Artificial intelligence automatic obstacle avoidance walking chassis

Abstract

The application is suitable for the technical field of walking chassis, and provides an artificial intelligence automatic obstacle avoidance walking chassis, which comprises a chassis seat and a bearing plate; four groups of connecting plates are uniformly fixed between the support cylinders and the inner wall of the chassis seat; a guide piece is rotatably arranged on the surface of the support cylinder; a first sliding piece is slidingly arranged in each of the opposite two sliding grooves; a second sliding piece is slidingly arranged in each of the other opposite two sliding grooves; a lifting piece is slidingly arranged in each of the limiting grooves; a driving wheel piece is rotatably arranged in each of the adjacent two lifting pieces; and a driven wheel piece is rotatably arranged in each of the other adjacent two lifting pieces. The linkage cooperation between the components realizes the conversion of walking and transverse movement of the walking chassis, improves the flexibility of the device, and simultaneously, the starting of the servo motor drives the rotation of the driving gear, the cooperation of the gear ring drives the rotation of each group of third gears, thereby driving the two groups of driving wheel pieces and the two driven wheel pieces to synchronously adjust the angle.

Description

Technical Field

[0001] This invention relates to the field of chassis technology, and more specifically, to an artificial intelligence-based automatic obstacle avoidance chassis. Background Technology

[0002] Existing mobile chassis can help people save a lot of effort when moving large equipment and tools. However, the existing mobile chassis have a low level of intelligence. When there are obstacles in the path of the mobile chassis, the existing mobile chassis cannot automatically avoid them. Usually, the obstacles need to be moved manually or the direction of the mobile chassis needs to be changed. This method is relatively wasteful of manpower. When the equipment being moved blocks people's view, the mobile chassis may even directly collide with the obstacle, thereby causing damage to the equipment.

[0003] A search revealed an artificial intelligence-based automatic obstacle avoidance and walking chassis with publication number CN113500911B. The chassis includes a base plate with a support plate at its upper end, and the base plate is fixedly connected to the support plate. Multiple rotating cylinders are evenly rotatably connected to the surface of the base plate, and rollers are rotatably connected to the bottom ends of the rotating cylinders. A steering mechanism for controlling the rotation of the rotating cylinders is provided at the bottom end of the base plate. A motor is fixedly connected to the center of the base plate surface, and sensors are located on the surface of the base plate in front of, behind, to the left and right of the motor. This device can move in any direction via the steering mechanism. The motor drives a first bevel gear to rotate, and the first bevel gear, through a first drive mechanism and a second drive mechanism, can move the device and cause the sensors to swing and sense, thus increasing the sensing range.

[0004] However, current intelligent robot chassis, including the aforementioned automatic obstacle avoidance chassis, typically consist of dual-drive control rollers and two passive rollers. This design results in an excessively large turning radius, reducing the chassis's flexibility and limiting its applicability to various scenarios. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide an artificial intelligence automatic obstacle avoidance chassis that achieves the conversion between walking and lateral movement of the chassis through the linkage and cooperation between various components, thereby improving the flexibility of the device. At the same time, by starting the servo motor to drive the drive gear to rotate, and cooperating with the gear ring to drive each set of third gears to rotate, the two sets of drive wheels and two driven wheels are simultaneously adjusted in angle.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An artificial intelligence-based automatic obstacle avoidance chassis includes a chassis base and a load-bearing plate fixedly mounted on the chassis base by fastening bolts; a support cylinder is coaxially fixed to the inner bottom surface of the chassis base; four sets of connecting plates are fixedly arranged in a circumferential array between the support cylinder and the inner wall of the chassis base; each connecting plate has an ear plate fixed to its surface; a sliding groove is formed on the surface of the connecting plate between the ear plate and the chassis base; a guide groove is formed on the side of the ear plate; limiting grooves communicating with the corresponding sliding grooves are evenly formed on the circumferential side of the chassis base; a guide member is rotatably provided on the surface of the support cylinder; relative to two Each of the sliding grooves has a first sliding member slidably disposed therein; in addition, each of the two opposite sliding grooves has a second sliding member slidably disposed therein; each of the limiting grooves has a lifting member slidably disposed therein; each of the two adjacent lifting members has a drive wheel rotatably disposed therein; in addition, each of the two adjacent lifting members has a driven wheel rotatably disposed therein; an annular plate is fixed to the bottom surface of the chassis base; a gear ring is rotatably disposed on the annular plate; each of the drive wheel and driven wheel meshes with the gear ring; a servo motor is mounted on the chassis base; and a drive gear that meshes with the gear ring is fixed to the output end of the servo motor.

