CN102069678A - Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement - Google Patents

Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement Download PDF

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Publication number
CN102069678A
CN102069678A CN 201010593956 CN201010593956A CN102069678A CN 102069678 A CN102069678 A CN 102069678A CN 201010593956 CN201010593956 CN 201010593956 CN 201010593956 A CN201010593956 A CN 201010593956A CN 102069678 A CN102069678 A CN 102069678A
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CN
China
Prior art keywords
wheel
rotating shaft
coil
shaft
magnetic core
Prior art date
Application number
CN 201010593956
Other languages
Chinese (zh)
Inventor
王兴松
吴继平
Original Assignee
东南大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 东南大学 filed Critical 东南大学
Priority to CN 201010593956 priority Critical patent/CN102069678A/en
Publication of CN102069678A publication Critical patent/CN102069678A/en

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Abstract

The invention discloses a wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement. The wheel rim drive-type omnidirectional wheel comprises a wheel shaft, a wheel, a reversing mechanism, a rudder direction motor and an inductance angle displacement sensor, wherein the wheel is sleeved on the wheel shaft; the reversing mechanism is connected with the wheel shaft; the rudder direction motor is connected with a reversing mechanism; the inductance angle displacement sensor is positioned on one side of the wheel and is connected with the reversing mechanism; the inductance angle displacement sensor comprises a shell, a sensor rotating shaft, a coil, a skeleton and a magnetic core; the sensor rotating shaft runs through the two ends of the shell; the coil and the skeleton are positioned in the shell; the magnetic core is connected with the sensor rotating shaft; the coil and the skeleton are sleeved on the sensor rotating shaft; the coil and the skeleton comprise two primary coils and two secondary coils; the outline of the magnetic core consists of two symmetrical Archimedes spiral lines; when the magnetic core rotates, the length of the magnetic coil extending into the coil is changed along with the rotation and the length change size is in direct proportion to the rotating angle; an output shaft of a drive motor is coincident with the axis of the wheel, is connected with a wheel axle, and drives the wheel to rotate; and the rudder direction motor is vertical to the axis of the wheel, is connected with the wheel axle through the reversing mechanism, and drives the wheel to change directions. The wheel rim drive-type omnidirectional wheel has a simple and compact structure and high measuring accuracy, and can control the wheel omnidirectionally.

