Intelligent obstacle-avoiding robot with body

Abstract

The application discloses an intelligent obstacle-avoiding body robot, and belongs to the technical field of robot obstacle avoidance.The robot comprises a main body, a controller is fixedly arranged in the main body, a binocular vision sensor is arranged on the main body and connected with the controller, a storage assembly is arranged on the top of the side wall of the main body, a carrying assembly is arranged on the middle part of the main body, the carrying assembly comprises a first driving unit and two symmetrically arranged clamping sections, the first driving unit drives the two clamping sections to move close to or away from each other, a walking driving assembly is arranged on the bottom of the main body, the walking driving assembly comprises a second driving unit and two symmetrically arranged supporting legs, each supporting leg comprises a left leg and a right leg, a universal wheel assembly is arranged on the bottom of each left leg and right leg, and the second driving unit drives the left leg and the right leg to move close to or away from each other.The intelligent obstacle-avoiding body robot with the above structure can improve the flexibility of robot obstacle avoidance, thereby guaranteeing the reliability of robot movement.

Description

Technical Field

[0001] This invention belongs to the field of robot obstacle avoidance technology, and particularly relates to an intelligent obstacle avoidance embodied robot. Background Technology

[0002] With the popularization of robots, various industries are gradually using robots to replace human labor. For example, service consumption robots are used to replace human labor for routine housework, restaurant food delivery, and last-mile delivery of takeout food.

[0003] When robots deliver food in restaurants, they often need to move according to the delivery location. During the movement, they frequently encounter obstacles, such as toys dropped by children or chairs moved into the aisle. The obstacle avoidance principle of existing robots is mostly traversal obstacle avoidance or avoidance obstacle avoidance, but it has the following problems when used: when the size of the obstacle exceeds the robot's span or there is not enough avoidance space, the robot can only stop moving, which greatly reduces the reliability of the robot's movement.

[0004] To solve the above problems, a new type of intelligent obstacle avoidance embodied robot is needed. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent obstacle avoidance robot that can improve the robot's flexibility when avoiding obstacles, thereby ensuring the reliability of the robot's movement.

[0006] To achieve the above objectives, the present invention provides an intelligent obstacle avoidance omnidirectional robot, comprising a main body, a controller fixedly installed inside the main body, a binocular vision sensor connected to the controller on the main body, a storage assembly on the top of the side wall of the main body, a transport assembly connected to the middle of the main body, the transport assembly including a first drive unit and two symmetrically arranged gripping arms, the first drive unit being fixedly connected to the main body, the first drive unit driving the two gripping arms to move closer or further apart, a walking drive assembly connected to the bottom of the main body, the walking drive assembly including a second drive unit and two sets of symmetrically arranged legs, each set of legs including a left leg and a right leg, the bottom of the left leg and the right leg being connected to a universal wheel assembly, the second drive unit being fixedly connected to the main body, the second drive unit driving the left leg and the right leg to move closer or further apart.

[0007] Preferably, the clamping arm includes a telescopic section, a connecting section, and a clamping section connected vertically in sequence. The telescopic section and the clamping section are located on the same side of the connecting section. A rack is fixedly connected to the top surface of the telescopic section. A pressure sensor is fixedly connected to the end face of the clamping section away from the connecting section. The pressure sensor is electrically connected to the controller.

[0008] Preferably, the first drive unit includes a horizontal through-slot penetrating the main body. A vertically arranged threaded rod and a guide rod are fixedly connected in the through-slot. The top end of the threaded rod is connected to a first motor fixed on the inner wall of the through-slot. A lifting plate is threadedly connected to the threaded rod. The lifting plate is provided with a guide hole corresponding to the guide rod. A storage groove is provided on both ends of the lifting plate. The telescopic section is slidably connected in the storage groove. A clearance hole is provided on both ends of the top surface of the lifting plate. A first gear is rotatably connected in the clearance hole. The first gear is connected to a second motor fixed on the lifting plate, and the first gear meshes with the rack. Both the first motor and the second motor are connected to the controller.

[0009] Preferably, the second drive unit includes a third motor, a drive gear, and two left and right helical screws. The third motor and the drive gear are both located in the inner cavity of the main body. The third motor is fixedly connected to the main body, and the output shaft of the third motor is fixedly connected to the drive gear. The two left and right helical screws are arranged horizontally and symmetrically and are rotatably connected to the main body. The left-hand nut seats on the two left and right helical screws are fixedly connected to the top end of the left leg, and the right-hand nut seats on the two left and right helical screws are fixedly connected to the top end of the right leg. A ring of teeth evenly distributed along its circumference is fixedly connected to the middle of each of the two left and right helical screws, and the teeth on the two left and right helical screws are adapted to and connected to the drive gear.

