CN101628595A - Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground - Google Patents
Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground Download PDFInfo
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- CN101628595A CN101628595A CN200910072645A CN200910072645A CN101628595A CN 101628595 A CN101628595 A CN 101628595A CN 200910072645 A CN200910072645 A CN 200910072645A CN 200910072645 A CN200910072645 A CN 200910072645A CN 101628595 A CN101628595 A CN 101628595A
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- support arm
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Abstract
The invention relates to wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground. The wheels of the robot comprise a driving wheel (1), a driving wheel supporting arm (2), a cardan axle (3), a spring (4), a driven wheel supporting arm (5), and a driven wheel (6), wherein the driving wheel (1) is fixedly connected with one side of the driving wheel supporting arm (2); the other side of the driving wheel supporting arm (2) is connected with one side of the driven wheel supporting arm (5) by the cardan axle (3); the spring (4) is connected between the driving wheel supporting arm (2) and the driven wheel supporting arm (5); and the driven wheel supporting arm (5) is fixedly connected with the driven wheel (6). The wheels of the robot have the advantages that the wheels have simple, compact and reliable structure, good ground surface adaptability and guarantee the continuous movement of the main car body of the mobile robot, are suitable for various environments and can measure slip ratio, etc.
Description
(1) technical field
The present invention relates to a kind of mobile robot's of being used for wheel, relate in particular to the mechanism that drives and measure slippage rate in a kind of mobile robot's of being used for the wheel.
(2) background technology
Driving and measure slippage rate mechanism in mobile robot's the wheel is the important component part of mobile robot's traveling portion, and it can drive moving of mobile robot, measures slippage rate simultaneously.It has simple in structure, and stable at a high speed, energy utilizes the usefulness height, and commonality is superior.For the mobile robot, be divided into the outer driving of wheel and take turns interior the driving; Usually need take certain fuselage space because take turns outer driving, and the relative center of gravity of system is higher, and drives in the wheel, promptly can save the space, can reduce system's center of gravity again, power-handling capability is stronger, so be widely used.Once the wheel of Cai Yonging was now simply as described below: sand wheel adapted being fixed together by wheel hub, spoke, wheel rim of rigidity constitutes rigid wheel, has advantages such as intensity height, load-carrying capacity be big, but the absorbing poor performance.Netted rigid wheel three titanium alloy rings of wheel cause and have the shoe thorn of axial inclination to be formed by connecting, on hard place with a contact.Spoke and netted wheel rim avoid dust to accumulate, and are fit to open environment.But damping capaicty is poor, and load-bearing capacity is lower, is adapted at little, the isotropic sandy soil surface applications of acceleration due to gravity.The cone rigid wheel is mainly by the column part kiss the earth; On sand ground, tapered segment is kiss the earth also.This is taken turns and can reduce ground pressure, reduces resistance of motion, improves tractive force.Wide section contains rigid wheel, and this is taken turns and has totally-enclosed property, and is simple in structure, is easy to Installation and Debugging; But the wheel broad, cornering resistance is bigger, and mechanism is complicated.Drum type rigid wheel wheel turns unit comprises: drive wheel and the drive drum that is installed on the lever of radial type suspension bottom.
Present robot Wheeling System exists many problems: (1) compatible with environment is poor, and the wheel form is fixed, and its commonality can not adapt to different working environments, for example sand ground and soft ground.(2) damping capaicty is poor, and load-bearing capacity is lower, is adapted at little, the isotropic sandy soil surface applications of acceleration due to gravity.(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.Do not have to drive and the ability of energy measurement slippage rate.
(3) summary of the invention
The object of the present invention is to provide a kind of simple in structurely, compact, reliable, be applicable to multiple environment, and the wheels of robot with slip measuring capability is arranged in the rugged ground-surface front and back that are suitable for of energy measurement slippage rate.
The object of the present invention is achieved like this:
Its composition comprises drive wheel 1, drive wheel support arm 2, cardan axle 3, spring 4, flower wheel support arm 5, flower wheel 6; Drive wheel 1 is captiveed joint with drive wheel support arm 2 one sides, and the opposite side of drive wheel support arm 2 is connected by cardan axle 3 with a side of flower wheel support arm 5, and spring 4 is connected and plays between drive wheel support arm 2 and the flower wheel support arm 5, and flower wheel support arm 5 is captiveed joint with flower wheel 6.
