CN113400328A - Intelligent interaction robot for blind indoor guidance - Google Patents

Abstract

The invention relates to the technical field of robots, and discloses an intelligent interactive robot for blind indoor guidance, which comprises a box body, wherein the front part of the box body is connected with an ultrasonic detector through a bolt, the inner wall of the box body is provided with an adjusting mechanism, the inner wall of the adjusting mechanism is provided with an inner box, the front part and the rear part of the inner box are respectively connected with a front camera and a rear camera through bolts, the rear part of the box body is provided with a traction mechanism, the bottom wall inside the box body is provided with a transmission mechanism, the inner wall of the box body is welded with a partition board, and the partition board is positioned below the adjusting mechanism. Thereby causing the user's head to collide therewith and affecting safety.

Description

Intelligent interaction robot for blind indoor guidance

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent interactive robot for blind people indoor guidance.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, the earliest robot is a puppet robot built by the inventor of the inventor according to the image of Liu 2529, a mechanism is applied, and the robot has the basic characteristics of sitting, standing, raking, lying and the like, can assist or even replace the human to complete dangerous, heavy and complex work, improves the working efficiency and quality, serves the human life, and expands or extends the activity and capability range of the human.

The blind guiding robot in the market can only observe large obstacles on the ground, cannot notice overhead objects of a user, and then the user sitting in the using process can possibly cause head collision, so that the potential safety hazard is large.

Disclosure of Invention

The invention aims to solve the technical problem of providing an intelligent interactive robot for indoor guidance of blind people aiming at the defects in the prior art.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides an intelligent interaction robot for indoor guide of blind person, includes the box, there is ultrasonic detector the anterior of box through bolted connection, the inner wall of box is provided with guiding mechanism, guiding mechanism's inner wall is provided with the inner box, there are leading camera and rear camera the anterior of inner box and rear portion through bolted connection respectively, the rear portion of box is provided with drive mechanism, the inside diapire of box is provided with drive mechanism, the inner wall welding of box has the baffle, and the baffle is located guiding mechanism's below.

Preferably, guiding mechanism is including the outer container, the inner wall of outer container rotates and is connected with the gear No. one, the inner wall sliding connection of outer container has the inside casing, tooth has all been welded No. one to the rear portion of inside casing and the inner wall of box, tooth has No. two all been welded to the inner wall of outer container and the rear portion of inner box, the inner wall of inside casing rotates and is connected with the gear No. two, and the gear No. two is provided with four, and four gear No. two all use the central line of box as the symmetry axis rectangular array respectively, make the robot can stretch out and draw back more steady.

Preferably, the surface of a gear and the surface intermeshing of a tooth, the surface intermeshing of No. two gears and No. two teeth, the bottom of outer container and the top of baffle be in contact with each other, the surface of outer container and the inner wall sliding connection of box, the diapire of the inside of outer container and the bottom of inner box be in contact with each other, the inner wall of inside casing and the surface sliding connection of inner box can support the outer box through the baffle, prevent that the outer box from falling down and the drive mechanism contact, and then lead to the damage of device.

Preferably, drive mechanism is including motor and No. three bevel gears, the output welding of motor has the pivot, No. three bevel gear's axle center department welding has the screw rod, the bottom welding of box has the fixed block, the inner wall of fixed block rotates and is connected with the transmission shaft, the skin weld of transmission shaft has No. four bevel gears, the equal fixed mounting in both ends of transmission shaft has the gyro wheel, and the auto-lock can be realized to the screw thread on the screw rod, consequently can keep the extension state always after the robot extension, prevents the robot automatic re-setting, and then causes the unable normal work of robot.

Preferably, the surface of the motor is connected to the bottom of the box body through a bolt, a switching device is arranged at the rear end of the rotating shaft, the surface of the screw is rotatably connected with the inner wall of the partition plate, the surface of the screw is in threaded connection with the inner wall of the outer box, and the motor can drive the robot to extend and move simultaneously, so that the number of the motors to be placed can be reduced, and the investment in cost is saved.

Preferably, the switching device comprises a sleeve, a first bevel gear is welded on the surface of the sleeve, a shaft sleeve is sleeved on the surface of the sleeve, a second bevel gear is welded at the rear end of the sleeve, an electric push rod is fixedly connected on the surface of the shaft sleeve through a connecting rod, and a spline is arranged on the surface of the rotating shaft, so that the rotating shaft can slide relative to the sleeve but cannot rotate relative to the sleeve.