[0010] Preferably, two horizontal rods are fixedly connected to the main body. The horizontal rods are respectively arranged parallel above the two left and right spiral screws, and the horizontal rods are slidably connected to the left spiral nut seat and the right spiral nut seat. The binocular vision sensor is fixedly connected to the side of the two horizontal rods that are far apart from each other.

[0011] Preferably, the universal wheel assembly includes cylindrical grooves formed on the bottom surfaces of the left and right legs. A rotating shaft is rotatably connected to the top wall of the cylindrical groove. A transmission gear is provided in the middle of the side wall of the rotating shaft. The transmission gear meshes with a steering gear. The steering gear is connected to a fourth motor. The fourth motor is fixedly connected to a torsion box on the side wall of the left or right leg. The bottom end of the rotating shaft is fixedly connected to the top surface of the steering seat. A bracket is fixedly connected to the bottom surface of the steering seat. A roller is rotatably connected between the two support plates of the bracket. A driven sprocket is fixedly connected to one end of the central shaft of the roller. The driven sprocket is driven by a chain and connected to a driving sprocket. The driving sprocket is fixedly connected to the output shaft of a fifth motor. The fifth motor is fixedly connected to the side plate of the steering seat.

[0012] Preferably, the storage component includes a main tray fixedly connected to the main body, and a receiving groove is provided on both ends of the main tray, with a secondary tray slidably connected in the receiving groove.

[0013] Preferably, a handle is fixedly connected to the outer end face of the sub-tray, a first limiting block is symmetrically fixedly connected to the bottom surface of the sub-tray away from the handle, and a second limiting block is symmetrically fixedly connected to the bottom surface of the receiving groove near the groove opening.

[0014] Preferably, the main body includes an upper part and a lower part arranged vertically, the storage component is located in the upper part, the walking drive component is located in the lower part, two support rods are symmetrically fixedly connected to the top surface of the lower part, the support rods are provided with mounting holes arranged along their length direction, the bottom surface of the upper part is provided with slots corresponding to the support rods, the side wall of the upper part is provided with through holes communicating with the slots, and a fixing member is threadedly connected to the through hole, the fixing member being adapted to the mounting hole.

[0015] Therefore, the intelligent obstacle avoidance robot of the present invention, which adopts the above structure, has the following beneficial effects:

[0016] 1. The combined use of binocular vision sensors and omnidirectional wheel assemblies enables robots to bypass obstacles; the combined use of binocular vision sensors, second drive units, and omnidirectional wheel assemblies enables robots to cross obstacles; and the combined use of binocular vision sensors, handling components, and omnidirectional wheel assemblies enables robots to move obstacles. The integrated application of these three obstacle avoidance methods—bypassing obstacles, crossing obstacles, and moving obstacles—makes the robot more flexible in obstacle avoidance, thereby ensuring the reliability of robot movement.

[0017] 2. The storage components enable the holding of plates, thereby facilitating the delivery of food and beverages;

[0018] 3. Connecting the fastener to the mounting holes at different heights can change the height of the upper part, thereby changing the height of the main tray and the auxiliary tray, so as to adapt to the use of dining tables and chairs of different heights.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of an embodiment of an intelligent obstacle avoidance android according to the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of a transport component in an embodiment of an intelligent obstacle-avoiding android of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a walking drive component in an embodiment of an intelligent obstacle avoidance android of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of an embodiment of the omnidirectional wheel assembly in an intelligent obstacle-avoiding robot according to the present invention;

[0024] Figure 5 This is a structural schematic diagram of an embodiment of the support rod in an intelligent obstacle avoidance robot according to the present invention.

