: 张建民; 谢济键; 颜经赞; 胡良沛; 郑英明; 龙佳乐
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2020-02-26
Filing date: 2020-02-26
Publication date: 2021-02-09
Anticipated expiration: 2030-02-26
Also published as: WO2021168969A1

Abstract

The utility model discloses a blind guiding robot, which comprises a base, a movable lock component, a plurality of wheels and a driving component connected with the wheels, wherein the movable lock component is arranged on the base; the connecting rod is hinged on the base, the tail end of the connecting rod is movably connected with the movable lock assembly, and the connecting rod has a locking state and an unlocking state; the handle is arranged at the starting end of the connecting rod, and the bottom of the handle is provided with a clamping ring; the rotating assembly is arranged between the handle and the connecting rod and comprises a rotating disc and a steering engine, and the rotating disc is embedded in the clamping ring; and the detector is arranged on the base and is electrically connected with the steering engine and the driving assembly. The utility model discloses a detector real-time detection road conditions, control drive assembly adjustment wheel direction and speed, control steering wheel drive carousel and handle rotate for user's perception adjustment direction, control is accurate, and the blind is led to intelligence, and applicable scene scope is wide, uses the flexibility high, when need not the use, through activity lock subassembly locking connecting rod, avoids the connecting rod to empty, during the use, stimulates handle unblock connecting rod, the simple operation, and the security is high.

Description

Blind guiding robot

Technical Field

The utility model relates to a lead blind equipment technical field, in particular to lead blind robot.

Background

In various countries around the world, the blind person is a disadvantaged group with a huge number, the blind person has a lot of inconvenience in moving, in daily life, the blind person often depends on a blind guiding stick, a blind road and a blind guiding dog to guide the blind person, when the blind person is used, the blind person can swing and knock once through the blind guiding stick for a plurality of times and tap the ground to judge whether a barrier exists in the front, the blind person needs to swing and knock once every step, the use is troublesome, the blind person can only slowly move forwards with great care, and the use experience is poor; the blind sidewalks are paved in a pre-fixed mode, the paving and maintenance cost is high, the use flexibility is low, most blind sidewalks are only arranged on outdoor roads and are often damaged or occupied; when the blind is guided by the blind guiding dog, the dog needs to be cultivated firstly, the time consumption is long, the cost is high, and the entrance of pets such as the dog is forbidden in many public places. Therefore, the existing blind guiding equipment cannot guide the blind flexibly and conveniently, and the use safety is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve one of the technical problem that exists among the prior art at least, provide a lead blind robot, can intelligently lead the blind conveniently, use flexibility, security height.

According to the utility model discloses blind robot leads, include: the base is provided with a movable lock assembly, the bottom of the base is provided with a plurality of wheels, and a driving assembly connected with the wheels; the connecting rod is hinged on the base, the tail end of the connecting rod is movably connected with the movable lock assembly, and the connecting rod has a locking state and an unlocking state; the handle is arranged at the starting end of the connecting rod, and a clamping ring is arranged at the bottom of the handle; the rotating assembly is arranged between the handle and the connecting rod and comprises a turntable and a steering engine for driving the turntable, and the turntable is embedded in the clamping ring; and the detector is arranged on the base and is electrically connected with the steering engine and the driving assembly.

According to the utility model discloses blind robot leads has following technological effect at least: the road condition is detected in real time by arranging the detector electrically connected with the driving assembly, the direction and the speed of the wheels are adjusted, the control is accurate, the steering engine is electrically connected with the detector, the adjusting parameters are transmitted to the steering engine, the steering engine drives the turntable to rotate, so that the handle rotates, thereby leading the user gripping the handle to sense and adjust the direction, leading the blind intelligently, having high use flexibility, being suitable for leading the blind in various indoor and outdoor scenes, the connecting rod has locking and unlocking states through the movable lock component, when the device is not used, the tail end of the connecting rod is connected with the movable lock component, the connecting rod is locked, the connecting rod is prevented from falling, the safety is high, when the device is used, the connecting rod overcomes the locking force of the movable lock component by pulling the handle, the device is separated from unlocking, the connecting rod can freely swing in the vertical direction, the operation is convenient, the connecting rod can adapt to users with different heights, the structure is simple, and the production cost is saved.

According to some embodiments of the utility model, the activity lock subassembly includes the cassette, set up flutedly on the cassette, the recess both sides are provided with a plurality of steel balls and run through the setting and are in spring in the cassette, spring one end steel ball butt, other end butt have been met and have been had fixing bolt. The connecting rod passes through the recess and wears to establish in the cassette, exerts elasticity through the spring to the steel ball, and steel ball locking connecting rod, when pulling the connecting rod, the connecting rod exerts pressure to the steel ball to overcome the elasticity of spring, the spring compression, the unblock is deviate from smoothly to the connecting rod, simple structure, and the unblock is convenient, and locking is reliable, avoids the connecting rod to empty, improves the safety in utilization.

According to some embodiments of the utility model, the connecting rod end runs through and is provided with the locating pin axle, the locating pin axle with the contact of cassette bottom surface. When the connecting rod is locked, run through the setting in the recess, through locating pin axle and cassette bottom surface contact, the connecting rod is locked in the last location of vertical direction, further avoids the connecting rod pine to take off, improves the safety in utilization.

According to some embodiments of the utility model, be provided with the connecting seat on the steering wheel, the connecting seat is provided with the connecting hole, the connecting rod top is provided with the adapter of taking the mounting hole, the mounting hole with it is provided with the pivot to run through in the connecting hole. Through the connecting hole of pivot through the connecting seat and the mounting hole of adapter, the connecting seat is articulated with the connecting rod for the handle can rotate by relative connecting rod, and handle control range is wide, and the blind person's gripping of being convenient for, regulation handle improve and use the flexibility.

According to the utility model discloses a some embodiments, the handle is including the semi-annular bracelet that the symmetry set up, the bracelet bottom is provided with the constitution the semi-annular rotating ring of snap ring. Make up into the handle through the semi-annular bracelet, the semi-annular rotating ring makes up into the snap ring, and during the assembly, bracelet and rotating ring establish simultaneously on the carousel from both sides, fixed connection between two bracelets, between two rotating rings, simple structure, the installation is reliable, and the dismouting is convenient, the accessory maintenance of being convenient for, change.

According to some embodiments of the utility model, the carousel top is provided with the limiting plate. The handle passes through the snap ring cover to be established on the carousel, with carousel fastening connection, sets up at the carousel top through the limiting plate, and the limiting snap ring removes on axial direction, avoids the snap ring to deviate from, guarantees that the handle installation is reliable.

According to some embodiments of the utility model, be provided with the support on the base, the activity lock subassembly sets up the support side, the support top is provided with the dead lever, with dead lever articulated movable rod, the connecting rod with the movable rod is connected. Through dead lever and movable rod articulated, the connecting rod rotates to be connected on the support, and the setting of activity lock subassembly is in the support side, and when need not the use, the connecting rod is vertical and terminal to be connected with the activity lock subassembly, and pulling handle during the use applys the rotation drive power to the connecting rod for the locking force of activity lock subassembly can be overcome to the connecting rod, and unblock duplex winding base rotates, and the simple operation can adjust the handle height in a flexible way, adapts to the user of different heights.

According to some embodiments of the utility model, the movable rod with be connected with a plurality of hinges between the dead lever. Through hinge connection movable rod and dead lever, the movable rod is articulated with the dead lever, and the movable rod rotates around the dead lever, simple structure, and it is smooth and easy reliable to rotate, and turned angle control range is wide, is favorable to the user of adaptation different heights.

According to some embodiments of the invention, the drive assembly comprises a drive motor, and an encoder electrically connected to the drive motor. The road condition is detected in real time according to the detector, information is fed back, the driving motor controls and adjusts the speed and the direction of the wheels, and the encoder detects the working state of the driving motor, feeds the working state back to the detector and corrects the adjusting parameters in time.