Preferably, the inner wall of the sleeve is in sliding connection with the surface of the rotating shaft, the surface of the first bevel gear is meshed with the surface of the third bevel gear, the surface of the electric push rod is connected to the bottom of the box body through a bolt, and the electric push rod can realize the extension and movement of the robot to separate the operation, so that the collision between the electric push rod and the robot is prevented, and further the damage to parts is avoided.

Preferably, drive mechanism is including the transfer line, the skin weld of transfer line has the worm wheel, the skin weld of transfer line has the handle, the surface toothing of worm wheel has the worm, the bottom welding of worm has a belt pulley, the surface of a belt pulley is connected through the surface transmission of belt and No. two belt pulleys, and the auto-lock can be realized in the transmission of worm wheel worm, therefore the handle can be locked after the adjustment position, can not automatic re-setting.

Preferably, the surface of transfer line and worm wheel all is connected with the inner wall rotation of box, the axle center department of a belt pulley is connected with the diapire rotation of box inside, the axle center department of No. two belt pulleys and the surface welded fastening of screw rod, the surface of handle is provided with the annular knurl, can increase the frictional force of handle, prevents that the user from taking place to skid when holding.

By adopting the technical scheme, the invention can bring the following beneficial effects:

1. this an intelligent interaction robot for blind person indoor guidance can make the robot extend through guiding mechanism and drive mechanism for the robot is as high as the user, thereby leads blind in-process leading camera in the robot and can observe the barrier of top, prevents to dodge subaerial barrier and does not dodge the barrier of top, and then leads to user's head rather than colliding with, and then influences the security.

2. This an intelligent interaction robot for indoor guide of blind person can make the robot adjust the angle of handle in the extension through drive mechanism and drive mechanism, and then makes the handle adjust by oneself according to user's height, and convenience of customers carries out the gripping, greatly increased comfort level.

3. This an intelligent interaction robot for indoor guide of blind person can detect the barrier that the camera is difficult to observe on the road surface through ultrasonic detector to can help the user to avoid less barrier, further increase the security of robot.

4. This an intelligent interaction robot for indoor guide of blind person can make the removal and the adjustment of robot operate respectively through the auto-change over device among the drive mechanism, prevents that both from going on simultaneously, and then causes the interference, causes the unable normal use of robot, is unfavorable for using widely.

5. This an intelligent interaction robot for indoor guide of blind person can drive the removal of robot, the adjustment of robot height, the adjustment of robot handle position simultaneously through a motor to can reduce the quantity of placing of motor, and then reduce the input of cost, can also reduce occuping of space, realize the synchronous operation between each mechanism, work efficiency can promote.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an intelligent interactive robot for blind person indoor guidance according to the present invention;

FIG. 2 is a cross-sectional view of the overall structure of an intelligent interactive robot for blind person indoor guidance, which is provided by the invention;

FIG. 3 is a schematic diagram of an intelligent interactive robot adjusting mechanism for blind person indoor guidance according to the present invention;

FIG. 4 is a schematic diagram of a transmission mechanism of an intelligent interactive robot for blind person indoor guidance according to the present invention;

FIG. 5 is a schematic diagram of an intelligent interactive robot switching device for blind indoor guidance according to the present invention;

FIG. 6 is a partially enlarged view of an intelligent interactive robot switching device for blind person indoor guidance according to the present invention;

fig. 7 is a schematic diagram of an intelligent interactive robot traction mechanism for blind person indoor guidance according to the invention.

In the figure: 1. a box body; 2. an ultrasonic detector; 3. an adjustment mechanism; 31. an outer box; 32. a first gear; 33. a first tooth; 34. an inner frame; 35. a second gear; 36. a second tooth; 4. an inner box; 5. a front camera; 6. a rear camera; 7. a transmission mechanism; 71. a motor; 72. a rotating shaft; 73. a switching device; 731. a sleeve; 732. a first bevel gear; 733. a shaft sleeve; 734. an electric push rod; 735. a second bevel gear; 74. a third bevel gear; 75. a screw; 76. a fixed block; 77. a drive shaft; 78. a fourth bevel gear; 79. a roller; 8. a traction mechanism; 81. a transmission rod; 82. a worm gear; 83. a handle; 84. a worm; 85. a first belt pulley; 86. a second belt pulley; 9. a separator.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