Description

Adopt the wheel limit of inductance angle displacement measurement feedback to drive omnidirectional's wheel
Technical field
The present invention relates to a kind of omnidirectional wheel, relate in particular to a kind of wheel limit of inductance angle displacement measurement feedback of adopting and drive omnidirectional's wheel.
Background technology
In recent years, along with the mobile robot learns and development of technologies, make the mobile robot gradually deeply and widen in the application of a lot of industries.The object of Yi Donging can realize that the motion of all around and 3 degree of freedom of rotation is called all directionally movable robot in the plane.It not only can be gone up in any direction and move, and keeps the body attitude constant., also can as common vehicle, change the body orientation.Omnidirectional moves and is used in every field at present.The industry direction mainly is the comprehensive fork truck for omnibearing industrial goods transmission system and factory, and working environment is comparatively desirable.Utilization omnidirectional moving in laboratory mainly is to finish environment to explore the research of aspects such as robot navigation location.The special performance of omnidirectional's wheel has been given its huge scientific research value and commercial value, and the omni-directional moving mechanism that is most widely used has two kinds: take turns gauche form omni-directional moving mechanism (omnidirectional's wheel) and Mai Kanamu wheel entirely.Directional wheel is on common four-wheel basis, increases by a cover inflector assembly, and wheel can comprehensively be rotated.Therefore, simple and reliable for structure, can also simulate the running state of common four wheel mechanism, and Mai Kanamu wheel is that wheel hub outer rim at wheel is by a plurality of passive rollers of certain direction of tilt rectangular distribution, its flexible operation is swift in response, but the processing design is proposed very high requirement
Yet, omnidirectional's wheel is compared with the Mai Kanamu wheel, omnidirectional's wheel changes the angle of wheel for realizing omnidirectional moving, this measurement of angle is a difficult problem, always very high cost performance can not be arranged with present existing angular transducer, the sensor installing space that has is excessive, hindered the running of system really, the sensor accuracy that has is not enough, make Account Dept really can realize the motion of being scheduled to, the sensor price that has is too high, and for the enough accurate cost that just must increase substantially total system of angle, these have influenced popularizing of omnidirectional's wheel.
Summary of the invention
The technical problem to be solved in the present invention is the existing steering hardware complex structure of omnidirectional wheel, angle displacement measurement is inaccurate or to pay cost too high for the accuracy that guarantees angle displacement measurement.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of wheel limit of inductance angle displacement measurement feedback of adopting drives omnidirectional's wheel, comprise wheel shaft, be socketed in wheel on the wheel shaft, with wheel shaft bonded assembly direction reverser, with direction reverser bonded assembly rudder to motor, be positioned at wheel one side and with direction reverser bonded assembly inductance angular-motion transducer.Described inductance angular-motion transducer comprises shell, runs through the sensor rotating shaft at shell two ends, the coil that is positioned at shell and skeleton and magnetic core; Magnetic core is connected with the sensor rotating shaft, coil and skeleton are socketed in the sensor rotating shaft, coil and skeleton comprise two main coils and two coils, the magnetic core profile is made up of the spiral of Archimedes of two symmetries, its length that stretches into coil can change thereupon during rotation, and the size of length variations is directly proportional with corner; The output shaft of described drive motor and the dead in line of wheel, and be connected the wheels rotation with wheel shaft; Perpendicular to wheel axis, rudder is connected with wheel shaft by direction reverser to motor described rudder to motor, and the wheels break-in.
Among the present invention, the inductance angular-motion transducer utilizes the differential transformer principle design, and when the commutation rotating shaft was rotated, the rotation of commutation rotating shaft can drive the sensor rotating shaft and rotate; The magnetic core pin is connected in the sensor rotating shaft, and when the attitude of wheel changes, magnetic core also has corresponding attitude and changes; The attitude change meeting of magnetic core further changes the length that magnetic core stretches into time coil, and at this moment, the output voltage of inferior coil will change, and determines the attitude that wheel is current according to the voltage difference of two coils, can control the attitude of wheel.Compared with prior art, the inductance angular-motion transducer of this structure has the precision of digital sensors (as coder), and the signal of its output simultaneously is again an analog quantity, thereby realizes the control of optional position.
As a kind of improvement project of the present invention, described sensor rotating shaft one end also is provided with synchronous pulley, described direction reverser comprises a commutation rotating shaft and two angular contact ball bearings, the lower end of commutation rotating shaft also is provided with synchronous pulley, two synchronous pulleys are by band connection synchronously, in rotating shaft, make synchronous pulley processing product structure compact more, and reduced the error that drive disk assembly is introduced.
Advantage of the present invention is: construction is simply compact, survey precision is high, and can realize the comprehensive control of wheel.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of direction reverser of the present invention;
Fig. 3 is the structural representation of inductance angular-motion transducer of the present invention;
Fig. 4 is the magnetic core profile scheme drawing of inductance angular-motion transducer of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As Fig. 1, Fig. 2 and shown in Figure 3, the present invention includes wheel shaft 8, be socketed in wheel 1 on the wheel shaft 8, with wheel shaft 8 bonded assembly direction reversers 2, with direction reverser 2 bonded assembly rudders to motor 3, be positioned at wheel 1 one sides and with direction reverser 2 bonded assembly inductance angular-motion transducers 6; Inductance angular-motion transducer 6 comprises shell 65, runs through the sensor rotating shaft 64 at shell 65 two ends, the coil that is positioned at shell 65 and skeleton 62 and magnetic core 63; Magnetic core 63 is connected with sensor rotating shaft 64, coil and skeleton 62 sockets are in the enclosure, coil and skeleton 62 comprise two main coils and two coils, magnetic core 63 profiles are made up of the spiral of Archimedes of two symmetries, its length that stretches into coil can change thereupon during rotation, and the size of length variations is directly proportional with corner; The dead in line of described drive motor 7 and wheel 1, and is connected with wheel shaft 8, wheels 1 is rotated; Perpendicular to wheel 1 axis, rudder is connected with wheel shaft 8 by rotating shaft 23 to motor 3 described rudder to motor 3, and wheels 1 break-in; Sensor rotating shaft 64 1 ends also are provided with synchronous pulley 61, and described direction reverser 2 comprises a commutation rotating shaft 23 and two angular contact ball bearings, and the lower end of commutation rotating shaft 23 also is provided with synchronous pulley 61, two synchronous pulleys 61 by being with 5 to connect synchronously.
During work, drive motor 7 wheels 1 are along ground surface, i.e. main motion; The rotation of wheel direction is realized to motor 3 by direction reverser 2 and rudder.When commutation rotating shaft 23 is rotated, it rotates and can drive sensor rotating shaft 64 rotations synchronously, and magnetic core 63 is connected in the sensor rotating shaft 64 by pin, so as long as the attitude of wheel 1 changes, the magnetic core 63 of sensor also has corresponding attitude and changes, thereby further change the length that magnetic core stretches into time coil, at this moment, the output voltage of inferior coil will change, therefore, voltage difference according to two coils can be determined the attitude that wheel is current, thereby can control the attitude of wheel.After the residing attitude of inductance angular-motion transducer 6 detected wheels, it passes to rudder to motor 3 with signal, and rudder connects commutation rotating shaft 23 to motor 3, and changes the attitude of wheel 1 by commutation rotating shaft 23, thereby realizes the accurate control of any attitude of wheel.