The composition of described drive wheel 1 comprises initiatively wheel rim 7, six-sided head screw bolt assembly 8, bearings flange 9, IGUS plain bearing 10, driving wheel retaining sleeve 11, six-sided head screw bolt assembly 12, two sides band cover of dust deep groove ball bearing 13, motor shaft sleeve 14, round end general flat key 15, harmonic wave speed reducing machine 16, motor flange dish 17, wheel arm retaining sleeve 18, circlip for shaft 19, electrical motor 20, interior hexagonal cylinder screw assembly 21, interior hexagonal cylinder screw assembly 22, motor retaining sleeve 23; The shell of electrical motor 20, motor flange dish 17, the firm wheel of harmonic wave speed reducing machine 16 inputs and driving wheel retaining sleeve 11 are captiveed joint respectively with interior hexagonal cylinder screw assembly 22 by interior hexagonal cylinder screw assembly 21; Motor shaft sleeve 14 suits are fixed on the output shaft of electrical motor 20, and by round end general flat key 15, the moment of torsion of electrical motor 20 is delivered to harmonic wave speed reducing machine 16 wave producers, two sides band cover of dust deep groove ball bearing 13 suits are fixed in harmonic wave speed reducing machine 16 left axle heads, play block bearing pivot flange dish 9, initiatively wheel rim 7 is connected by symmetrical expression IGUS plain bearing 10 decoupling zeros that have flange with the left axle head of driving wheel retaining sleeve 11, bearings flange 9 and active wheel rim 7, six-sided head screw bolt assembly 8 is passed through in the output of harmonic wave speed reducing machine 16 just wheel respectively, six-sided head screw bolt assembly 12 captive joints, wheel arm retaining sleeve 18 is clamped in driving wheel retaining sleeve 11 with motor retaining sleeve 23 by bolt, circlip for shaft 14 suits are connected in driving wheel retaining sleeve 11, prevent that initiatively wheel rim 7 moves axially.
The composition of described flower wheel 6 comprises coder flange 24, cross recessed countersunk head sscrew 25, driven wheel rim 26, flower wheel retaining sleeve 27, IGUS plain bearing 28, coder 29, end ring 30, the body skin of coder 29 and flower wheel retaining sleeve 27 are connected by screw retention, driven wheel rim 26 is connected by symmetrical expression IGUS plain bearing 28 decoupling zeros that have flange with the right-hand member of flower wheel retaining sleeve 27, end ring 30 is captiveed joint with flower wheel retaining sleeve 27, and coder flange 29 is captiveed joint by cross recessed countersunk head sscrew 25 with driven wheel rim 26.
That the present invention has is simple in structure, compact, reliable, guarantee the continuous movement of mobile robot's main car body, the adaptable advantage in ground is applicable to multiple environment, and advantage such as energy measurement slippage rate.
(4) description of drawings
Fig. 1 is a main scheme drawing of the present invention;
Fig. 2 is the A-A rotation direction cutaway view of drive wheel 1;
The B-B rotation direction cutaway view of Fig. 3 flower wheel 6.
(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, the constituent elements that is suitable for arranging the wheels of robot with slip measuring capability in rugged ground-surface front and back is: drive wheel 1, drive wheel support arm 2, cardan axle 3, spring 4, flower wheel support arm 5, flower wheel 6; In conjunction with Fig. 2, the composition of drive wheel 1 comprises: active wheel rim 7, six-sided head screw bolt assembly 8, bearings flange 9, IGUS plain bearing 10, driving wheel retaining sleeve 11, six-sided head screw bolt assembly 12, two sides band cover of dust deep groove ball bearing 13, motor shaft sleeve 14, round end general flat key 15, harmonic wave speed reducing machine 16, motor flange dish 17, wheel arm retaining sleeve 18, circlip for shaft 19, electrical motor 20, interior hexagonal cylinder screw assembly 21, interior hexagonal cylinder screw assembly 22, motor retaining sleeve 23; Composition in conjunction with Fig. 3 flower wheel 6 comprises: coder flange 24, cross recessed countersunk head sscrew 25, driven wheel rim 26, flower wheel retaining sleeve 27, IGUS plain bearing 28, coder 29, end ring 30.
Drive wheel 1 is captiveed joint with drive wheel support arm 2 one sides, and the opposite side of drive wheel support arm 2 is connected by cardan axle 3 with a side of flower wheel support arm 5, and connects by spring 4 elasticity, and flower wheel support arm 5 is captiveed joint with flower wheel 6.The structure of drive wheel 1 is that shell, motor flange dish 17, the firm wheel of harmonic wave speed reducing machine 16 inputs and the driving wheel retaining sleeve 11 of electrical motor 20 captiveed joint respectively with interior hexagonal cylinder screw assembly 22 by interior hexagonal cylinder screw assembly 21, keeps static relatively.Motor shaft sleeve 14 suits are fixed on the output shaft of electrical motor 20, and by round end general flat key 15, the moment of torsion of electrical motor 20 is delivered to harmonic wave speed reducing machine 16 wave producers, two sides band cover of dust deep groove ball bearing 13 suits are fixed in harmonic wave speed reducing machine 16 left axle heads, play block bearing pivot flange dish 9, initiatively wheel rim 7 is connected by symmetrical expression IGUS plain bearing 10 decoupling zeros that have flange with the left axle head of driving wheel retaining sleeve 11, bearings flange 9 and active wheel rim 7, six-sided head screw bolt assembly 8 is passed through in the output of harmonic wave speed reducing machine 16 just wheel respectively, six-sided head screw bolt assembly 12 captive joints, wheel arm retaining sleeve 18 is clamped in driving wheel retaining sleeve 11 with motor retaining sleeve 23 by bolt, circlip for shaft 14 suits are connected in driving wheel retaining sleeve 11, prevent that initiatively wheel rim 7 moves axially.Driven wheel structure comprises the body skin of coder 29 and flower wheel retaining sleeve 27 is connected by screw retention, driven wheel rim 26 is connected by symmetrical expression IGUS plain bearing 28 decoupling zeros that have flange with the right-hand member of flower wheel retaining sleeve 27, end ring 30 is captiveed joint with flower wheel retaining sleeve 27, prevent that driven wheel rim 26 from moving axially, coder flange 29 is captiveed joint by cross recessed countersunk head sscrew 25 with driven wheel rim 26.Such connection structure has mechanism's compactness, and function is strong, and advantage such as energy measurement slippage rate.
Its principle of work is: actuating motor 20 and coder 29 enter normal working.The shell of electrical motor 20, motor flange dish 17, harmonic wave speed reducing machine 16 inputs have just been taken turns and driving wheel retaining sleeve 11 keeps static relatively, the moment of torsion of electrical motor 20 is delivered to harmonic wave speed reducing machine 16 wave producers, be delivered to harmonic wave speed reducing machine 16 outputs wheel just by wave producer, thereby harmonic wave speed reducing machine 16 plays the effect of retarder, simultaneously under the supporting role of two sides band cover of dust deep groove ball bearing 13, driving bearings flange 9 rotates, because bearings flange 9 is by captiveing joint between the six-sided head screw bolt assembly 8 with active wheel rim 7, driving initiatively, wheel rim 7 rotates, clamping between the wheel arm retaining sleeve 18 motor retaining sleeves 23 is for preventing that active wheel rim 7 and IGUS plain bearing 10 from moving axially, when the active wheel rim 7 of drive wheel 1 rotates, drive wheel support arm 2 is also corresponding to travel forward, because drive wheel support arm 2 is connected by cardan axle 3 with flower wheel support arm 5, and connect by spring 4 elasticity, drive wheel 1 drives flower wheel 6 corresponding motion takes place.If run into rugged ground, spring 4 makes driven wheel rim 26 kiss the earths of flower wheel 6 by the adjusting of elastic module, guarantee coder 29 as eventually can energy measurement to the rotating speed of driven wheel rim 26, further calculate this skidding rate of rotation with respective formula.
Claims (3)
1, a kind ofly be suitable for rugged ground-surface front and back and arrange the wheels of robot with slip measuring capability, it is characterized in that: its composition comprises drive wheel (1), drive wheel support arm (2), cardan axle (3), spring (4), flower wheel support arm (5), flower wheel (6); Drive wheel () 1 is captiveed joint with drive wheel support arm (2) one sides, the opposite side of drive wheel support arm (2) is connected by cardan axle (3) with a side of flower wheel support arm (5), spring (4) is connected and plays between drive wheel support arm (2) and the flower wheel support arm (5), and flower wheel support arm (5) is captiveed joint with flower wheel (6).
2, according to claim 1ly be suitable for rugged ground-surface front and back and arrange the wheels of robot with slip measuring capability, it is characterized in that: the composition of described drive wheel (1) comprises initiatively wheel rim (7), six-sided head screw bolt assembly (8), bearings flange (9), IGUS plain bearing (10), driving wheel retaining sleeve (11), six-sided head screw bolt assembly (12), two sides band cover of dust deep groove ball bearing (13), motor shaft sleeve (14), round end general flat key (15), harmonic wave speed reducing machine (16), motor flange dish (17), wheel arm retaining sleeve (18), circlip for shaft (19), electrical motor (20), interior hexagonal cylinder screw assembly (21), interior hexagonal cylinder screw assembly (22), motor retaining sleeve (23); The shell of electrical motor (20), motor flange dish (17), the firm wheel of harmonic wave speed reducing machine (16) input and driving wheel retaining sleeve (11) are captiveed joint respectively with interior hexagonal cylinder screw assembly (22) by interior hexagonal cylinder screw assembly (21); Motor shaft sleeve (14) suit is fixed on the output shaft of electrical motor (20), and by round end general flat key (15), the moment of torsion of electrical motor (20) is delivered to harmonic wave speed reducing machine (16) wave producer, two sides band cover of dust deep groove ball bearing (13) suit is fixed in the left axle head of harmonic wave speed reducing machine (16), play block bearing pivot flange dish (9), initiatively wheel rim (7) is connected by symmetrical expression IGUS plain bearing (10) decoupling zero that has flange with the left axle head of driving wheel retaining sleeve (11), bearings flange (9) and active wheel rim (7), six-sided head screw bolt assembly (8) is passed through in the output of harmonic wave speed reducing machine (16) just wheel respectively, six-sided head screw bolt assembly (12) captive joint, wheel arm retaining sleeve (18) is clamped in driving wheel retaining sleeve (11) with motor retaining sleeve (23) by bolt, circlip for shaft (14) suit is connected in driving wheel retaining sleeve (11), prevents that initiatively wheel rim (7) moves axially.
3, according to claim 1 and 2ly be suitable for rugged ground-surface front and back and arrange wheels of robot with slip measuring capability, it is characterized in that: the composition of described flower wheel (6) comprises coder flange (24), cross recessed countersunk head sscrew (25), driven wheel rim (26), flower wheel retaining sleeve (27), IGUS plain bearing (28), coder (29), end ring (30), the body skin of coder (29) is connected by screw retention with flower wheel retaining sleeve (27), driven wheel rim (26) is connected by symmetrical expression IGUS plain bearing (28) decoupling zero that has flange with the right-hand member of flower wheel retaining sleeve (27), end ring (30) is captiveed joint with flower wheel retaining sleeve (27), and coder flange (29) is captiveed joint by cross recessed countersunk head sscrew (25) with driven wheel rim (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100726455A CN101628595B (en) | 2009-08-05 | 2009-08-05 | Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100726455A CN101628595B (en) | 2009-08-05 | 2009-08-05 | Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101628595A true CN101628595A (en) | 2010-01-20 |
| CN101628595B CN101628595B (en) | 2012-05-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100726455A Expired - Fee Related CN101628595B (en) | 2009-08-05 | 2009-08-05 | Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground |
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| Country | Link |
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| CN (1) | CN101628595B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993382A (en) * | 2020-09-04 | 2020-11-27 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
-
2009
- 2009-08-05 CN CN2009100726455A patent/CN101628595B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111993382A (en) * | 2020-09-04 | 2020-11-27 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
| CN111993382B (en) * | 2020-09-04 | 2024-05-10 | 广东鲲鹏智能机器设备有限公司 | Chassis system for outdoor autonomous mobile robot |
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| Publication number | Publication date |
|---|---|
| CN101628595B (en) | 2012-05-23 |
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Granted publication date: 20120523 Termination date: 20170805 |