The intelligent interactive robot for the indoor guidance of the blind comprises a box body 1, the front part of the box body 1 is connected with anultrasonic detector 2 through bolts, the inner wall of the box body 1 is provided with anadjusting mechanism 3, the inner wall of theadjusting mechanism 3 is provided with aninner box 4, the front part and the rear part of theinner box 4 are respectively connected with afront camera 5 and arear camera 6 through bolts, the rear part of the box body 1 is provided with atraction mechanism 8, the bottom wall inside the box body 1 is provided with a transmission mechanism 7, the inner wall of the box body 1 is welded with a partition board 9, and the partition board 9 is positioned below theadjusting mechanism 3

Theadjusting mechanism 3 can be supported through the partition plate 9, and theadjusting mechanism 3 is prevented from contracting and exceeding the stroke and contacting with thetraction mechanism 8, so that the device is damaged, and the maintenance cost is increased.

In this embodiment, theadjusting mechanism 3 includes anouter box 31, the inner wall of theouter box 31 is rotatably connected with afirst gear 32, the inner wall of theouter box 31 is slidably connected with aninner frame 34,first teeth 33 are welded on the rear portion of theinner frame 34 and the inner wall of the box body 1,second teeth 36 are welded on the inner wall of theouter box 31 and the rear portion of theinner box 4, and asecond gear 35 is rotatably connected on the inner wall of theinner frame 34.

No. twogears 35 are provided with four, and two are a set of central line symmetric distribution with box 1, and symmetric distribution's No. twogears 35 can make theinterior case 4 more steady go up and down, increase the stability of robot, reduce accident's emergence.

Further, the surface of thefirst gear 32 is meshed with the surface of thefirst teeth 33, the surface of thesecond gear 35 is meshed with the surface of thesecond teeth 36, the bottom of theouter box 31 is contacted with the top of the partition board 9, the surface of theouter box 31 is slidably connected with the inner wall of the box body 1, the bottom wall of the inner part of theouter box 31 is contacted with the bottom of theinner box 4, and the inner wall of theinner frame 34 is slidably connected with the surface of theinner box 4.

The robot can stretch out and is as high as a user through theadjusting mechanism 3, so that thefront camera 5 can observe the obstacles above the robot in the blind guiding process of the robot, the obstacle on the ground is prevented from being avoided, the obstacle above the robot is not avoided, the head of the user collides with the head of the user, and the safety is further influenced.

The transmission mechanism 7 comprises amotor 71 and athird bevel gear 74, a rotatingshaft 72 is welded at the output end of themotor 71, ascrew 75 is welded at the axis of thethird bevel gear 74, a fixingblock 76 is welded at the bottom of the box body 1, atransmission shaft 77 is rotatably connected to the inner wall of the fixingblock 76, afourth bevel gear 78 is welded on the surface of thetransmission shaft 77, androllers 79 are fixedly mounted at two ends of thetransmission shaft 77.

The bevel gear in the device needs quenching treatment during manufacturing, can enable the supercooled austenite of the bevel gear to carry out martensite or bainite transformation to obtain a martensite or bainite structure, and then is matched with tempering at different temperatures to greatly improve the strength, hardness, wear resistance, fatigue strength, toughness and the like of the steel.

In addition, the surface of themotor 71 is connected to the bottom of the box 1 by bolts, the rear end of therotating shaft 72 is provided with aswitching device 73, the surface of thescrew 75 is rotatably connected with the inner wall of the partition 9, and the surface of thescrew 75 is in threaded connection with the inner wall of theouter box 31.

Themotor 71 can simultaneously drive the robot to move, adjust the height of the robot and adjust the position of the robot handle, so that the placing quantity of themotor 71 can be reduced, the cost input is reduced, the occupation of space can be reduced, synchronous operation among all mechanisms is realized, and the working efficiency is improved.

In addition, the switchingdevice 73 includes asleeve 731, afirst bevel gear 732 is welded on the surface of thesleeve 731, ashaft sleeve 733 is sleeved on the surface of thesleeve 731, asecond bevel gear 735 is welded at the rear end of thesleeve 731, and anelectric push rod 734 is fixedly connected on the surface of theshaft sleeve 733 through a connecting rod.

The surface of therotating shaft 72 is provided with splines, so that the rotatingshaft 72 and thesleeve 731 can slide relatively but cannot rotate relatively, and therotating shaft 72 cannot drive thesleeve 731 to rotate, so that the device cannot work.

Example 2

As shown in fig. 5 to 7, in the present embodiment based on embodiment 1, the inner wall of thesleeve 731 is slidably connected to the surface of therotating shaft 72, the surface of thefirst bevel gear 732 is engaged with the surface of thethird bevel gear 74, and the surface of theelectric push rod 734 is connected to the bottom of the case 1 by bolts.