[0025] In the diagram: 1. Main body; 11. Upper part; 12. Lower part; 2. Binocular vision sensor; 3. Storage assembly; 31. Main tray; 32. Secondary tray; 4. Handling assembly; 41. First drive unit; 411. Through slot; 412. Threaded rod; 413. Guide rod; 414. First motor; 415. Lifting plate; 416. First gear; 417. Second motor; 42. Clamping arm; 421. Telescopic section; 422. Connecting section; 423. Clamping section; 424. Rack; 425. Pressure sensor; 5. Walking drive assembly; 51 511. Second drive unit; 512. Third motor; 513. Drive gear; 514. Left and right turn lead screws; 515. Left turn nut seat; 516. Right turn nut seat; 517. Tooth; 518. Left leg; 519. Right leg; 52. Caster wheel assembly; 540. Shaft; 541. Torsion box; 542. Steering seat; 543. Bracket; 544. Roller; 545. Driven sprocket; 546. Chain; 547. Drive sprocket; 548. Fifth motor; 549. Horizontal bar; 510. Handle; 511. Support rod; 512. Mounting hole; 53. Fixture. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Example

[0029] Reference Figures 1-5As shown, this embodiment provides an intelligent obstacle avoidance robot, including a main body 1. A controller is fixedly installed inside the main body 1, and a binocular vision sensor 2 connected to the controller is provided on the main body 1. A storage assembly 3 is provided on the top of the side wall of the main body 1, and a transport assembly 4 is connected to the middle of the main body 1. The transport assembly 4 includes a first drive unit 41 and two symmetrically arranged clamping arms 42. The first drive unit 41 is fixedly connected to the main body 1, and the first drive unit 41 drives the two clamping arms 42 to move closer or further away from each other. A walking drive assembly 5 is connected to the bottom of the main body 1. The walking drive assembly 5 includes a second drive unit 51 and two sets of symmetrically arranged legs. Each set of legs includes a left leg 52 and a right leg 53. The bottom of the left leg 52 and the right leg 53 are connected to a universal wheel assembly 54. The second drive unit 51 is fixedly connected to the main body 1, and the second drive unit 51 drives the left leg 52 and the right leg 53 to move closer or further away from each other.

[0030] In use, the binocular vision sensor 2 uses two cameras with a fixed spacing to capture left and right images of the restaurant and transmits them to the controller. The controller calculates the depth information of the obstacle from the robot, the distance information of the obstacle from the table, chair, or wall, and the size information of the obstacle itself. When the distance information is greater than the width of the robot, the controller controls the universal wheel assembly 54 to move, allowing the robot to move to one side of the obstacle and then move forward to avoid it. When the distance information is less than the width of the robot and the size information of the obstacle is less than the span of the robot, the controller controls the second drive unit 51 to move, making the distance between the left leg 52 and the right leg 53 greater than the width of the obstacle. Then the controller controls the universal wheel assembly 54 to move, allowing the robot to move forward and cross the obstacle. When the distance information is less than the width of the robot and the size information of the obstacle is greater than the span of the robot, the controller controls the first drive unit... The operation of drive unit 41 and the universal wheel assembly 54 causes the distance between the robot's two gripping arms 42 to exceed the width of the obstacle under the drive of drive unit 41. This allows the robot's gripping arms 42 to move forward to both sides of the obstacle under the action of the universal wheel assembly 54. Then, the controller controls drive unit 41 to move the two gripping arms 42 closer together to clamp the obstacle. Next, the controller controls drive unit 41 to move both gripping arms 42 and the obstacle upwards simultaneously. Then, the controller controls universal wheel assembly 54 to move both gripping arms 42 and the obstacle to one side of the obstacle's original position. Next, the controller controls drive unit 41 to move both gripping arms 42 and the obstacle downwards simultaneously. Then, the controller controls drive unit 41 to move the two gripping arms 42 away from each other to release the obstacle. Finally, the controller controls universal wheel assembly 54 to move, causing the robot to move to one side of the obstacle and then forward, bypassing the obstacle. The above process involves three obstacle avoidance methods: bypassing the obstacle, crossing the obstacle, and moving away from the obstacle. The combined application of these three methods makes the robot more flexible in obstacle avoidance, thus ensuring the reliability of the robot's movement.

[0031] In a further preferred embodiment, the clamping arm 42 includes a telescopic section 421, a connecting section 422, and a clamping section 423 connected vertically in sequence, with the telescopic section 421 and the clamping section 423 located on the same side of the connecting section 422. A rack 424 is fixedly connected to the top surface of the telescopic section 421, and a pressure sensor 425 is fixedly connected to the end face of the clamping section 423 away from the connecting section 422. The pressure sensor 425 is electrically connected to the controller.