[0008] The present invention is further configured such that: the guide member includes a rotating ring; a first annular groove is formed on the circumferential side of the rotating ring; a second annular groove is formed on the surface of the support cylinder to rotatably engage with the rotating ring; an annular rail is fixed on the inner circumferential side of the second annular groove to rotatably engage with the first annular groove; a mounting ring is fixed on the surface of the rotating ring; and two sets of curved guide plates are symmetrically arranged on the circumferential side of the mounting ring.

[0009] The invention is further configured such that: two sets of clearance grooves are symmetrically formed on the circumferential side of the rotating ring; the two clearance grooves are staggered with the two curved guide plates; L-shaped plates are symmetrically fixed to the inner wall of the rotating ring; and a toothed ring coaxially arranged with the rotating ring is fixed between the bottoms of the two L-shaped plates.

[0010] The present invention is further configured such that: the first sliding member includes a first sliding plate slidably disposed in a corresponding sliding groove; a return spring is fixed between one end of the first sliding plate and the outer peripheral side of the chassis seat; a guide ball adapted to the curved guide plate is fixed to the other end of the first sliding plate; a first electric push rod is fixedly installed on the inner bottom surface of the support cylinder; a T-shaped plate is fixed on the inner bottom surface of the support cylinder; a first rack that slidably engages with the T-shaped plate is fixed to the telescopic end of the first electric push rod; and a first gear that meshes with the first rack is rotatably disposed on the inner bottom surface of the support cylinder.

[0011] The invention is further configured such that: the second sliding member includes a second sliding plate slidably disposed in a corresponding sliding groove; a baffle is fixed to one end of the second sliding plate; sliding holes are symmetrically opened on the side of the baffle; a through screw hole is opened on the side of the second sliding plate; sliding rods that slide and engage with the sliding holes are symmetrically fixed between the two ear plates; positioning plates are symmetrically fixed between the two sliding rods; a screw that rotates through and engages with the threaded through screw hole is rotatably disposed between the two positioning plates; a second gear is fixed to the circumferential side of the screw; a second electric push rod is fixedly installed on the inner bottom surface of the support cylinder, and vertical plates are symmetrically fixed on its inner bottom surface on both sides of the two second electric push rods; a second rack that meshes with the second gear is fixed to the telescopic end of the second electric push rod; the second rack is slidably disposed between the vertical plates.

[0012] The invention is further configured such that: the lifting component includes a lifting block slidably disposed in a limiting groove; slide rails are symmetrically fixed on two opposite sides of the lifting block; lifting grooves that slide and cooperate with the slide rails are symmetrically opened on both sides of the inner wall of the limiting groove; support rods are fixed on the ground of both slide rails; inclined guide plates are fixed on the bottom surfaces of the first and second slide plates; a vertical rod is fixed on the surface of the lifting block; a ball head that matches the corresponding inclined guide plate is fixed at the end of the vertical rod; and a compression spring is fixed between the bottom surface of the lifting block and the bottom surface of the limiting groove.

[0013] The invention is further configured such that: a fixing block is fixed to the side of the lifting block; the fixing block has an internal shaft hole and a clearance opening on its peripheral side; the driving wheel includes a first U-shaped frame; the driven wheel includes a second U-shaped frame; mounting plates that slide and cooperate with the clearance opening are fixed to the sides of both the first and second U-shaped frames; a rotating shaft that rotates and cooperates with the shaft hole is fixed to the surface of the mounting plate, and a third gear coaxial with the rotating shaft is fixed to its bottom surface; the vertical length of the third gear is greater than the vertical length of the gear ring, and it meshes with the gear ring.

[0014] The invention is further configured such that: a support wheel is rotatably provided between the inner walls of the first U-shaped frame and the second U-shaped frame; a drive motor is fixedly installed on the side of the first U-shaped frame; the output end of the drive motor is fixedly connected to the connecting shaft on the corresponding support wheel; sensors are installed on the sides of the first U-shaped frame and the second U-shaped frame; a controller and a battery pack are sequentially installed on the bottom surface of the chassis; the input end of the controller is electrically connected to each sensor, and its output end is electrically connected to the servo motor, the drive motor, the first electric push rod, and the second electric push rod.

[0015] The invention is further configured as follows: a first sprocket is fixed to the connecting shaft at the end of the support wheel on the second U-shaped frame; a fixing plate is fixed to the surface of the second U-shaped frame; a reciprocating screw is rotatably arranged through the side of the fixing plate; a second sprocket is fixed to one end of the reciprocating screw; a chain meshes between the first sprocket and the second sprocket; a guide rod is fixed to the side of the fixing plate; a sliding sleeve that slides with the guide rod is provided on the reciprocating screw; a connecting frame is fixed to the side of the sliding sleeve; a piston rod is fixed to the side of the connecting frame; a piston is fixed to the end of the piston rod; a piston cylinder that slides with the piston is fixed to the surface of the second U-shaped frame; an air extraction pipe and an air delivery pipe are sequentially arranged at the end of the piston cylinder; heat dissipation grooves are evenly opened on the peripheral side of the chassis, and connecting hoses are symmetrically connected to the peripheral side; the connecting hoses are fixedly connected to the corresponding air delivery pipes.

