CN205610445U - In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback - Google Patents
In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback Download PDFInfo
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- CN205610445U CN205610445U CN201620239271.7U CN201620239271U CN205610445U CN 205610445 U CN205610445 U CN 205610445U CN 201620239271 U CN201620239271 U CN 201620239271U CN 205610445 U CN205610445 U CN 205610445U
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- wheel hub
- hub motor
- stator
- photoelectric encoder
- encoder
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Abstract
The utility model provides an in -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback. Have the in -wheel motor of high accuracy velocity feedback, include motor shaft, rotor, stator, grating disc, photoelectric encoder, the motor shaft with the stator is connected, there is copper wire -wound group on the stator, photoelectric encoder installs on the stator, the rotor is connected with wheel hub, and with stator cooperation installation, grating disc and the installation of rotor relatively fixed. Set up the grating disc motion on the photoelectric encoder induction rotor on the stator among the in -wheel motor, output detection signal improves in -wheel motor's speed control precision by a wide margin. Dispose photoelectric encoder and grating disc among the in -wheel motor, the magnetism encoder of comparing, photoelectric encoder can permit 0.5mm's installation error, and assembly costs is lower in processing. And not disturbed by the high -intensity magnetic field, the resistance to deformation antidetonation is moved the effect and is superior to the magnetism encoder.
Description
Technical field
This utility model relates to machine field, drives chassis more particularly, to a kind of wheel hub motor with high precision velocity feedback and wheeled robot.
Background technology
Wheel hub motor technology is also referred to as wheel inner electric machine technology, and power set, actuating device and brake unit are all integrated in wheel hub by its maximum feature exactly, is able to greatly simplified for the mechanical part of electric vehicle.In-wheel motor driving system is largely divided into two kinds of structural shapes according to the rotor type of motor: inner-rotor-type and external-rotor-type.
Wheeled robot drives chassis, is the power drive basis of wheeled service class robot.Generally include plural driving wheel and/or driven pulley, and chassis machine structure, power supply module, sensor cluster etc..
Wheeled mobile robot needs the speed controlling of degree of precision and position feedback, and the most current drive system is mainly the form of direct current generator+reduction box+drive mechanism+tire, with high costs and structure is complicated take up room many.Common wheel hub motor only has 3 honeywell switch sensors, and often circle is only capable of obtaining tens position signallings, it is impossible to meet the required precision of wheeled mobile robot.The wheel hub motor of built-in magnetic encoder is high to structural member required precision, needs to ensure that alignment error, less than 0.1mm, has been significantly greatly increased processing cost on the contrary.
Therefore, this area needs a kind of simple in construction badly, processing cost is low, have the wheel hub motor of high precision velocity feedback.
Utility model content
This utility model solves the technical problem that the deficiency being to overcome above-mentioned wheel hub motor, under conventional machining precision premise, it is provided that a kind of wheel hub motor with high precision velocity feedback, described wheel hub motor can export high-precision speed detection signal.
According to an aspect of the present utility model, it is provided that a kind of wheel hub motor with high precision velocity feedback, wheel hub motor includes motor shaft, rotor, stator, grating disc, photoelectric encoder；Described motor shaft is connected with described stator, and described stator has copper cash winding；Described photoelectric encoder is arranged on described stator；Described rotor is connected with wheel hub, and coordinates installation with described stator；Described grating disc and rotor are relatively fixed installation.
Further, described photoelectric encoder is absolute type encoder or selects incremental encoder.
Further, described grating disc is metal code disk, glass code-disc or film code-disc.
Further, described stator is provided with the pedestal of regular coding device.
Further, described photoelectric encoder is reflective optical encoder device, and described photoelectric encoder is installed towards described grating disc.
Further, described photoelectric encoder is projection type photoelectric encoder, and described encoder cross is installed at described grating disc outward flange.
Further, farther including end cap, described end cap is fixed on described rotor, and end cap is connected with stator by bearing；Described end cap is provided with windows, for installing and regulate the position of photoelectric encoder.
Further, described wheel hub motor is unilateral shaft wheel hub motor, or bilateral shaft wheel hub motor.