[0032] In use, the rack 424 works in conjunction with the first drive unit 41 to bring the two gripping arms 42 closer together or further apart. The pressure sensor 425 can sense the pressure on the gripping section 423, thereby helping the controller determine whether the gripping section 423 has successfully gripped the obstacle.

[0033] In a further preferred embodiment, the first drive unit 41 includes a horizontal through-slot 411 penetrating the main body 1. A vertically arranged threaded rod 412 and a guide rod 413 are fixedly connected within the through-slot 411. The top end of the threaded rod 412 is connected to a first motor 414 fixed to the inner wall of the through-slot 411. A lifting plate 415 is threadedly connected to the threaded rod 412. The lifting plate 415 has guide holes corresponding to the guide rod 413. Both ends of the lifting plate 415 have storage slots, and telescopic sections 421 are slidably connected within the storage slots. Both ends of the top surface of the lifting plate 415 have clearance holes, and a first gear 416 is rotatably connected within the clearance holes. The first gear 416 is connected to a second motor 417 fixed to the lifting plate 415, and the first gear 416 meshes with a rack 424. Both the first motor 414 and the second motor 417 are connected to a controller.

[0034] In use, the first motor 414 can drive the threaded rod 412 to rotate, and the lifting plate 415 moves along the height direction of the threaded rod 412 under the guidance of the guide rod 413. At this time, the lifting of the clamping arm 42 can be realized. The second motor 417 can drive the first gear 416 to rotate. After the first gear 416 rotates, it can drive the rack 424 to move along the length direction of the storage groove, so that the two clamping arms 42 move closer or further away from each other, thereby realizing the clamping and release of the two clamping arms 42 on the obstacle.

[0035] In a further preferred embodiment, the second drive unit 51 includes a third motor 511, a drive gear 512, and two left-hand and right-hand lead screws 513. The third motor 511 and the drive gear 512 are both located within the inner cavity of the main body 1. The third motor 511 is fixedly connected to the main body 1, and its output shaft is fixedly connected to the drive gear 512. The two left-hand and right-hand lead screws 513 are horizontally symmetrically arranged and rotatably connected to the main body 1. The left-hand nut seats 514 on both left-hand and right-hand lead screws 513 are fixedly connected to the top end of the left leg 52, and the right-hand nut seats 515 on both left-hand and right-hand lead screws 513 are fixedly connected to the top end of the right leg 53. A ring of teeth 516, evenly distributed circumferentially, is fixedly connected to the middle of each of the two left-hand and right-hand lead screws 513, and these teeth 516 are adapted to and connected to the drive gear 512.

[0036] In use, the third motor 511 drives the active gear 512 to rotate. The cooperation between the active gear 512 and the teeth 516 enables the rotation of the active gear 512 to drive the two left and right helical screws 513 to rotate synchronously. After the two left and right helical screws 513 rotate synchronously, the left leg 52 and the right leg 53 can move closer to each other or further away from each other, thereby changing the robot's span.

[0037] In a further optimized design, two horizontal rods 6 are fixedly connected to the main body 1. The horizontal rods 6 are respectively arranged parallel above the two left-hand and right-hand screws 513, and the horizontal rods 6 are slidably connected to the left-hand nut seat 514 and the right-hand nut seat 515. Binocular vision sensors 2 are fixedly connected to the sides of the two horizontal rods 6 that are far apart from each other.

[0038] In use, the horizontal bar 6 can limit the movement of the left-hand nut seat 514 and the right-hand nut seat 515, ensuring that they can only translate along the length of the left and right helical screws 513, preventing them from rotating with the screws. Equipped with two binocular vision sensors 2, the robot in this embodiment can flexibly avoid obstacles when moving forward and backward.

[0039] In a further preferred embodiment, the caster wheel assembly 54 includes cylindrical grooves formed on the bottom surfaces of the left leg 52 and right leg 53. A rotating shaft 541 is rotatably connected to the top wall of the cylindrical grooves. A transmission gear is located in the middle of the side wall of the rotating shaft 541, meshing with a steering gear. The steering gear is connected to a fourth motor, which is fixedly connected to a torsion box 542 on the side wall of either the left leg 52 or the right leg 53. The bottom end of the rotating shaft 541 is fixedly connected to the top surface of the steering seat 543. A bracket 544 is fixedly connected to the bottom surface of the steering seat 543, and a roller 545 is rotatably connected between the two support plates of the bracket 544. A driven sprocket 546 is fixedly connected to one end of the central shaft of the roller 545, and the driven sprocket 546 is connected to a driving sprocket 548 via a chain 547. The driving sprocket 548 is fixedly connected to the output shaft of a fifth motor 549, which is fixedly connected to the side plate of the steering seat 543.