[0016] The invention is further configured such that: a first annular seat is fixed to the peripheral side of the chassis base; a second annular seat, which is fixed to the first annular seat by fastening bolts, is fixed to the bottom surface of the load-bearing plate; positioning holes are uniformly opened on the surface of the load-bearing plate, and a turntable is rotatably arranged on its surface; anti-slip protrusions are uniformly arranged on the surface of the turntable; an annular strip is fixed to the peripheral side of the turntable; insertion holes are uniformly opened on the surface of the annular strip; a plug rod that engages with the corresponding positioning hole is inserted into the insertion hole; and a handle is fixed to the peripheral side of the annular strip.

[0017] The advantages of this invention are:

[0018] 1. This invention activates a first electric push rod, which drives a first rack to slide, and in conjunction with a first gear, drives a gear ring to rotate, thereby causing the guide members to rotate. This causes the highest points of the two guide plates to abut against the two first sliding members, causing the corresponding two first sliding plates to extend outward synchronously. Subsequently, the corresponding inclined guide plates press against the corresponding lifting members, causing the driving wheels and driven wheels corresponding to the forward movement to be placed on the ground. Activating the corresponding driving wheels drives the chassis to move forward or backward. The operation is simple, easy to use, and improves the practicality of the device.

[0019] 2. When the chassis needs to move laterally, the present invention activates the second electric push rod, which drives the second rack to slide. This, in conjunction with the second gear, drives the screw to rotate, thereby causing the two second sliding parts to move outward synchronously. This causes the corresponding inclined guide plates to press against the corresponding lifting parts, placing the driving wheel and driven wheel corresponding to the lateral movement on the ground. Activating the first electric push rod causes the first rack to slide in the opposite direction, causing the driving wheel and driven wheel corresponding to the forward movement to rise and leave the ground. Activating the corresponding driving wheel then drives the chassis to move laterally, improving the flexibility of the chassis.

[0020] 3. When it is necessary to adjust the walking direction of the support wheel, the servo motor is started to drive the drive gear to rotate, which in turn drives the third gear of each group to rotate, thereby driving the two sets of drive wheels and the two driven wheels to adjust their angles synchronously. The structure is simple and easy to use, which further improves the practicality of the device. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of an artificial intelligence-based automatic obstacle avoidance and walking chassis according to the present invention.

[0022] Figure 2 This is a schematic diagram of the chassis base of the present invention.

[0023] Figure 3 This is a schematic diagram of the load-bearing plate of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the guide component of the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of the first sliding member of the present invention.

[0026] Figure 6 This is a schematic diagram of the structure of the second sliding member of the present invention.

[0027] Figure 7 This is a structural schematic diagram of the lifting component of the present invention.

[0028] Figure 8 This is a schematic diagram of the drive wheel of the present invention.

[0029] Figure 9 This is a schematic diagram of the driven wheel component of the present invention.

[0030] Figure 10 This is a structural schematic diagram of the chassis base, drive wheel, and driven wheel assembly of the present invention.

[0031] Figure 11 For the present invention Figure 10 Enlarged view of region A.

[0032] Figure 12 This is a schematic diagram of the chassis base and lifting component assembly of the present invention.

[0033] Figure 13 For the present invention Figure 12 Enlarged view of region B.

[0034] Figure 14 This is a top-view structural diagram of the chassis of the present invention in its forward-moving state.

[0035] Figure 15This is a structural schematic diagram of the chassis of the present invention in its forward-moving state, viewed from the front.

[0036] Figure 16 This is a schematic diagram of the chassis structure from a top-down view in the lateral displacement state of the present invention.

[0037] Figure 17 This is a structural schematic diagram of the chassis in the lateral displacement state of the present invention, viewed from the front.

[0038] Figure 18 This is a structural schematic diagram of the drive wheel and driven wheel of the present invention under angle conversion states.

[0039] In the diagram: 1. Chassis base; 2. Load-bearing plate; 3. Support cylinder; 4. Connecting plate; 5. Ear plate; 6. Slide groove; 7. Guide groove; 8. Limiting groove; 9. Guide component; 10. First sliding component; 11. Second sliding component; 12. Lifting component; 13. Drive wheel component; 14. Driven wheel component; 15. Annular plate; 16. Gear ring; 17. Rotary ring; 18. First annular groove; 19. Second annular groove; 20. Annular rail; 21. Mounting ring; 22. Guide plate; 23. Avoiding 24. Slot; 25. L-shaped plate; 26. Gear ring; 27. First sliding plate; 28. Return spring; 29. ​​Guide ball; 30. First electric push rod; 31. T-shaped plate; 32. First rack; 33. First gear; 34. Second sliding plate; 35. Baffle; 36. Sliding hole; 37. Through screw hole; 38. Sliding rod; 39. Positioning plate; 40. Screw; 41. Second gear; 42. Second electric push rod; 43. Vertical plate; 44. Second rack; 45. Lifting block; 45. Slide rail; 46. Lifting groove; 47. Support rod; 48. Inclined guide plate; 49. Vertical rod; 50. Ball head; 51. Compression spring; 52. Fixing block; 53. Shaft hole; 54. First U-shaped frame; 55. Second U-shaped frame; 56. Second U-shaped frame; 57. Rotating shaft; 58. Third gear; 59. Support wheel; 60. Drive motor; 61. Sensor; 62. Controller; 63. Battery pack; 64. First sprocket; 65. Reciprocating lead screw; 66. Second... 67. Sprocket; 68. Chain; 69. Guide rod; 70. Sliding sleeve; 71. Connecting frame; 72. Piston rod; 73. Piston cylinder; 74. Suction pipe; 75. Air supply pipe; 76. Heat dissipation groove; 77. First annular seat; 78. Second annular seat; 79. Positioning hole; 80. Turntable; 81. Anti-slip protrusion; 82. Annular strip; 83. Insertion hole; 84. Handle; 85. Fixing plate; 86. Clearance opening; 87. Servo motor; 88. Drive gear. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0042] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0043] Example 1

[0044] Please see Figure 1-18 The present invention provides the following technical solutions:

[0045] An artificial intelligence-based automatic obstacle avoidance and walking chassis specifically includes a chassis base 1 and a load-bearing plate 2 fixedly mounted on the chassis base 1 by fastening bolts; a support cylinder 3 is coaxially fixed to the inner bottom surface of the chassis base 1; four sets of connecting plates 4 are fixedly arranged in a circumferential array between the support cylinder 3 and the inner wall of the chassis base 1; each connecting plate 4 has an ear plate 5 fixed to its surface; a sliding groove 6 is formed on the surface of the connecting plate 4 between the ear plate 5 and the chassis base 1; a guide groove 7 is formed on the side of the ear plate 5; limiting grooves 8 are evenly formed on the circumferential side of the chassis base 1 and communicate with the corresponding sliding grooves 6; a guide member 9 is rotatably provided on the surface of the support cylinder 3; and the two corresponding sliding grooves 6 are... A first sliding member 10 is slidably arranged in each of the two sliding grooves 6; a second sliding member 11 is slidably arranged in each of the two relative sliding grooves 6; a lifting member 12 is slidably arranged in each of the limiting grooves 8; a drive wheel 13 is rotatably arranged in each of the two adjacent lifting members 12; a driven wheel 14 is rotatably arranged in each of the two adjacent lifting members 12; an annular plate 15 is fixed on the bottom surface of the chassis base 1; a gear ring 16 is rotatably arranged on the annular plate 15; each drive wheel 13 and driven wheel 14 meshes with the gear ring 16; a servo motor 87 is mounted on the chassis base 1; a drive gear 88 that meshes with the gear ring 16 is fixed at the output end of the servo motor 87.

[0046] The working principle of this embodiment is as follows: Through the linkage and cooperation between components such as guide member 9, first sliding member 10, second sliding member 11, lifting member 12, drive wheel member 13, and driven wheel member 14, the conversion between walking and lateral movement of the chassis is realized, which improves the flexibility of the device; by starting the servo motor 87 to drive the rotation of the drive gear 88, the gear ring 16 is driven to rotate on the annular plate 15, thereby driving the two drive wheel members 13 and the two driven wheel members 14 to adjust their angles synchronously. The structure is simple and easy to use.