Claims (2)

1. one kind is adopted the wheel limit of inductance angle displacement measurement feedback to drive omnidirectional's wheel, comprise wheel shaft (8), be socketed in wheel (1) on the wheel shaft (8), with wheel shaft (8) bonded assembly direction reverser (2), with direction reverser (2) bonded assembly rudder to motor (3), be positioned at wheel (1) one side and with direction reverser (2) bonded assembly inductance angular-motion transducer (6), it is characterized in that:
Described inductance angular-motion transducer (6) comprises shell (65), runs through the sensor rotating shaft (64) at shell (65) two ends, the coil that is positioned at shell (65) and skeleton (62) and magnetic core (63); Magnetic core (63) is connected with sensor rotating shaft (64), coil and skeleton (62) are socketed in the sensor rotating shaft (64), coil and skeleton (62) comprise two main coils and two coils, magnetic core (63) profile is made up of the spiral of Archimedes of two symmetries, its length that stretches into coil can change thereupon during rotation, and the size of length variations is directly proportional with corner;
The dead in line of the output shaft of described drive motor (7) and wheel (1), and be connected wheels (1) rotation with wheel shaft (8); Perpendicular to wheel axis, rudder is connected with wheel shaft (8) by direction reverser (2) to motor (3) described rudder, and wheels (1) break-in to motor (3).
2. the wheel limit of employing inductance angle displacement measurement feedback according to claim 1 drives omnidirectional's wheel, it is characterized in that, described sensor rotating shaft (64) one ends also are provided with synchronous pulley (61), described direction reverser (2) comprises a commutation rotating shaft (23) and two angular contact ball bearings, the lower end of commutation rotating shaft (23) also is provided with synchronous pulley (61), and two synchronous pulleys (61) are by band (5) connection synchronously.
CN 201010593956 2010-12-17 2010-12-17 Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement CN102069678A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201010593956 CN102069678A (en) 2010-12-17 2010-12-17 Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201010593956 CN102069678A (en) 2010-12-17 2010-12-17 Wheel rim drive-type omnidirectional wheel capable of measuring feedback by using inductance angle displacement

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CN102069678A true CN102069678A (en) 2011-05-25

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102815201A (en) * 2012-08-07 2012-12-12 吴廷飞 Tractor
CN104590414A (en) * 2014-12-29 2015-05-06 合肥工业大学 All-around wheeled mobile robot with relative posture detection function
CN103465729B (en) * 2013-09-23 2016-01-13 深圳市纳瑞科技有限公司 A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device
CN105966175A (en) * 2016-06-06 2016-09-28 成都天福创造机器人有限公司 Steering driving wheel used for robot, robot movement chassis and robot
CN106314032A (en) * 2016-09-30 2017-01-11 宁波介量机器人技术有限公司 Linear reversing follower wheel
CN106493725A (en) * 2016-10-25 2017-03-15 复旦大学 A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder
CN107124899A (en) * 2016-07-15 2017-09-01 深圳市大疆创新科技有限公司 Movable fixture, follow shot equipment, movable fixture control system and method
CN108627122A (en) * 2018-04-26 2018-10-09 大连理工大学 A kind of angle displacement measuring device and its application method
CN110525119A (en) * 2019-09-05 2019-12-03 北京卫星环境工程研究所 Omnidirectional's wheel apparatus and electric drive transfer car(buggy) with the structure
CN111556185A (en) * 2020-04-21 2020-08-18 长沙学院 Image positioning remote control automatic self-timer

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US6581703B2 (en) * 2000-07-31 2003-06-24 Carl L. Hammonds Omni direction vehicle
CN1990195A (en) * 2005-12-29 2007-07-04 财团法人工业技术研究院 Robot moving platform and moving sensing method thereof
CN201592632U (en) * 2010-01-19 2010-09-29 金华法 Omnidirectional driving wheel

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US6581703B2 (en) * 2000-07-31 2003-06-24 Carl L. Hammonds Omni direction vehicle
CN1990195A (en) * 2005-12-29 2007-07-04 财团法人工业技术研究院 Robot moving platform and moving sensing method thereof
CN201592632U (en) * 2010-01-19 2010-09-29 金华法 Omnidirectional driving wheel

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102815201A (en) * 2012-08-07 2012-12-12 吴廷飞 Tractor
CN103465729B (en) * 2013-09-23 2016-01-13 深圳市纳瑞科技有限公司 A kind of unidirectional, two-way and in length and breadth to switch caster units and AGV device
CN104590414A (en) * 2014-12-29 2015-05-06 合肥工业大学 All-around wheeled mobile robot with relative posture detection function
CN105966175A (en) * 2016-06-06 2016-09-28 成都天福创造机器人有限公司 Steering driving wheel used for robot, robot movement chassis and robot
CN107124899B (en) * 2016-07-15 2019-07-05 深圳市大疆创新科技有限公司 Movable fixture, follow shot equipment, movable fixture control system and method
CN107124899A (en) * 2016-07-15 2017-09-01 深圳市大疆创新科技有限公司 Movable fixture, follow shot equipment, movable fixture control system and method
US10953998B2 (en) 2016-07-15 2021-03-23 SZ DJI Technology Co., Ltd. Systems and methods for providing stability support
CN106314032B (en) * 2016-09-30 2018-10-26 宁波介量机器人技术有限公司 A kind of linear commutation supporting roller
CN106314032A (en) * 2016-09-30 2017-01-11 宁波介量机器人技术有限公司 Linear reversing follower wheel
CN106493725A (en) * 2016-10-25 2017-03-15 复旦大学 A kind of industrial robot positioner based on omnidirectional's driven pulley and encoder
CN108627122A (en) * 2018-04-26 2018-10-09 大连理工大学 A kind of angle displacement measuring device and its application method
CN110525119A (en) * 2019-09-05 2019-12-03 北京卫星环境工程研究所 Omnidirectional's wheel apparatus and electric drive transfer car(buggy) with the structure
CN111556185A (en) * 2020-04-21 2020-08-18 长沙学院 Image positioning remote control automatic self-timer

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Application publication date: 20110525