CN101628527B - Wheels of mobile robot with non-contact transverse sensory ability - Google Patents
Wheels of mobile robot with non-contact transverse sensory ability Download PDFInfo
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- CN101628527B CN101628527B CN2009100726436A CN200910072643A CN101628527B CN 101628527 B CN101628527 B CN 101628527B CN 2009100726436 A CN2009100726436 A CN 2009100726436A CN 200910072643 A CN200910072643 A CN 200910072643A CN 101628527 B CN101628527 B CN 101628527B
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- wheel
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- wheel rim
- detecting sensor
- wheel hub
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Abstract
The invention provides wheels of a mobile robot with non-contact transverse sensory ability which comprise a perception sensor reflection device (2), a perception sensor emission device (4), an electrical machine component (5), a clamping sleeve (6), a wheel arm (7), a wheel hub (8), a cone-shaped sleeve (10), an elastic wheel rim exterior plate (13), an elastic wheel rim interior panel (18), an elastic tyre (14), a non-contact temperature sensor (15) and a bracket (20). The wheels of the mobile robot have the advantages that the wheels have simple and compact structure, increase the traction capability, improve the stability of the straight linear driving and turning performance, increase the area of contacting ground, can adapt to various environments such as common roads, firm ground and sand environment, simultaneously have stronger through capacity and little steering resistance in sand environment and sensory ability on environment temperature and barrier.
Description
(1) technical field
What the present invention relates to is a kind of car wheel structure, and specifically a kind of mainly is to be applied to mobile navigation flat-bed car wheel structure.
(2) background technology
Wheeled running mechanism is simple and reliable for structure with it, at a high speed stable, capacity usage ratio is high, good operability and crossing ability are good and be widely used in mobile robot and the vehicle.Mobile Robotics Navigation platform for simulation ground and space environment, wheel as robot traveling critical component, also exist a lot of problems, concentrated expression is as follows: (1) compatible with environment is poor, the wheel form is fixed, its crossing ability can not adapt to different environment, as hardstand, soft terrain and sand ground.(2) poor to the perception of environment, wheel does not have the perception to the parameter of environment such as temperature, obstacle.(3) in the sand ground environment, for same wheel, its tractive force and cornering resistance can not be taken into account.The Combination property of promptly drawing, turning to is poor.
Report related with the present patent application has: Chinese patent application number is in 200610151147.6 the patent document, disclosed " multipurpose test system of the wheel movement performance of planetary detecting robot car "; Chinese patent application number is disclosed " a kind of three-dimensional environment perception method for mobile robot " etc. in 200710034343 the patent document.
(3) summary of the invention
The object of the present invention is to provide a kind of energy to adapt to multiple environment; Have carrying capacity stronger in the sand ground environment and less cornering resistance; And has a kind of wheels of mobile robot with non-contact transverse sensory ability to the perception of ambient temperature and obstacle.
The object of the present invention is achieved like this:
Its composition comprises detecting sensor reflection device 2, detecting sensor ballistic device 4, electric machine assembly 5, retaining sleeve 6, wheel arm 7, wheel hub 8, taper sheath 10, elasticity wheel rim outer panel 13, elasticity wheel rim interior plate 18, elastic tyre 14, non-contact temperature sensor 15, support 20; Captive joint with a side of retaining sleeve 6 in the lower end of wheel arm 7, electric machine assembly 5 is fixed in the retaining sleeve 6, be rotationally connected by taper sheath 10 between the output shaft 19 of electric machine assembly 5 and the wheel hub 8, the outside of wheel hub 8 curved surfaces is fixed with elasticity wheel rim outer panel 13, the inboard of wheel hub 8 curved surfaces is fixed with elasticity wheel rim interior plate 18, on the curved surface of the wheel hub 8 between elasticity wheel rim outer panel 13 and the elasticity wheel rim interior plate 18, be fixed with elastic tyre 14, the both sides of line of centers on the elastic tyre, be provided with detecting sensor reflection device 2, the center of circle end of support 20 is fixed on the retaining sleeve 6, the curved surface of support 20 is provided with detecting sensor ballistic device 4, and non-contact temperature sensor 15 is fixed on the wheel arm 7.
The present invention can also comprise:
1, described detecting sensor reflection device 2 is curved, and the center of circle is located on the center shaft, and detecting sensor ballistic device 4 is arranged on the diameter according to 15 degree.
2, the outside of circle is fixed with wheel outside sandboard 9 in the wheel hub 8, and the inboard of circle is fixed with the inboard sandboard 3 of wheel in the wheel hub 8.
3, elastic tyre 14 usefulness screws are fixed, 360 degree parcel restructural wheel rims, and the elastic tyre surface has tread.