[0047] Example 2

[0048] Please see Figure 1-18 This second embodiment is an improvement on the first embodiment as follows: Specifically, the guide member 9 includes a rotating ring 17; a first annular groove 18 is formed on the circumferential side of the rotating ring 17; a second annular groove 19 is formed on the surface of the support cylinder 3 to rotatably engage with the rotating ring 17; an annular rail 20 is fixed on the inner circumferential side of the second annular groove 19 to rotatably engage with the first annular groove 18; a mounting ring 21 is fixed on the surface of the rotating ring 17; two sets of curved guide plates 22 are symmetrically arranged on the circumferential side of the mounting ring 21; two sets of clearance grooves 23 are symmetrically formed on the circumferential side of the rotating ring 17; the two clearance grooves 23 and the two curved guide plates 22 are staggered; L-shaped plates 24 are symmetrically fixed on the inner wall of the rotating ring 17; the two L-shaped plates 24 are symmetrically fixed on the inner wall of the rotating ring 17. A toothed ring 25 coaxially arranged with the rotating ring 17 is fixed between the bottom of the plates 24; the first sliding member 10 includes a first sliding plate 26 slidably arranged in the corresponding sliding groove 6; a return spring 27 is fixed between one end of the first sliding plate 26 and the outer peripheral side of the chassis base 1; a guide ball 28 adapted to the curved guide plate 22 is fixed at the other end of the first sliding plate 26; a first electric push rod 29 is fixedly installed on the inner bottom surface of the support cylinder 3; a T-shaped plate 30 is fixed on the inner bottom surface of the support cylinder 3; a first rack 31 that slides with the T-shaped plate 30 is fixed at the telescopic end of the first electric push rod 29; a first gear 32 that meshes with the first rack 31 is rotatably arranged on the inner bottom surface of the support cylinder 3.

[0049] The second sliding member 11 includes a second sliding plate 33 slidably disposed in the corresponding sliding groove 6; a baffle 34 is fixed to one end of the second sliding plate 33; sliding holes 35 are symmetrically opened on the side of the baffle 34; a through screw hole 36 is opened on the side of the second sliding plate 33; sliding rods 37 that slide and engage with the sliding holes 35 are symmetrically fixed between the two ear plates 5; positioning plates 38 are symmetrically fixed between the two sliding rods 37; a screw 39 that rotates through and engages with the threaded screw hole 36 is rotatably disposed between the two positioning plates 38; a second gear 40 is fixed to the circumferential side of the screw 39; a second electric push rod 41 is fixedly installed on the inner bottom surface of the support cylinder 3, and vertical plates 42 are symmetrically fixed on the inner bottom surface of the support cylinder 3 on both sides of the two second electric push rods 41; a second rack 43 that meshes with the second gear 40 is fixed to the telescopic end of the second electric push rod 41; the second rack 43 is slidably disposed between the vertical plates 42.

[0050] The lifting component 12 includes a lifting block 44 slidably disposed in the limiting groove 8; slide rails 45 are symmetrically fixed on two opposite sides of the lifting block 44; lifting grooves 46 are symmetrically opened on both sides of the inner wall of the limiting groove 8 to slide in cooperation with the slide rails 45; support rods 47 are fixed to the ground of both slide rails 45; inclined guide plates 48 are fixed to the bottom surfaces of the first sliding plate 26 and the second sliding plate 33; vertical rods 49 are fixed to the surface of the lifting block 44; ball heads 50 that are adapted to the corresponding inclined guide plates 48 are fixed to the ends of the vertical rods 49; and compression springs 51 are fixed between the bottom surface of the lifting block 44 and the inner bottom surface of the limiting groove 8.

[0051] Support wheels 59 are rotatably provided between the inner walls of the first U-shaped frame 54 and the second U-shaped frame 55; a drive motor 60 is fixedly installed on the side of the first U-shaped frame 54; the output end of the drive motor 60 is fixedly connected to the connecting shaft on the corresponding support wheel 59; sensors 61 are installed on the sides of the first U-shaped frame 54 and the second U-shaped frame 55; a controller 62 and a battery pack 63 are sequentially installed on the bottom surface of the chassis 1; the input end of the controller 62 is electrically connected to each sensor 61, and its output end is electrically connected to the servo motor 87, the drive motor 60, the first electric push rod 29, and the second electric push rod 41.

[0052] A fixing block 52 is fixed to the side of the lifting block 44; the fixing block 52 has a shaft hole 53 inside and a clearance opening 86 on its peripheral side; the driving wheel component 13 includes a first U-shaped frame 54; the driven wheel component 14 includes a second U-shaped frame 55; the first U-shaped frame 54 and the second U-shaped frame 55 are both fixed with mounting plates 56 that slide with the clearance opening 86 on their sides; a rotating shaft 57 that rotates with the shaft hole 53 is fixed to the surface of the mounting plate 56, and a third gear 58 that is coaxial with the rotating shaft 57 is fixed to its bottom surface; the vertical length of the third gear 58 is greater than the vertical length of the gear ring 16, and it meshes with the gear ring 16.

[0053] Working principle of this embodiment two:

[0054] In the initial state, by activating the first electric push rod 29, the first rack 31 is driven to slide along the T-shaped plate 30, which in turn drives the gear ring 25 to rotate, thereby driving the guide member 9 to rotate. This causes the highest points of the two guide plates 22 to abut against the guide balls 28 on the two first sliding members 10, thereby causing the corresponding two first sliding plates 26 to extend outward synchronously. Then, the corresponding inclined guide plates 48 press against the ball heads 50 on the corresponding lifting members 12, causing the corresponding support rods 47 to abut against the bottom surface of the corresponding limiting grooves 8, so that the driving wheel 13 and driven wheel 14 corresponding to the forward movement are placed on the ground. At this time, the driving wheel 13 and driven wheel 14 corresponding to the lateral movement are both detached from the bottom surface.

[0055] The forward movement is achieved by activating the drive motor 60 on the corresponding drive wheel 13, which drives the corresponding support wheel 59 to rotate, thereby causing the entire device to move forward or backward.

[0056] In the lateral movement state, when the chassis needs to move laterally, the second electric push rod 41 is activated, which drives the second rack 43 to slide along the two vertical plates 42. In conjunction with the second gear 40, the screw 39 is rotated, thereby driving the two second sliding members 11 to move outward synchronously. This causes the corresponding inclined guide plates 48 to press against the corresponding lifting members 12, so that the drive wheel 13 and driven wheel 14 corresponding to the lateral movement are placed on the ground. The first electric push rod 29 is activated, which causes the first rack 31 to slide in the opposite direction, so that the drive wheel 13 and driven wheel 14 corresponding to the forward movement rise and leave the ground.

[0057] The lateral movement activates the corresponding drive wheel component 13, which drives the chassis to move laterally, thus improving the chassis's flexibility.

[0058] In the reversing state, the servo motor 87 is started to drive the drive gear 88 to rotate, which in turn drives the third gears 58 of each group to rotate in conjunction with the gear ring 16. This drives the two sets of drive wheels 13 and the two driven wheels 14 to adjust their angles synchronously. Since the vertical length of the third gear 58 is greater than the vertical length of the gear ring 16, and it meshes with the gear ring 16, it ensures that the third gear 58 always meshes with the gear ring 16, whether the drive wheels 13 and the corresponding driven wheels 14 are on the ground or off the ground. This facilitates synchronous angle adjustment through the same drive source during the transition between forward and lateral movement.

[0059] Obstacle avoidance principle: When sensor 61 detects an obstacle in the direction of movement, the extension or retraction of the corresponding electric push rod can drive the linkage between the corresponding components. Sensors in other positions can make the support wheel 59 rotate in the direction without obstacles. At this time, restarting the corresponding drive motor 60 will make the device continue to move.

[0060] Example 3

[0061] Please see Figure 1-18This third embodiment is an improvement on the second embodiment as follows: Specifically, a first sprocket 64 is fixed to the connecting shaft at the end of the support wheel 59 on the second U-shaped frame 55; a fixing plate 85 is fixed to the surface of the second U-shaped frame 55; a reciprocating screw 65 is rotatably mounted through the side of the fixing plate 85; a second sprocket 66 is fixed to one end of the reciprocating screw 65; a chain 67 meshes between the first sprocket 64 and the second sprocket 66; a guide rod 68 is fixed to the side of the fixing plate 85; and a connecting rod is provided on the reciprocating screw 65. A sliding sleeve 69 with sliding fit is provided; a connecting frame 70 is fixed to the side of the sliding sleeve 69; a piston rod 71 is fixed to the side of the connecting frame 70; a piston 72 is fixed to the end of the piston rod 71; a piston cylinder 73 with sliding fit to the piston 72 is fixed to the surface of the second U-shaped frame 55; an air extraction pipe 74 and an air delivery pipe 75 are sequentially provided at the end of the piston cylinder 73; heat dissipation grooves 76 are evenly opened on the side of the chassis base 1, and connecting hoses are symmetrically connected on the side of the chassis base; the connecting hoses are fixedly connected to the corresponding air delivery pipes 75.

[0062] A first annular seat 77 is fixed to the side of the chassis base 1; a second annular seat 78, which is fixed to the first annular seat 77 by fastening bolts, is fixed to the bottom surface of the load-bearing plate 2; positioning holes 79 are evenly opened on the surface of the load-bearing plate 2, and a turntable 80 is rotatably arranged on its surface; anti-slip protrusions 81 are evenly opened on the surface of the turntable 80; annular strips 82 are fixed to the side of the turntable 80; insertion holes 83 are evenly opened on the surface of the annular strips 82; insertion rods that are inserted into the insertion holes 83 and engage with the corresponding positioning holes 79; a handle 84 is fixed to the side of the annular strips 82.

[0063] The working principle of this embodiment three is as follows: During the forward and lateral movement of the chassis, the movement of the corresponding support wheel 59 on the driven wheel 14 drives the first sprocket 64 to rotate, which in turn drives the second sprocket 66 to rotate via the chain 67, thereby driving the reciprocating screw 68 to rotate. The reciprocating screw 68 is a form of three-dimensional cam pair, which is represented by two threaded grooves with the same pitch but opposite directions of rotation, connected at both ends by a transition curve. A slider is provided inside the sliding sleeve 69. Through the rotation of the reciprocating screw 68, the side of the helical groove pushes the part placed in the helical groove. The slider reciprocates axially, thereby causing the piston rod 71 to reciprocate through the connecting frame 70, which in turn drives the piston 72 to reciprocate inside the piston cylinder 73. By setting a one-way valve on the air extraction pipe 74, external cold air can only be drawn into the piston cylinder 73 through the air extraction pipe 74. By setting a one-way valve on the air supply pipe 75, the cold air in the piston cylinder 73 can only enter the chassis base 1 through the air supply pipe 75 and the connecting hose in sequence, which accelerates the air flow inside the chassis base 1 and improves the heat dissipation effect inside the chassis base 1.

[0064] The placement position of the load placed on the turntable 80 can be adjusted by rotating the turntable 80, which further improves the flexibility of the device; the turntable 80 is fixed by inserting the plug rod into the plug hole 83 and the corresponding positioning hole 79.

[0065] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0067] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0069] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An artificial intelligence-based automatic obstacle avoidance and walking chassis, comprising a chassis base (1) and a load-bearing plate (2) fixedly mounted on the chassis base (1) by fastening bolts; characterized in that: A support cylinder (3) is coaxially fixed to the bottom surface of the chassis base (1); four sets of connecting plates (4) are fixed in a circular array between the support cylinder (3) and the inner wall of the chassis base (1); each connecting plate (4) has an ear plate (5) fixed to its surface; a sliding groove (6) is opened between the ear plate (5) and the chassis base (1) on the surface of the connecting plate (4); a guide groove (7) is opened on the side of the ear plate (5); and a limiting groove (8) is evenly opened on the periphery of the chassis base (1) and communicates with the corresponding sliding groove (6). The surface of the support cylinder (3) is rotatably provided with a guide (9); a first sliding member (10) is slidably provided in both of the two sliding grooves (6); a second sliding member (11) is slidably provided in both of the two sliding grooves (6); and a lifting member (12) is slidably provided in each of the limiting grooves (8). Each of the two adjacent lifting components (12) is rotatably provided with a drive wheel (13); each of the two adjacent lifting components (12) is rotatably provided with a driven wheel (14); an annular plate (15) is fixed on the bottom surface of the chassis (1); a gear ring (16) is rotatably provided on the annular plate (15); each of the drive wheel (13) and driven wheel (14) meshes with the gear ring (16); a servo motor (87) is installed on the chassis (1); an active gear (88) meshing with the gear ring (16) is fixed at the output end of the servo motor (87). The guide member (9) includes a rotating ring (17); a first annular groove (18) is provided on the circumferential side of the rotating ring (17); a second annular groove (19) is provided on the surface of the support cylinder (3) to rotatably engage with the rotating ring (17); an annular rail (20) to rotatably engage with the first annular groove (18) is fixed on the inner circumferential side of the second annular groove (19); a mounting ring (21) is fixed on the surface of the rotating ring (17); two sets of curved guide plates (22) are symmetrically arranged on the circumferential side of the mounting ring (21). The rotating ring (17) has two sets of clearance grooves (23) symmetrically opened on its circumferential side; the two clearance grooves (23) are staggered with the two curved guide plates (22); L-shaped plates (24) are symmetrically fixed on the inner wall of the rotating ring (17); a toothed ring (25) coaxially arranged with the rotating ring (17) is fixed between the bottoms of the two L-shaped plates (24). The first sliding member (10) includes a first sliding plate (26) slidably disposed in the corresponding sliding groove (6); a return spring (27) is fixed between one end of the first sliding plate (26) and the outer peripheral side of the chassis base (1); a guide ball (28) adapted to the curved guide plate (22) is fixed at the other end of the first sliding plate (26); a first electric push rod (29) is fixedly installed on the inner bottom surface of the support cylinder (3); a T-shaped plate (30) is fixed on the inner bottom surface of the support cylinder (3); a first rack (31) that slides with the T-shaped plate (30) is fixed at the telescopic end of the first electric push rod (29); a first gear (32) that meshes with the first rack (31) is rotatably disposed on the inner bottom surface of the support cylinder (3); The second sliding member (11) includes a second sliding plate (33) slidably disposed in the corresponding sliding groove (6); a baffle (34) is fixed at one end of the second sliding plate (33); sliding holes (35) are symmetrically opened on the side of the baffle (34); through screw holes (36) are opened on the side of the second sliding plate (33); sliding rods (37) that slide and cooperate with the sliding holes (35) are symmetrically fixed between the two ear plates (5); positioning plates (38) are symmetrically fixed between the two sliding rods (37); and positioning plates (38) are symmetrically fixed between the two positioning plates (38). A screw (39) is provided through a through-hole (36) and rotates with it; a second gear (40) is fixed on the circumferential side of the screw (39); a second electric push rod (41) is fixedly installed on the inner bottom surface of the support cylinder (3), and vertical plates (42) are symmetrically fixed on the inner bottom surface of the two second electric push rods (41); a second rack (43) that meshes with the second gear (40) is fixed at the telescopic end of the second electric push rod (41); the second rack (43) is slidably disposed between the vertical plates (42); The lifting component (12) includes a lifting block (44) slidably disposed in a limiting groove (8); a slide rail (45) is symmetrically fixed on two opposite sides of the lifting block (44); lifting grooves (46) that slide and cooperate with the slide rail (45) are symmetrically opened on both sides of the inner wall of the limiting groove (8); a support rod (47) is fixed on the ground of both slide rails (45); an inclined guide plate (48) is fixed on the bottom surface of the first slide plate (26) and the second slide plate (33); a vertical rod (49) is fixed on the surface of the lifting block (44); a ball head (50) that matches the corresponding inclined guide plate (48) is fixed at the end of the vertical rod (49); a compression spring (51) is fixed between the bottom surface of the lifting block (44) and the inner bottom surface of the limiting groove (8). The lifting block (44) has a fixing block (52) fixed on its side; the fixing block (52) has a shaft hole (53) inside and a clearance opening (86) on its peripheral side; the driving wheel (13) includes a first U-shaped frame (54); the driven wheel (14) includes a second U-shaped frame (55); the first U-shaped frame (54) and the second U-shaped frame (55) are both fixed with mounting plates (56) that slide with the clearance opening (86); the mounting plate (56) has a rotating shaft (57) that rotates with the shaft hole (53) fixed on its surface and a third gear (58) that is coaxial with the rotating shaft (57) fixed on its bottom surface; the vertical length of the third gear (58) is greater than the vertical length of the gear ring (16) and it meshes with the gear ring (16).

2. The artificial intelligence automatic obstacle avoidance and walking chassis according to claim 1, characterized in that: Support wheels (59) are rotatably provided between the inner walls of the first U-shaped frame (54) and the second U-shaped frame (55); a drive motor (60) is fixedly installed on the side of the first U-shaped frame (54); the output end of the drive motor (60) is fixedly connected to the connecting shaft on the corresponding support wheel (59); sensors (61) are installed on the side of the first U-shaped frame (54) and the second U-shaped frame (55); a controller (62) and a battery pack (63) are installed in sequence on the inner bottom surface of the chassis (1); the input end of the controller (62) is electrically connected to each sensor (61), and its output end is electrically connected to the servo motor (87), the drive motor (60), the first electric push rod (29), and the second electric push rod (41).

3. The artificial intelligence automatic obstacle avoidance and walking chassis according to claim 2, characterized in that: A first sprocket (64) is fixed to the connecting shaft at the end of the support wheel (59) on the second U-shaped frame (55); a fixing plate (85) is fixed to the surface of the second U-shaped frame (55); a reciprocating screw (65) is rotatably arranged through the side of the fixing plate (85); a second sprocket (66) is fixed to one end of the reciprocating screw (65); a chain (67) meshes between the first sprocket (64) and the second sprocket (66); a guide rod (68) is fixed to the side of the fixing plate (85). The reciprocating lead screw (65) is provided with a sliding sleeve (69) that slides with the guide rod (68); a connecting frame (70) is fixed on the side of the sliding sleeve (69); a piston rod (71) is fixed on the side of the connecting frame (70); a piston (72) is fixed at the end of the piston rod (71); a piston cylinder (73) that slides with the piston (72) is fixed on the surface of the second U-shaped frame (55); an air extraction pipe (74) and an air delivery pipe (75) are sequentially provided at the end of the piston cylinder (73); heat dissipation grooves (76) are evenly opened on the periphery of the chassis base (1), and connecting hoses are symmetrically connected on its periphery; the connecting hoses are fixedly connected to the corresponding air delivery pipes (75).

4. The artificial intelligence automatic obstacle avoidance and walking chassis according to claim 3, characterized in that: The chassis base (1) is fixed with a first annular seat (77) on its periphery; the bottom surface of the load-bearing plate (2) is fixed with a second annular seat (78) which is fixed to the first annular seat (77) by fastening bolts; the surface of the load-bearing plate (2) is evenly provided with positioning holes (79), and a turntable (80) is rotatably provided on its surface; the surface of the turntable (80) is evenly provided with anti-slip protrusions (81); the periphery of the turntable (80) is fixed with an annular strip (82); the surface of the annular strip (82) is evenly provided with insertion holes (83); a plug rod that is inserted into the insertion hole (83) and engages with the corresponding positioning hole (79); a handle (84) is fixed on the periphery of the annular strip (82).

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