[0040] In operation, the fourth motor drives the steering gear to rotate, which in turn drives the transmission gear to rotate, thereby rotating the shaft 541. The rotation of the shaft 541 enables the roller 545 to turn. The fifth motor 549 drives the drive sprocket 548 to rotate, which in turn drives the driven sprocket 546 to rotate via the chain 547. The driven sprocket 546 then drives the central axis of the roller 545 to rotate, thus enabling the roller 545 to roll. The combined use of the fourth and fifth motors 549 enables the omnidirectional wheel assembly 54 to move forward, backward, and turn.

[0041] In a further preferred embodiment, the storage component 3 includes a main tray 31 fixedly connected to the main body 1. Both ends of the main tray 31 are provided with receiving grooves, and a secondary tray 32 is slidably connected in the receiving grooves.

[0042] When in use, removing the secondary tray 32 from the receiving slot can increase the space for placing plates.

[0043] In a further optimized design, a handle 7 is fixedly connected to the outer end face of the sub-tray 32, a first limiting block is symmetrically fixedly connected to the bottom surface of the sub-tray 32 away from the handle 7, and a second limiting block is symmetrically fixedly connected to the bottom surface of the receiving groove near the groove opening.

[0044] When in use, the cooperation of the first and second limit blocks can prevent the secondary tray 32 from falling out of the receiving groove.

[0045] In a further preferred embodiment, the main body 1 includes an upper part 11 and a lower part 12 arranged vertically. The storage component 3 is located in the upper part 11, and the walking drive component 5 is located in the lower part 12. Two support rods 8 are symmetrically and fixedly connected to the top surface of the lower part 12, and the support rods 8 are provided with mounting holes 9 arranged along their length. The bottom surface of the upper part 11 is provided with slots corresponding to the support rods 8, and the side wall of the upper part 11 is provided with through holes communicating with the slots. A fastener 10 is threaded into the through hole, and the fastener 10 is adapted to the mounting hole 9.

[0046] In use, connecting the fastener 10 to the mounting holes 9 at different heights can change the height of the upper part 11, thereby changing the height of the main tray 31 and the secondary tray 32, so as to adapt to the use of dining tables and chairs of different heights.

[0047] Therefore, the intelligent obstacle avoidance robot of the present invention, which adopts the above structure, can improve the robot's flexibility when avoiding obstacles, thereby ensuring the reliability of the robot's movement.

[0048] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0049] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An intelligent obstacle avoidance android, characterized in that: The device includes a main body (1), a controller fixedly installed inside the main body (1), a binocular vision sensor (2) connected to the controller on the main body (1), a storage assembly (3) on the top of the side wall of the main body (1), and a transport assembly (4) connected to the middle of the main body (1). The transport assembly (4) includes a first drive unit (41) and two symmetrically arranged clamping arms (42). The first drive unit (41) is fixedly connected to the main body (1) and drives the two clamping arms (42). The main body (1) is connected to a walking drive assembly (5) at its bottom. The walking drive assembly (5) includes a second drive unit (51) and two sets of symmetrically arranged support legs. Each set of support legs includes a left leg (52) and a right leg (53). The bottom of the left leg (52) and the right leg (53) are connected to a universal wheel assembly (54). The second drive unit (51) is fixedly connected to the main body (1). The second drive unit (51) drives the left leg (52) and the right leg (53) to move closer to or further away from each other. The clamping arm (42) includes a telescopic section (421), a connecting section (422) and a clamping section (423) connected vertically in sequence. The telescopic section (421) and the clamping section (423) are located on the same side of the connecting section (422). A rack (424) is fixedly connected to the top surface of the telescopic section (421). The first drive unit (41) includes a through groove (411) that runs horizontally through the main body (1). A vertically arranged threaded rod (412) and a guide rod (413) are fixedly connected in the through groove (411). The top end of the threaded rod (412) is connected to a first motor (414) fixed on the inner wall of the through groove (411). A lifting plate (415) is threadedly connected to the threaded rod (412). The lifting plate (415) is provided with a guide hole corresponding to the guide rod (413). A storage groove is provided on both ends of the lifting plate (415). The telescopic section (421) is slidably connected in the storage groove. Both ends of the top surface of the lifting plate (415) are provided with clearance holes. A first gear (416) is rotatably connected in the clearance holes. The first gear (416) is connected to a second motor (417) fixed on the lifting plate (415). The first gear (416) is meshed with the rack (424). The second drive unit (51) includes a third motor (511), a drive gear (512), and two left and right helical screws (513). The third motor (511) and the drive gear (512) are both located in the inner cavity of the main body (1). The third motor (511) is fixedly connected to the main body (1), and the output shaft of the third motor (511) is fixedly connected to the drive gear (512). The two left and right helical screws (513) are arranged horizontally and symmetrically and are rotatably connected to the main body (1). Next, the left-hand nut seat (514) on both left-hand and right-hand screws (513) is fixedly connected to the top end of the left leg (52), and the right-hand nut seat (515) on both left-hand and right-hand screws (513) is fixedly connected to the top end of the right leg (53). A ring of teeth (516) evenly distributed along its circumference is fixedly connected to the middle of both left-hand and right-hand screws (513), and the teeth (516) on both left-hand and right-hand screws (513) are adapted to and connected to the drive gear (512).