The movement and adjustment of the robot can be operated respectively by theelectric push rod 734, and the robot and the adjustment are prevented from being operated simultaneously, so that interference is prevented, the robot cannot be normally used, and popularization and use are not facilitated.

Thetraction mechanism 8 comprises atransmission rod 81, aworm wheel 82 is welded on the surface of thetransmission rod 81, ahandle 83 is welded on the surface of thetransmission rod 81, aworm 84 is meshed on the surface of theworm wheel 82, afirst belt pulley 85 is welded at the bottom end of theworm 84, and the surface of thefirst belt pulley 85 is in transmission connection with the surface of asecond belt pulley 86 through a belt.

The belt transmission is selected for the device because the belt has good elasticity, impact and vibration can be alleviated in work, the movement is stable and noiseless, and the belt slips on a wheel when the load is overlarge, so that other parts can be prevented from being damaged, and the safety protection effect is achieved.

The surfaces of thetransmission rod 81 and theworm gear 82 are rotatably connected with the inner wall of the box body 1, the axis of thefirst belt pulley 85 is rotatably connected with the bottom wall inside the box body 1, and the axis of thesecond belt pulley 86 is fixedly welded with the surface of thescrew 75.

Can make the robot adjusthandle 83's angle when the extension throughdrive mechanism 8, and then makehandle 83 adjust by oneself according to user's height, convenience of customers grasps, greatly increased comfort level, andworm wheel 82 andworm 84 can carry out the auto-lock, consequently handle 83 can be locked after the adjustment position, can not automatic re-setting, prevents its automatic re-setting, leads to the unable normal use of robot.

In the working principle, themotor 71 drives the rotatingshaft 72 to rotate, the rotatingshaft 72 drives thesleeve 731 to rotate, thesleeve 731 drives thefirst bevel gear 732 to rotate, thefirst bevel gear 732 drives thethird bevel gear 74 to rotate, thethird bevel gear 74 drives thescrew 75 to rotate, thescrew 75 drives theouter box 31 to move upwards, theouter box 31 drives thefirst gear 32 to move upwards, however, thefirst teeth 33 on the inner wall of the box body 1 limit thefirst gear 32, and at this time, thefirst gear 32 rotates, thefirst gear 32 pushes theinner frame 34 upwards through thefirst teeth 33 at the rear part of theinner frame 34, theinner frame 34 moves upwards to drive thesecond gear 35 to move upwards, however, thesecond teeth 36 on the inner wall of theouter box 31 limit thesecond gear 35, at this time, thesecond gear 35 rotates, thesecond gear 35 pushes theinner box 4 upwards through thesecond teeth 36 at the rear part of theinner box 4, at this time, the whole robot extends, and theinner box 4 drives thefront camera 5 and therear camera 6 to move upwards.

When therear camera 6 is parallel to the face of the user, the robot stops extending, and at the same time, the robot is as high as the user, so that thefront camera 5 can observe the obstacle above the robot in the blind guiding process, the obstacle above the robot is prevented from being avoided and not avoided, the head of the user collides with the head of the user, and safety is affected, meanwhile, thescrew 75 drives thesecond belt pulley 86 to rotate, thesecond belt pulley 86 drives thefirst belt pulley 85 to rotate, thefirst belt pulley 85 drives theworm 84 to rotate, theworm 84 drives theworm gear 82 to rotate, theworm gear 82 drives thetransmission rod 81 to rotate, thetransmission rod 81 drives thehandle 83 to rotate, so that the angle of thehandle 83 can be adjusted while the robot extends, thehandle 83 can be adjusted according to the height of the user, the robot can grip the user conveniently, and comfort degree is greatly increased.

Theelectric push rod 734 drives theshaft sleeve 733 to move backwards, theshaft sleeve 733 drives thesleeve 731 to move backwards, thesleeve 731 drives thefirst bevel gear 732 and thesecond bevel gear 735 to move rightwards, at this time, thefirst bevel gear 732 is not meshed with thethird bevel gear 74, thesecond bevel gear 735 is meshed with thefourth bevel gear 78, at this time, the rotatingshaft 72 drives thesecond bevel gear 735 to rotate through thesleeve 731, thesecond bevel gear 735 drives thefourth bevel gear 78 to rotate, thefourth bevel gear 78 drives thetransmission shaft 77 to rotate, thetransmission shaft 77 drives theroller 79 to rotate, theroller 79 drives the robot to move, obstacles which are difficult to observe by a camera on a road surface can be detected through theultrasonic detector 2, and therefore a user can be helped to avoid small obstacles, and the safety of the robot is further improved.