According to some embodiments of the utility model, the base bottom is provided with a plurality of mount pads, drive assembly runs through the setting and is in the mount pad. The driving assembly is positioned and installed through the installation seat, so that the installation is reliable, the positioning is convenient and accurate, and the accurate installation and the reliable work of the wheel are ensured.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a blind guiding robot according to an embodiment of the present invention;

FIG. 2 is an assembled schematic view of the rotating assembly shown in FIG. 1;

FIG. 3 is a schematic view of the assembly of the linkage and the moveable lock assembly shown in FIG. 1;

fig. 4 is a schematic view of a connection structure of the link and the bracket shown in fig. 1.

Reference numerals:

a handle 100, a hand ring 110,

A rotating component 200, a snap ring 210, a rotating ring 211, a rotating disc 220, a connecting seat 230, a connecting hole 231, a rotating shaft 240, a steering gear 250, a limiting plate 260,

A connecting rod 300, an adapter 310, a mounting hole 311, a positioning pin 320,

A bracket 400, a fixed rod 410, a movable rod 420, a hinge 430,

A movable lock component 500, a groove 510, a steel ball 520, a spring 530, a fixed bolt 540, a clamping seat 550,

A base 600, a detector 610, a mounting seat 620,

Wheel 700, driving motor 710, encoder 720.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, and a plurality of means are two or more.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

The blind guiding robot according to the embodiment of the present invention is described below with reference to fig. 1 to 4.

As shown in fig. 1 and 2, according to the utility model discloses a blind guiding robot, including base 600, be provided with movable lock subassembly 500 on the base 600, the base 600 bottom is provided with a plurality of wheels 700, be connected with drive assembly on the wheel 700, it has connecting rod 300 to articulate on the base 600, connecting rod 300 end and movable lock subassembly 500 swing joint, make it have locking state and unblock state, connecting rod 300 top is connected with handle 100, handle 100 bottom is provided with snap ring 210, be provided with runner assembly 200 between handle 100 and the connecting rod 300, runner assembly 200 includes carousel 220 and the steering wheel 250 of drive carousel 220, the carousel 220 is embedded in snap ring 210, be provided with detector 610 on the base 600, detector 610 and steering wheel 250, the drive assembly electricity is connected.

It can be understood that the detector 610 detects the road condition in real time, when an obstacle is encountered, the position information of the obstacle is transmitted to the driving assembly, the driving assembly is controlled to adjust the direction and the speed of the wheels 700 in time, meanwhile, the adjustment information is transmitted to the steering engine 250, the steering engine 250 drives the rotary disc 220 to rotate, the rotary disc 220 is tightly connected with the snap ring 210, the handle 100 rotates along with the rotation, a user grasps the handle 100 and senses the rotation direction of the handle 100, so as to know the adjustment of the forward direction, the intelligent blind guiding is realized, the use flexibility is high, the blind guiding device is suitable for guiding blind persons in various indoor and outdoor scenes, when the device is not needed, the connecting rod 300 is vertically arranged, the tail end of the device is connected with the movable lock assembly 500, the connecting rod 300 is locked, the connecting rod 300 is prevented from falling down, the use safety is improved, when the device is used, the connecting rod, the operation is convenient, the device can adapt to users with different heights, the structure is simple, and the production cost is saved.

The driving assembly comprises a driving motor 710 and an encoder 720 electrically connected with the driving motor 710, it can be understood that, in use, the detector 610 detects road conditions in real time, when an obstacle is detected, position information of the obstacle is transmitted to the driving motor 710, the driving motor 710 adjusts the speed and the direction of the wheel 700, the encoder 720 detects the working state of the driving motor 710 and feeds back the working state to the detector 610, adjusting parameters are corrected in time, closed-loop feedback adjustment is performed, adjustment control is accurate, and blind guiding accuracy and use safety are further improved.

Further, the bottom of the base 600 is provided with a plurality of mounting seats 620, and the driving assembly is penetratingly arranged in the mounting seats 620.