2. The intelligent obstacle avoidance robot according to claim 1, characterized in that: A pressure sensor (425) is fixedly connected to the end face of the clamping section (423) away from the connecting section (422), and the pressure sensor (425) is electrically connected to the controller.

3. The intelligent obstacle avoidance robot according to claim 2, characterized in that: Both the first motor (414) and the second motor (417) are connected to the controller.

4. The intelligent obstacle avoidance robot according to claim 1, characterized in that: Two horizontal rods (6) are fixedly connected to the main body (1). The horizontal rods (6) are respectively arranged parallel above the two left and right spiral screws (513). The horizontal rods (6) are slidably connected to the left spiral nut seat (514) and the right spiral nut seat (515). The binocular vision sensor (2) is fixedly connected to the two horizontal rods (6) on their opposite sides.

5. The intelligent obstacle avoidance robot according to claim 1, characterized in that: The universal wheel assembly (54) includes cylindrical grooves formed on the bottom surfaces of the left leg (52) and the right leg (53). A rotating shaft (541) is rotatably connected to the top wall of the cylindrical groove. A transmission gear is provided in the middle of the side wall of the rotating shaft (541). The transmission gear meshes with a steering gear. The steering gear is connected to a fourth motor. The fourth motor is fixedly connected in a torsion box (542) on the side wall of the left leg (52) or the right leg (53). The bottom end of the rotating shaft (541) is fixedly connected to the top surface of the steering seat (543). Next, a bracket (544) is fixedly connected to the bottom surface of the steering seat (543), and a roller (545) is rotatably connected between the two side plates of the bracket (544). A driven sprocket (546) is fixedly connected to one end of the central shaft of the roller (545). The driven sprocket (546) is connected to the driving sprocket (548) through a chain (547). The driving sprocket (548) is fixedly connected to the output shaft of the fifth motor (549). The fifth motor (549) is fixedly connected to the side plate of the steering seat (543).

6. The intelligent obstacle avoidance robot according to claim 1, characterized in that: The storage component (3) includes a main tray (31) fixedly connected to the main body (1). Both ends of the main tray (31) are provided with receiving grooves, and a secondary tray (32) is slidably connected in the receiving grooves.

7. The intelligent obstacle avoidance robot according to claim 6, characterized in that: A handle (7) is fixedly connected to the outer end face of the sub-tray (32). A first limiting block is symmetrically fixedly connected to the bottom surface of the sub-tray (32) away from the handle (7). A second limiting block is symmetrically fixedly connected to the bottom surface of the receiving groove near the groove opening.

8. The intelligent obstacle avoidance robot according to claim 1, characterized in that: The main body (1) includes an upper part (11) and a lower part (12) arranged vertically. The storage component (3) is located in the upper part (11), and the walking drive component (5) is located in the lower part (12). The top surface of the lower part (12) is symmetrically and fixedly connected to two support rods (8). The support rods (8) are provided with mounting holes (9) arranged along their length direction. The bottom surface of the upper part (11) is provided with slots corresponding to the support rods (8). The side wall of the upper part (11) is provided with through holes that communicate with the slots. The through holes are threaded with fasteners (10), and the fasteners (10) are adapted to the mounting holes (9).

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