The present invention provides an intelligent interactive robot for blind indoor guidance, and the method and the way for implementing the technical scheme are many, the above description is only the preferred embodiment of the present invention, it should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and embellishments can be made, and these should be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims (9)

Translated fromChinese

1.一种用于盲人室内导引的智能交互机器人，包括箱体(1)，其特征在于：所述箱体(1)的前部通过螺栓连接有超声波探测器(2)，所述箱体(1)的内壁设置有调整机构(3)，所述调整机构(3)的内壁设置有内箱(4)，所述内箱(4)的前部和后部分别通过螺栓连接有前置摄像头(5)和后置摄像头(6)，所述箱体(1)的后部设置有牵引机构(8)，所述箱体(1)内部的底壁设置有传动机构(7)，所述箱体(1)的内壁焊接有隔板(9)，且隔板(9)位于调整机构(3)的下方。1. An intelligent interactive robot for indoor guidance for the blind, comprising a box body (1), characterized in that: the front part of the box body (1) is connected with an ultrasonic detector (2) by bolts, and the box body (1) is connected with an ultrasonic detector (2). The inner wall of the body (1) is provided with an adjustment mechanism (3), the inner wall of the adjustment mechanism (3) is provided with an inner box (4), and the front part and the rear part of the inner box (4) are respectively connected with a front part by bolts. a rear camera (5) and a rear camera (6), a traction mechanism (8) is arranged at the rear of the box body (1), and a transmission mechanism (7) is arranged on the bottom wall inside the box body (1), A partition plate (9) is welded on the inner wall of the box body (1), and the partition plate (9) is located below the adjustment mechanism (3).2.根据权利要求1所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述调整机构(3)包括有外箱(31)，所述外箱(31)的内壁转动连接有一号齿轮(32)，所述外箱(31)的内壁滑动连接有内框(34)，所述内框(34)的后部和箱体(1)的内壁均焊接有一号齿牙(33)，所述外箱(31)的内壁和内箱(4)的后部均焊接有二号齿牙(36)，所述内框(34)的内壁转动连接有二号齿轮(35)。2 . The intelligent interactive robot for indoor guidance for the blind according to claim 1 , wherein the adjustment mechanism ( 3 ) comprises an outer box ( 31 ), and the inner wall of the outer box ( 31 ) has an inner wall. A No. 1 gear (32) is rotatably connected, an inner frame (34) is slidably connected to the inner wall of the outer box (31), and a No. 1 gear is welded to the rear of the inner frame (34) and the inner wall of the box (1). teeth (33), the inner wall of the outer box (31) and the rear of the inner box (4) are welded with the second teeth (36), and the inner wall of the inner frame (34) is rotatably connected with the second gear ( 35).3.根据权利要求2所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述一号齿轮(32)的表面与一号齿牙(33)的表面相互啮合，所述二号齿轮(35)和二号齿牙(36)的表面相互啮合，所述外箱(31)的底部与隔板(9)的顶部相互接触，所述外箱(31)的表面与箱体(1)的内壁滑动连接，所述外箱(31)内部的底壁与内箱(4)的底部相互接触，所述内框(34)的内壁与内箱(4)的表面滑动连接。3. The intelligent interactive robot for indoor guidance for the blind according to claim 2, characterized in that: the surface of the No. 1 gear (32) and the surface of the No. 1 tooth (33) mesh with each other, so The surfaces of the No. 2 gear (35) and the No. 2 teeth (36) mesh with each other, the bottom of the outer case (31) and the top of the partition (9) are in contact with each other, and the surface of the outer case (31) is in contact with each other. The inner wall of the box (1) is slidably connected, the bottom wall inside the outer box (31) and the bottom of the inner box (4) are in contact with each other, and the inner wall of the inner frame (34) slides with the surface of the inner box (4) connect.4.根据权利要求2所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述传动机构(7)包括有电机(71)和三号锥齿轮(74)，所述电机(71)的输出端焊接有转轴(72)，所述三号锥齿轮(74)的轴心处焊接有螺杆(75)，所述箱体(1)的底部焊接有固定块(76)，所述固定块(76)的内壁转动连接有传动轴(77)，所述传动轴(77)的表面焊接有四号锥齿轮(78)，所述传动轴(77)的两端均固定安装有滚轮(79)。