Specifically, four wheels 700 are provided, the base 600 is stably supported, and the wheels 700 are provided as mecanum wheels, all-round movement can be realized, the movement flexibility is high, the driving assemblies are provided with four groups, the driving assemblies are connected with the wheels 700 in a one-to-one correspondence manner, each wheel 700 is provided with one driving motor 710, each driving motor 710 is connected with one encoder 720, correspondingly, the bottom of the base 600 is provided with four mounting seats 620, one driving motor 710 penetrates through each mounting seat 620, the driving motors 710 are located and installed through the mounting seats 620, the installation is convenient, the wheels 700 are accurately and reliably installed, the four wheels are independently driven, and the control is accurate.

In some embodiments of the present invention, the connecting seat 230 is disposed on the steering engine 250, the connecting seat 230 is provided with a connecting hole 231, the starting end of the connecting rod 300 is provided with the adapter 310, the adapter 310 is provided with a mounting hole 311, the mounting hole 311 and the connecting hole 231 are provided with a rotating shaft 240 in a penetrating manner, and further, the turntable 220 is provided with a limiting plate 260.

It can be understood that, during assembly, the snap ring 210 is sleeved on the turntable 220 and is fastened with the turntable 220, the limiting plate 260 is installed at the top of the snap ring 210, and the movement of the snap ring 210 is limited in the axial direction, so that the snap ring 210 is prevented from being disengaged, and the reliable installation of the handle 100 is ensured.

Further, the handle 100 includes symmetrically disposed half-ring type hand rings 110, the bottom of the hand ring 110 is provided with half-ring type rotating rings 211 forming the snap ring 210, it can be understood that two half-ring type hand rings 110 are assembled into the handle 100, two half-ring type rotating rings 211 are assembled into the snap ring 210, and the rotating rings 211 and the hand rings 110 are integrally disposed, when assembling, the rotating rings 211 are sleeved on the rotating disc 220 from both sides and are tightly connected with the rotating disc 220, the limiting plate 260 is installed on the top of the snap ring 210 formed by the two rotating rings 211 and respectively tightly connects the two hand rings 110 and the two rotating rings 211, the steering engine 250 drives the rotating disc 220 to rotate, so that the handle 100 can rotate along with the rotating disc 220 and is axially limited by the limiting plate 260, thereby preventing the handle 100 from axially moving, thereby enabling a user to sense the change of the direction, timely adjust the advancing direction and avoid obstacles, the rotating shaft 240 simultaneously penetrates through the connecting hole, the connecting rod 300 is hinged to the connecting seat 230, so that the handle 100 and the rotating assembly 200 can integrally rotate relative to the connecting rod 300, the structure is simple, the assembly is convenient, the direction of the handle 100 is flexibly adjusted, the adjusting range is wide, the blind can conveniently grasp and adjust, and the use flexibility is improved.

As shown in fig. 3, in some embodiments of the present invention, the movable lock assembly includes a holder 550, a groove 510 is disposed on the holder 550, a plurality of steel balls 520 are disposed on two sides of the groove 510, and a spring 530 is disposed in the holder 550, one end of the spring 530 abuts against the steel balls 520, and the other end abuts against a fixing bolt 540. Further, a positioning pin 320 is disposed at the end of the connecting rod 300 in a penetrating manner, and the positioning pin 320 contacts with the bottom surface of the card seat 550.

Specifically, four steel balls 520 are arranged on two sides of the groove 510, two steel balls 520 are arranged on each side, the steel balls 520 on the two sides are symmetrically arranged, correspondingly, a spring 530 penetrating through the clamping seat 550 is abutted on each steel ball 520, a fixing bolt 540 is abutted on the other end of the spring 530, and the fixing bolt 540 is installed on the outer side of the clamping seat 550. It can be understood that, when not needed to use, the connecting rod 300 is in a locking state, the tail end of the connecting rod 300 is arranged in the clamping seat 550 in a penetrating mode through the groove 510, the steel ball 520 exerts pressure on the connecting rod 300 from two sides under the elastic force action of the spring 530, the connecting rod 300 is locked, the handle 100 is pulled during use, the connecting rod 300 slightly tilts, the pressure is exerted on the steel ball 520, the elastic force of the spring 530 is overcome, the steel ball 520 moves, the spring 530 compresses, the connecting rod 300 is separated from the groove 510 to be unlocked, the connecting rod 300 can freely swing, the structure is simple, the unlocking is convenient and fast, the locking is reliable, the connecting rod 300 is prevented.