Another object of the present utility model is to provide a kind of wheeled robot to drive chassis, and described wheeled robot drives chassis to include plural wheel hub motor, and described wheel hub motor is installed on the drive wheel.
Compared with prior art, technical solutions of the utility model provide the benefit that:
Grating disc motion on the photoelectric encoder inductiopn rotor being arranged on stator in described wheel hub motor, output detections signal.Rotating a circle, photoelectric encoder can export the signals such as 512,1024,2048 or 4096, the velocity control accuracy of wheel hub motor is greatly improved.
Disposing photoelectric encoder and grating disc in described wheel hub motor, compare magnetic coder, and photoelectric encoder can allow the alignment error of 0.5mm, and processing assembly cost is lower.And do not disturbed by high-intensity magnetic field, resistance to deformation anti-vibration effect is better than magnetic coder.
Accompanying drawing explanation
By combining accompanying drawing, disclosure illustrative embodiments is described in more detail, above-mentioned and other purpose, feature and the advantage of the disclosure will be apparent from, wherein, in disclosure illustrative embodiments, identical reference number typically represents same parts.
Fig. 1 is the side perspective of the wheel hub motor according to this utility model embodiment.
Fig. 2 is the side-looking explosive view of the wheel hub motor according to this utility model embodiment.
Fig. 3 is the exploded perspective figure of the wheel hub motor according to this utility model embodiment.
Fig. 4 is the axonometric chart that the wheeled robot being provided with 2 described wheel hub motors according to this utility model embodiment drives chassis.
Fig. 5 is the axonometric chart that the wheeled robot being provided with 6 described wheel hub motors according to this utility model embodiment drives chassis.
Accompanying drawing being merely cited for property explanation, it is impossible to be interpreted as the restriction to this patent；In order to the present embodiment is more preferably described, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product；To those skilled in the art, in accompanying drawing, some known features and explanation thereof may will be understood by omission；The corresponding same or analogous parts of same or analogous label；Term the being merely cited for property explanation of position relationship described in accompanying drawing, it is impossible to be interpreted as the restriction to this patent.
Detailed description of the invention
It is more fully described the preferred implementation of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows the preferred implementation of the disclosure, however, it is to be appreciated that may be realized in various forms the disclosure and should not limited by embodiments set forth herein.On the contrary, it is provided that these embodiments are to make the disclosure more thorough and complete, and the scope of the present disclosure can intactly convey to those skilled in the art.
This utility model relates to machine field, drives chassis more particularly, to a kind of wheel hub motor with high precision velocity feedback and wheeled robot.Described wheel hub motor includes motor shaft, rotor, stator, grating disc, photoelectric encoder；Described motor shaft is connected with described stator, and the stator of wheel hub motor has copper cash winding and photoelectric encoder；With grating disc above rotor.
Encoder is photoelectric encoder, and encoder has light emission and receives circuit, after light is encoded by grating disc, can sense the rotation of grating disc, output detections signal.Often circle can export the signal of the quantity such as 512,1024,2048,4096, and speed and the position control accuracy of wheel hub motor are greatly improved.
Photoelectric encoder is a kind of sensor that geometry of machinery displacement on output shaft is converted into pulse or digital quantity by opto-electronic conversion.Grating disc can be partially to open several slots on the plectane of certain diameter.
The principle of described photoelectric encoder is the Moire fringe that light transmission or reflection produces when grating disc, multiple and rotation direction and the square-wave signal of velocity correlation by the output of photosensitive reception circuit.
Further, described photoelectric encoder is selected from the models such as reflective optical encoder device read head module, or projection type photoelectric encoder head module HEDS-97xx, HEDS-91xx.Described grating disc can select metal code disk, glass code-disc, film code-disc etc..Compare magnetic coder, and photoelectric encoder can allow the alignment error of 0.5mm, and processing assembly cost is lower.And do not disturbed by high-intensity magnetic field, resistance to deformation anti-vibration effect is better than magnetic coder.
Further, the number of described photoelectric encoder is more than 1, and described photoelectric encoder is chosen as absolute type encoder；Or select incremental encoder, export tri-square-wave signals of ABZ.