It is simple in structure, compact that the present invention has, and towability improves, and improves the stability and the turning performance of straight-line travelling, increases the area of kiss the earth, can adapt to multiple environment, comprises average highway, hard place and sand ground environment; Have carrying capacity stronger in the sand ground environment and less cornering resistance simultaneously; And has a advantage to the perception of ambient temperature and obstacle.
(4) description of drawings
Fig. 1 is a main cutaway view of the present invention;
Fig. 2 is that the A of Fig. 1 is to view;
Fig. 3 is that the B of Fig. 1 is to view;
Fig. 4 is the scheme drawing that detecting sensor reflection device 2 and detecting sensor ballistic device 4 run into obstacle;
Fig. 5 is the principle of work scheme drawing of detecting sensor reflection device 2 and detecting sensor ballistic device 4.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1-Fig. 3.A kind of composition with wheels of mobile robot of non-contact transverse sensory ability of the present invention comprises detecting sensor reflection device 2, the inboard sandboard 3 of wheel, detecting sensor ballistic device 4, electric machine assembly 5, retaining sleeve 6, wheel arm 7, wheel hub 8, wheel outside sandboard 9, taper sheath 10, elasticity wheel rim interior plate 18, bolt 11, bearing 12, elasticity wheel rim outer panel 13, elastic tyre 14, non-contact temperature sensor 15, support 20; Captive joint with a side of retaining sleeve 6 in the lower end of wheel arm 7, electric machine assembly 5 is fixed in the retaining sleeve 6 by bolt 11, be provided with bearing 12 between wheel hub 8 and the retaining sleeve 6, be rotationally connected by taper sheath 10 between the output shaft 19 of electric machine assembly 5 and the wheel hub 8, the outside of wheel hub 8 curved surfaces is fixed with elasticity wheel rim outer panel 13, the inboard of wheel hub 8 curved surfaces is fixed with elasticity wheel rim interior plate 18, on the curved surface of the wheel hub 8 between elasticity wheel rim outer panel 13 and the elasticity wheel rim interior plate 18, be fixed with elastic tyre 14, the both sides of line of centers on elastic tyre, be provided with detecting sensor reflection device 2 according to 15 degree, the center of circle end of support 20 is fixed on the retaining sleeve 6, be provided with detecting sensor ballistic device 4 according to certain 15 degree on the curved surface of support 20, detecting sensor reflection device 2 is made camber, the center of circle is located on the center shaft, detecting sensor ballistic device 4 is arranged on the diameter according to 15 degree, the center of circle end of support 20 is fixed on the retaining sleeve 6, detecting sensor reflection device 2 is disposed radially in one plane with detecting sensor ballistic device 4, non-contact temperature sensor 15 is fixed on the wheel arm 7, the outside of circle is fixed with wheel outside sandboard 9 in the wheel hub 8, and the inboard of circle is fixed with the inboard sandboard 3 of wheel in the wheel hub 8.
Wheels of mobile robot wheel rim and wheel hub restructural formula structure with non-contact transverse sensory ability, its principle of work is: wheel rim and wheel hub are the structure of working in coordination, can use the wheel rim of difformity, different performance, as elasticity wheel rim, rigidity wheel rim, semi-circular, legged wheel rim and bionical wheel rim etc.Elastic tyre 14 is equipped with in axial inboard at wheel, and the rigidity wheel rim is equipped with in the outside, and the rigidity wheel rim is symmetrical structure about line of centers, and whole wheel rim has symmetrical profiles.The section profile of rigidity wheel rim is the crown shape of partial sphere, there is the groove formula of certain angle to carry out thorn on its surface, these are carried out thorn and elasticity wheel rim side plate and elastic tyre and form together along the biomimetic features of the symmetrical distribution of wheel axis direction, its mechanism is when being subjected to husky counter-force to do the time spent, elastomeric side panels is opened to both sides, can increase ground contact area and limit sand and flow, the buffering car body shakes, increases propulsive force and reduce rolling resistance.Therefore, outside rigidity is bigger, is beneficial to keep turning to precision and straight-line travelling precision; Inboard rigidity is less, is beneficial to increase adhesive ability; The symmetric form section profile can improve straight motion stability.Sense of touch wheel based on contactless rang sensor, its principle of work is as follows, 64 contactless detecting sensor ballistic devices 4 are evenly distributed on the circumference of support 20, be fixed on the wheel arm 7 of outside of non-rotating part retaining sleeve 6, promptly at a T1～T16 place, 4 contactless detecting sensor ballistic devices 4 of figure one arranged in form are pressed at promptly every place; And 64 contactless detecting sensor reflection devices 2 are evenly distributed in the wheel rim that is rotating in the same way, and promptly at a P1～P16 place, 4 contactless detecting sensor reflection devices 2 of figure one arranged in form are pressed at promptly every place.When wheel, the detecting sensor ballistic device 4 at a T1～T16 place does not rotate, and the detecting sensor reflection device 2 that is in a P1～P16 place in wheel rim is along with the wheel rim rotation.Wherein detecting sensor reflection device 2 can be subjected to the distortion of external force and produce radial displacement along with elastic tyre.Like this, the detecting sensor ballistic device 4 that is positioned at a T1～T16 place just can be measured the radial displacement of cooresponding detecting sensor reflection device 2, also just can measure elastic tyre in the circumferential position of distortion, thus the position of determining the obstacle that wheel contacts that can be indirect.For the navigation of navigation platform and location provide details about obstacle.Temperature perception wheel based on non-contact temperature sensor 15.Its principle of work is as follows: as shown in Figure 1, non-contact temperature sensor 15 is installed in the both sides, front and back of wheel non-rotating part wheel arm 7, can detect the temperature of the object of wheel front and back 15cm respectively.Non-contact temperature sensor 15 is an infrared temperature sensor.
Claims (1)
1. wheels of mobile robot with non-contact transverse sensory ability, its composition comprise detecting sensor reflection device (2), detecting sensor ballistic device (4), electric machine assembly (5), retaining sleeve (6), wheel arm (7), wheel hub (8), taper sheath (10), elasticity wheel rim outer panel (13), elasticity wheel rim interior plate (18), elastic tyre (14), non-contact temperature sensor (15), support (20); It is characterized in that: captive joint with a side of retaining sleeve (6) in the lower end of wheel arm (7), electric machine assembly (5) is fixed in the retaining sleeve (6), be rotationally connected by taper sheath (10) between the output shaft (19) of electric machine assembly (5) and the wheel hub (8), the outside of wheel hub (8) curved surface is fixed with elasticity wheel rim outer panel (13), the inboard of wheel hub 8 curved surfaces is fixed with elasticity wheel rim interior plate (18), on the curved surface of the wheel hub (8) between elasticity wheel rim outer panel (13) and the elasticity wheel rim interior plate (18), be fixed with elastic tyre (14), the both sides of line of centers are provided with detecting sensor reflection device (2) on the elastic tyre, the center of circle end of support (20) is fixed on the retaining sleeve (6), the curved surface of support (20) is provided with detecting sensor ballistic device (4), and non-contact temperature sensor (15) is fixed on the wheel arm (7); Described detecting sensor reflection device (2) is curved, and the center of circle is located on the center shaft, and detecting sensor ballistic device (4) is arranged on the diameter according to 15 degree; The outside of circle is fixed with wheel outside sandboard (9) in the wheel hub (8), and the inboard of circle is fixed with the inboard sandboard (3) of wheel in the wheel hub (8); Elastic tyre (14) is fixed with screw, and full week of 360 degree is wrapped up the restructural wheel rim, and the elastic tyre surface has tread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100726436A CN101628527B (en) | 2009-08-05 | 2009-08-05 | Wheels of mobile robot with non-contact transverse sensory ability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100726436A CN101628527B (en) | 2009-08-05 | 2009-08-05 | Wheels of mobile robot with non-contact transverse sensory ability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101628527A CN101628527A (en) | 2010-01-20 |
| CN101628527B true CN101628527B (en) | 2011-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100726436A Expired - Fee Related CN101628527B (en) | 2009-08-05 | 2009-08-05 | Wheels of mobile robot with non-contact transverse sensory ability |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104102223B (en) * | 2014-07-30 | 2016-06-08 | 武汉大学 | A kind of travelling robot walking motor temperature detection system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605479A (en) * | 2004-10-19 | 2005-04-13 | 哈尔滨工业大学 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
| CN1778589A (en) * | 2004-11-18 | 2006-05-31 | 上海英罗智能机器人有限公司 | Movable robot-driven wheel with hidden electric motor |
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
| CN101028871A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Grip-hook planetary detecting robot wheel |
-
2009
- 2009-08-05 CN CN2009100726436A patent/CN101628527B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605479A (en) * | 2004-10-19 | 2005-04-13 | 哈尔滨工业大学 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
| CN1778589A (en) * | 2004-11-18 | 2006-05-31 | 上海英罗智能机器人有限公司 | Movable robot-driven wheel with hidden electric motor |
| CN101028871A (en) * | 2006-03-01 | 2007-09-05 | 北京航空航天大学 | Grip-hook planetary detecting robot wheel |
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
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| CN101628527A (en) | 2010-01-20 |
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Granted publication date: 20111130 Termination date: 20170805 |