Further, a positioning pin 320 is disposed at the end of the connecting rod 300 in a penetrating manner, and the positioning pin 320 contacts with the bottom surface of the card seat 550. When the connecting rod 300 is locked in the groove 510, the positioning pin 320 is contacted with the bottom surface of the clamping seat 500, and the connecting rod 300 is locked in the vertical direction, so that the connecting rod 300 is further prevented from being loosened, and the use safety is improved.

As shown in fig. 4, in some embodiments of the present invention, the base 600 is provided with a bracket 400, the clamping seat 500 is disposed at the side of the bracket 400, the top of the bracket 400 is provided with a fixed rod 410 to form a movable rod 420 hinged to the fixed rod 410, and the connecting rod 300 is connected to the movable rod 420. Furthermore, a plurality of hinges are connected between the movable rod and the fixed rod.

Specifically, the bracket 400 is vertically arranged on the base 600, the fixed rod 410 is horizontally arranged at the top of the bracket 400, two hinges 430 are connected between the movable rod 420 and the fixed rod 410, the hinges 430 and the clamping seat 500 are respectively arranged at two symmetrical sides of the bracket 400, and the connecting rod 300 is fixedly connected with the movable rod 420. It can be understood that, after the connecting rod 300 is unlocked, under the hinging action of the hinge 430, the movable rod 420 rotates by taking the fixed rod 410 as a center, so that the connecting rod 300 can swing on a vertical plane, the structure is simple, the operation is convenient, the adjustment range of the rotation angle is wide, the height of the handle 100 can be flexibly adjusted, and the handle is beneficial to being suitable for users with different heights.

The blind guiding robot according to the embodiment of the present invention is described in detail with a specific embodiment with reference to fig. 1 to 4. It is to be understood that the following description is illustrative only and is not intended as a specific limitation on the invention.

The blind guiding robot according to the embodiment of the present invention comprises a base 600, a detector 610 is arranged in the middle of the base 600, four mounting seats 620 are arranged at the bottom of the base 600, a driving motor 710 is arranged on each mounting seat 620 in a penetrating manner, an encoder 720 is arranged at one end of the driving motor 710, the other end of the driving motor 710 is connected with a wheel 700, the wheel 700 adopts a mecanum wheel, the driving motor 710, the encoder 720 and the detector 610 are electrically connected, a support 400 is vertically arranged at one end of the base 600, a fixed rod 410 is horizontally arranged at the top of the support 400, a movable rod 420 is connected to the fixed rod 410 through a hinge 430, a clamping seat 550 is arranged at one side of the support 400, the clamping seat 550 and the hinge 430 are respectively arranged at two symmetrical sides of the support 400, two steel balls 520 are respectively arranged at two sides of the clamping seat 510, a spring 530 is, the other end is connected with a fixing bolt 540 in an abutting mode, and the fixing bolt 540 is installed on the outer side of the clamping seat 500.

The movable rod 420 is fixedly provided with a connecting rod 300, the tail end of the connecting rod 300 is arranged in the groove 510 in a penetrating way and is provided with a positioning pin 320 which is contacted with the bottom surface of the clamping seat 550 in a penetrating way, the starting end of the connecting rod 300 is connected with a handle 100, the handle 100 consists of two semi-annular hand rings 110, the bottom of each hand ring 110 is integrally provided with a semi-annular rotating ring 211, the two rotating rings 211 form a clamping ring 210, the clamping ring 210 is sleeved on a rotating disc 220 and is fixedly connected with the rotating disc 220, the top of the rotating disc 220 is provided with a limiting plate 260, the limiting plate 260 is arranged at the top of the clamping ring 210 and is used for limiting the axial movement of the clamping ring 210, the bottom of the rotating disc 220 is provided with a steering engine 250 which drives the rotating disc 220 to rotate, the steering engine 250 is arranged on the connecting seat 230, so that the handle 100 is hinged to the link 300.

According to the blind guiding robot of the embodiment of the utility model, through such setting, at least the following effects can be achieved, the road condition is detected in real time through the detector 610, the direction and the speed of the wheel 700 are adjusted through controlling the driving motor 710, the encoder 720 detects the working state of the driving motor 710 and feeds back to the detector 610 to correct adjustment parameters, the closed loop feedback control is realized, the control is precise, meanwhile, the detector 610 transmits the adjustment information to the steering engine 260, the steering engine 260 drives the turntable 220 to rotate, the snap ring 210 is driven to rotate the handle 100, so that a user gripping the handle 100 can perceive the adjustment direction, the intelligent blind guiding is realized, the use flexibility is high, the handle 100 and the rotating assembly 200 are integrally hinged with the connecting rod 300, the direction of the handle 100 is adjusted to be fantastic, the adjusting range is wide, the blind guiding robot can adapt to users with different heights, the, when the novel locking device is not needed to be used, the spring 530 is used for applying elastic force to the steel ball 520, the steel ball 520 compresses the tail end of the connecting rod 300 from two sides, the connecting rod 300 is locked, when the novel locking device is used, the connecting rod 300 tilts slightly by pulling the handle 100 to apply pressure to the steel ball 520, the elastic force of the spring 530 is overcome, the steel ball 520 moves, the spring 530 is compressed, the connecting rod 300 is separated from the unlocking, the operation is easy and convenient, the locking is reliable, the connecting rod 300 is prevented from toppling over.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A blind guiding robot, comprising:

the base is provided with a movable lock assembly, the bottom of the base is provided with a plurality of wheels, and a driving assembly connected with the wheels;

the connecting rod is hinged on the base, the tail end of the connecting rod is movably connected with the movable lock assembly, and the connecting rod has a locking state and an unlocking state;

the handle is arranged at the starting end of the connecting rod, and a clamping ring is arranged at the bottom of the handle;

the rotating assembly is arranged between the handle and the connecting rod and comprises a turntable and a steering engine for driving the turntable, and the turntable is embedded in the clamping ring; and

the detector is arranged on the base and is electrically connected with the steering engine and the driving assembly.

2. The blind guiding robot of claim 1, wherein: the movable lock assembly comprises a clamping seat, a groove is formed in the clamping seat, a plurality of steel balls and a spring penetrating through the clamping seat are arranged on two sides of the groove, one end of the spring is abutted to the steel balls, and the other end of the spring is abutted to a fixing bolt.

3. The blind guiding robot of claim 2, wherein: and a positioning pin shaft penetrates through the tail end of the connecting rod and is in contact with the bottom surface of the clamping seat.

4. The blind guiding robot of claim 1, wherein: the steering engine is provided with a connecting seat, the connecting seat is provided with a connecting hole, the starting end of the connecting rod is provided with an adapter with a mounting hole, and a rotating shaft penetrates through the mounting hole and the connecting hole.

5. The blind guiding robot of claim 1, wherein: the handle is including the semi-annular bracelet of symmetry setting, the bracelet bottom is provided with the constitution the semi-annular rotating ring of snap ring.

6. The blind guiding robot of claim 1, wherein: and a limiting plate is arranged at the top of the turntable.

7. The blind guiding robot of claim 1, wherein: the movable lock assembly is characterized in that a support is arranged on the base, the movable lock assembly is arranged on the side face of the support, a fixed rod is arranged at the top of the support and is connected with a movable rod hinged to the fixed rod, and the connecting rod is connected with the movable rod.

8. The blind guiding robot of claim 7, wherein: and a plurality of hinges are connected between the movable rod and the fixed rod.

9. The blind guiding robot of claim 1, wherein: the driving assembly comprises a driving motor and an encoder electrically connected with the driving motor.

10. The blind guiding robot of claim 1, wherein: the base bottom is provided with a plurality of mount pads, drive assembly runs through the setting in the mount pad.