4. The intelligent interactive robot for indoor guidance for the blind according to claim 2, wherein the transmission mechanism (7) comprises a motor (71) and a third bevel gear (74), the A rotating shaft (72) is welded to the output end of the motor (71), a screw (75) is welded to the shaft center of the No. 3 bevel gear (74), and a fixed block (76) is welded to the bottom of the box body (1). The inner wall of the fixed block (76) is rotatably connected with a transmission shaft (77), the surface of the transmission shaft (77) is welded with a No. 4 bevel gear (78), and both ends of the transmission shaft (77) are fixed Rollers (79) are installed.5.根据权利要求4所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述电机(71)的表面通过螺栓连接在箱体(1)的底部，所述转轴(72)的后端设置有切换装置(73)，所述螺杆(75)的表面与隔板(9)的内壁转动连接，所述螺杆(75)的表面与外箱(31)的内壁螺纹连接。5. The intelligent interactive robot for indoor guidance for the blind according to claim 4, characterized in that: the surface of the motor (71) is connected to the bottom of the box (1) by bolts, and the rotating shaft ( The rear end of 72) is provided with a switching device (73), the surface of the screw (75) is rotatably connected to the inner wall of the partition plate (9), and the surface of the screw (75) is threadedly connected to the inner wall of the outer box (31). .6.根据权利要求5所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述切换装置(73)包括有套筒(731)，所述套筒(731)的表面焊接有一号锥齿轮(732)，所述套筒(731)的表面套接有轴套(733)，所述套筒(731)的后端焊接有二号锥齿轮(735)，所述轴套(733)的表面通过连杆固定连接有电动推杆(734)。6 . The intelligent interactive robot for indoor guidance for the blind according to claim 5 , wherein the switching device ( 73 ) comprises a sleeve ( 731 ), and the surface of the sleeve ( 731 ) comprises a sleeve ( 731 ). A No. 1 bevel gear (732) is welded, a shaft sleeve (733) is sleeved on the surface of the sleeve (731), and a No. 2 bevel gear (735) is welded to the rear end of the sleeve (731). An electric push rod (734) is fixedly connected to the surface of the sleeve (733) through a connecting rod.7.根据权利要求6所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述套筒(731)的内壁与转轴(72)的表面滑动连接，所述一号锥齿轮(732)的表面与三号锥齿轮(74)的表面相互啮合，所述电动推杆(734)的表面通过螺栓连接在箱体(1)的底部。7. The intelligent interactive robot for indoor guidance for the blind according to claim 6, characterized in that: the inner wall of the sleeve (731) is slidably connected to the surface of the rotating shaft (72), and the No. 1 cone The surface of the gear (732) meshes with the surface of the third bevel gear (74), and the surface of the electric push rod (734) is connected to the bottom of the box (1) by bolts.8.根据权利要求4所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述牵引机构(8)包括有传动杆(81)，所述传动杆(81)的表面焊接有蜗轮(82)，所述传动杆(81)的表面焊接有把手(83)，所述蜗轮(82)的表面啮合有蜗杆(84)，所述蜗杆(84)的底端焊接有一号皮带轮(85)，所述一号皮带轮(85)的表面通过皮带与二号皮带轮(86)的表面传动连接。8. The intelligent interactive robot for indoor guidance for the blind according to claim 4, wherein the traction mechanism (8) comprises a transmission rod (81), and the surface of the transmission rod (81) is A worm wheel (82) is welded, a handle (83) is welded on the surface of the transmission rod (81), a worm (84) is engaged with the surface of the worm wheel (82), and the bottom end of the worm (84) is welded with a No. A pulley (85), the surface of the No. 1 pulley (85) is drive-connected with the surface of the No. 2 pulley (86) through a belt.9.根据权利要求8所述的一种用于盲人室内导引的智能交互机器人，其特征在于：所述传动杆(81)和蜗轮(82)的表面均与箱体(1)的内壁转动连接，所述一号皮带轮(85)的轴心处与箱体(1)内部的底壁转动连接，所述二号皮带轮(86)的轴心处与螺杆(75)的表面焊接固定。9 . The intelligent interactive robot for indoor guidance for the blind according to claim 8 , wherein the surfaces of the transmission rod ( 81 ) and the worm gear ( 82 ) both rotate with the inner wall of the box body ( 1 ). 10 . The axis of the No. 1 pulley (85) is rotatably connected to the bottom wall inside the box (1), and the axis of the No. 2 pulley (86) is welded and fixed to the surface of the screw (75).

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