Further, for the ease of installing photoelectric encoder and improving the precision of detection, described stator is provided with the pedestal of fixing photoelectric encoder.If using reflective optical encoder device, described encoder is towards grating disc.If using projection type photoelectric encoder, described encoder cross is at grating disc outward flange.
Further, described end cap is fixed on rotor, and end cap is connected with stator by bearing, and end cap is windowed the position for installing and regulate photoelectric encoder, windows and can close.
Further, described rotor is connected with wheel hub, it is thus achieved that efficient transmission effect and simplify the structure design of wheel hub motor.
Further, described wheel hub motor is additionally provided with motor shaft, and described motor shaft is connected with stator.
Wheel hub motor described in the utility model can be unilateral shaft wheel hub motor, or bilateral shaft wheel hub motor.
Additionally, this utility model also provides for a kind of wheeled robot being provided with described wheel hub motor drives chassis, code device signal accesses the motion controller of robot, thus realizes controlling the robotically-driven high precision velocity taken turns.It is further directed to four wheel hub motors or the robot of six wheel hub motors, it is possible to achieve the synchronous velocity control of many wheel hubs, improves robot degree of operating steadily, and reduce because of the asynchronous driving internal loss caused.
Further, described wheeled robot drives chassis to be provided with 2 or 4 or more described wheel hub motor.Robot controller need to obtain the signal of each wheel hub motor encoder respectively, and each wheel hub motor is carried out precise synchronization speed Control.
Below in conjunction with detailed description of the invention, this utility model is further described.Wherein, being merely cited for property of accompanying drawing illustrates, expression is only schematic diagram, rather than pictorial diagram, it is impossible to it is interpreted as the restriction to this patent；In order to of the present utility model embodiment is better described, some parts of accompanying drawing have omission, zoom in or out, and do not represent the size of actual product；It will be understood by those skilled in the art that some known features and explanation thereof may will be understood by omission in accompanying drawing.
Embodiment 1
As shown in Figures 1 to 3, a kind of wheel hub motor with high precision velocity feedback, including end cap 1, grating disc 2, motor shaft 3, photoelectric encoder 4, stator 5, rotor 6.Grating disc 2 is arranged on end cap 1；Photoelectric encoder 4 is arranged on motor shaft 3.Motor shaft 3 is connected with stator 5, and stator 5 has copper cash winding.Rotor 6 is connected with wheel hub, and coordinates installation with stator.It is fitted outside rotor in the present embodiment.
Wheel hub motor described in the utility model can be bilateral shaft wheel hub motor.Specifically, motor shaft 3 can stretch out both sides, for both sides stationary hub motor.
Embodiment 2
Fig. 4 is the axonometric chart that the wheeled robot being provided with 2 described wheel hub motors according to this utility model embodiment drives chassis.In the present embodiment, being respectively provided with a wheel hub motor with high precision velocity feedback in the left and right sides, chassis, described wheel hub motor is installed on the drive wheel.A driven pulley it is provided with in the one end on chassis.
Embodiment 3
Fig. 5 is the axonometric chart that the wheeled robot being provided with 6 described wheel hub motors according to this utility model embodiment drives chassis.In the present embodiment, being respectively provided with 3 wheel hub motors with high precision velocity feedback in the left and right sides, chassis, described wheel hub motor is installed on the drive wheel.For the robot having six wheel hub motors, it is possible to achieve the synchronous velocity control of many wheel hubs, improve robot degree of operating steadily, and reduce because of the asynchronous driving internal loss caused.
Obviously, above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in this utility model scope of the claims.
Claims (9)
1. a wheel hub motor with high precision velocity feedback, it is characterised in that wheel hub motor includes motor shaft, rotor, stator, grating disc, photoelectric encoder；
Described motor shaft is connected with described stator, and described stator has copper cash winding；
Described photoelectric encoder is arranged on described stator；
Described rotor is connected with wheel hub, and coordinates installation with described stator；
Described grating disc and rotor are relatively fixed installation.
Wheel hub motor the most according to claim 1, it is characterised in that described photoelectric encoder is absolute type encoder or selects incremental encoder.
Wheel hub motor the most according to claim 1, it is characterised in that described grating disc is metal code disk, glass code-disc or film code-disc.
Wheel hub motor the most according to claim 1, it is characterised in that described stator is provided with the pedestal of regular coding device.
Wheel hub motor the most according to claim 1, it is characterised in that described photoelectric encoder is reflective optical encoder device, described photoelectric encoder is installed towards described grating disc.
Wheel hub motor the most according to claim 1, it is characterised in that described photoelectric encoder is projection type photoelectric encoder, described encoder cross is installed at described grating disc outward flange.
Wheel hub motor the most according to claim 1, it is characterised in that farther include end cap, described end cap is fixed on described rotor, and end cap is connected with stator by bearing；
Described end cap is provided with windows, for installing and regulate the position of photoelectric encoder.
Wheel hub motor the most according to claim 1, it is characterised in that described wheel hub motor is unilateral shaft wheel hub motor, or bilateral shaft wheel hub motor.
9. a wheeled robot drives chassis, it is characterised in that described wheeled robot drives chassis to include arbitrary described wheel hub motor in plural claim 1-8, and described wheel hub motor is installed on the drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620239271.7U CN205610445U (en) | 2016-03-25 | 2016-03-25 | In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620239271.7U CN205610445U (en) | 2016-03-25 | 2016-03-25 | In -wheel motor and wheeled robot drive chassis with high accuracy velocity feedback |
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| CN205610445U true CN205610445U (en) | 2016-09-28 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107317437A (en) * | 2017-08-25 | 2017-11-03 | 北京进化者机器人科技有限公司 | Wheel hub motor and wheel hub motor system |
| CN107402122A (en) * | 2017-07-17 | 2017-11-28 | 北京云迹科技有限公司 | Robot chassis drives test bed and method of testing |
| CN109217554A (en) * | 2018-11-23 | 2019-01-15 | 四川云盾光电科技有限公司 | A kind of linear mould group closed-loop system and its control method |
| CN109474130A (en) * | 2019-01-07 | 2019-03-15 | 常州摩本智能科技有限公司 | Hub motor wheel and its hub motor |
| CN111114292A (en) * | 2018-10-31 | 2020-05-08 | 深圳市优必选科技有限公司 | Chassis structure of mute machine |
| CN112697153A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Positioning method of autonomous mobile device, electronic device and storage medium |
-
2016
- 2016-03-25 CN CN201620239271.7U patent/CN205610445U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107402122A (en) * | 2017-07-17 | 2017-11-28 | 北京云迹科技有限公司 | Robot chassis drives test bed and method of testing |
| CN107402122B (en) * | 2017-07-17 | 2023-07-18 | 北京云迹科技股份有限公司 | Robot chassis driving test bed and test method |
| CN107317437A (en) * | 2017-08-25 | 2017-11-03 | 北京进化者机器人科技有限公司 | Wheel hub motor and wheel hub motor system |
| CN111114292A (en) * | 2018-10-31 | 2020-05-08 | 深圳市优必选科技有限公司 | Chassis structure of mute machine |
| CN109217554A (en) * | 2018-11-23 | 2019-01-15 | 四川云盾光电科技有限公司 | A kind of linear mould group closed-loop system and its control method |
| CN109217554B (en) * | 2018-11-23 | 2023-11-03 | 四川云盾光电科技有限公司 | Linear module closed loop system and control method thereof |
| CN109474130A (en) * | 2019-01-07 | 2019-03-15 | 常州摩本智能科技有限公司 | Hub motor wheel and its hub motor |
| CN112697153A (en) * | 2020-12-31 | 2021-04-23 | 广东美的白色家电技术创新中心有限公司 | Positioning method of autonomous mobile device, electronic device and storage medium |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
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Address after: Room 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee after: Beijing Yunji Technology Co.,Ltd. Address before: No. 201, building 4, yard 8, Dongbeiwang West Road, Haidian District, Beijing 100094 Patentee before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |