CN208795241U - A kind of carrier precision ranging mechanism - Google Patents
A kind of carrier precision ranging mechanism Download PDFInfo
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- CN208795241U CN208795241U CN201821673336.4U CN201821673336U CN208795241U CN 208795241 U CN208795241 U CN 208795241U CN 201821673336 U CN201821673336 U CN 201821673336U CN 208795241 U CN208795241 U CN 208795241U
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- rangefinder
- mounting plate
- wheel
- measuring wheel
- measuring
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 42
- 210000003734 kidney Anatomy 0.000 claims description 24
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 description 3
- 206010008025 Cerebellar ataxia Diseases 0.000 description 2
- 206010008072 Cerebellar syndrome Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
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- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The utility model provides that a kind of ranging is accurate, error is small, including the mounting rack being arranged on the car body of walking rangefinder is arranged on mounting rack in the simple carrier precision ranging structure of structure；Rangefinder includes the rangefinder mounting plate being slidably arranged on mounting rack, and two measuring wheels being connected by synchronous belt of rotation setting on rangefinder mounting plate, measuring wheel is synchronous pulley；Between the mounting rack and rangefinder mounting plate of car body be arranged elastic pressuring clamping device make the synchronous belt below measuring wheel always with walking rail contact friction；At least one measuring wheel connects encoder.When carrying roller because when load deforms, either when track is uneven or disconnects, synchronous belt and track contact always, measuring wheel rotation and precision ranging.
Description
Technical field
The utility model belongs to straight line ranging mechanism, and in particular to a kind of carrier precision ranging mechanism.
Background technique
Existing vehicle odometry structure, commonly a kind of distance measuring method makes to connect encoder on the carrying roller of car body, leads to
It crosses encoder and measures the circle number that carrying roller is walked, to calculate distance.But in the case that carrying is bigger, carrying roller can occur
Certain deformation causes difference under the distance to take a round and constant shape state, to cause dysmetria true.It is uneven in walking track
In the case where whole, carrying roller may also have skidded or with the discontiguous situation of track, cause dysmetria true.For contraposition
Shifting requires the more accurate biggish occasion of equipment or Displacement Ratio, such as the full automatic numerical control carrier of underground garage, in this way
Error will cause bad consequence, cannot ignore.
Summary of the invention
That the purpose of the utility model is to provide a kind of rangings is accurate, error is small, the simple carrier precision ranging knot of structure
Structure.
The purpose of this utility model is achieved in that a kind of carrier precision ranging mechanism, including setting exist
Rangefinder is arranged on mounting rack in mounting rack on the car body of walking；Rangefinder includes the rangefinder being slidably arranged on mounting rack
Mounting plate, two measuring wheels being connected by synchronous belt of rotation setting on rangefinder mounting plate, measuring wheel is synchronous pulley；Car body
Mounting rack and rangefinder mounting plate between setting elastic pressuring clamping device make the synchronous belt below measuring wheel always with walking track
Contact friction；At least one measuring wheel connects encoder.
It is located at position between two measuring wheels on two rangefinder mounting plates and slides up and down at least one pulley shaft of setting, band
The adaptive synchronicity belt wheel of lower surface and synchronous belt cooperation is set on wheel shaft by bearing, between pulley shaft and rangefinder mounting plate
Be arranged make below adaptive synchronicity belt wheel synchronous belt always with the adaptive elastic hold-down mechanism of rail contact.
Belt wheel kidney slot is arranged in respective wheel shaft position on rangefinder mounting plate, and pulley shaft stretches out one end of belt wheel kidney slot
The through-hole for crossing pulley shaft up and down is set, and setting guiding connecting shaft on rangefinder mounting plate, pulley shaft is slided by through-hole to be arranged
It is oriented in connecting shaft；It is located above pulley shaft in guiding connecting shaft and buffer spring is set between rangefinder mounting plate.
Intermediate guiding axis is set on mounting rack, kidney slot is set on rangefinder mounting plate, intermediate guiding axis is in kidney slot
It slides up and down.The limiting device for making rangefinder not swing is arranged in intermediate guiding axis both ends.
Pilot hole is respectively set in two sides on mounting rack positioned at intermediate guiding axis, and corresponding position is arranged on rangefinder mounting plate
Guiding axis, guiding axis one end are slided in pilot hole；Spring is set between rangefinder mounting plate and mounting rack on guiding axis.
Central axis one end of at least one measuring wheel is arranged on rangefinder mounting plate by bearing, and other end setting is concentric
Big belt wheel, encoder is set on rangefinder mounting plate, small pulley is set on the axis of encoder, is led between big belt wheel and small pulley
Synchronous belt is crossed to be connected.
Two measuring wheels are respectively the first measuring wheel and the second measuring wheel, the central axis of the first measuring wheel i.e. the first central axis
It is arranged on rangefinder mounting plate by bearing；Second measuring wheel is arranged on the second central axis by bearing, rangefinder installation
Horizontal kidney slot is arranged in the position of corresponding second central axis of plate, and the second central axis passes through the adjustable setting of synchronous belt strainer
In the horizontal kidney slot of rangefinder mounting plate.
The beneficial effects of the utility model are: when carrying roller because measuring wheel can be with upward sliding when load deforms
To not share the load of car body, i.e., the pressure that measuring wheel is born is no more than the pressure of spring, so not deforming, ranging is begun
It is accurate eventually.When track is uneven or disconnects, the rangefinder of synchronous band structure is bigger with guide rail contacting surface, and synchronous belt turns always
Dynamic, measuring wheel will not skid.When carrying roller skids or other are happened, synchronous belt and track contact always.Using same
Band structure is walked, it can precision ranging when guide rail injustice, disconnecting.
Detailed description of the invention
Fig. 1 is the utility model structure diagram.
Fig. 2 is Fig. 1 reverse view.
Fig. 3 is that Fig. 1 hides side rangefinder mounting plate schematic diagram.
1 it is wherein mounting rack, 2 be rangefinder mounting plate, 3 be synchronous belt, 4 be elastic pressuring clamping device, 5 be encoder, 6 is
Pulley shaft, 7 be adaptive synchronicity belt wheel, 8 be belt wheel kidney slot, 9 be guiding connecting shaft, 10 be buffer spring, 11 be that centre is led
To axis, 12 be kidney slot, 13 be postive stop baffle, 14 be guiding axis, 15 be spring, 16 be big belt wheel, 17 be small pulley, 18 be
One measuring wheel, 19 be the second measuring wheel, 20 be horizontal kidney slot, 21 be the second central axis, 22 be adjusting screw rod.
Specific embodiment
As shown in Figure 1-3, a kind of carrier precision ranging mechanism, including the mounting rack 1 being arranged on the car body of walking, peace
It shelves and rangefinder is set on 1.Rangefinder includes the rangefinder mounting plate 2 being slidably arranged on mounting rack 1, rangefinder mounting plate 2
Upper two measuring wheels being connected by synchronous belt 3 of rotation setting, measuring wheel is synchronous pulley.The mounting rack 1 and rangefinder of car body
Between mounting plate 2 be arranged elastic pressuring clamping device 4 make the synchronous belt 3 below measuring wheel always with walking rail contact friction；At least
One measuring wheel connects encoder 5.Two preferred sizes of measuring wheel are identical.Because being slidably connected between measuring wheel and car body, away from
From by elastic pressuring clamping device 4 it is adjustable, so measuring wheel due to elastic pressuring clamping device pressure always with walking track it
Between compress, rotate synchronous belt to generate frictional force, drive measuring wheel rotation, to make the encoder 5 being connected with measuring wheel
It counts, calculates the distance of car body walking.The carrying rollers such as driving wheel, driven wheel are set on car body.When carrying roller because load occurs
When deformation, measuring wheel can not share the load of car body with upward sliding, i.e., the pressure that measuring wheel is born is no more than spring
Pressure, so not deforming, ranging is accurate always.When track is uneven or disconnects, the rangefinder of synchronous band structure with lead
Rail contact surface is bigger, and synchronous belt rotates always, and measuring wheel will not skid.When carrying roller skids or other are happened,
Synchronous belt and track contact always.It, can precision ranging when guide rail injustice, disconnecting using synchronous band structure.This is practical
It is novel be applicable in the occasion with linear guide or relatively flat ground or supporting surface, test car body linear motion away from
From.
It is located at position between two measuring wheels on rangefinder mounting plate 2 and slides up and down at least one pulley shaft 6 of setting, belt wheel
The adaptive synchronicity belt wheel 7 of lower surface and synchronous belt cooperation is set on axis 6 by bearing, pulley shaft 6 and rangefinder mounting plate 2 it
Between setting make 7 lower section synchronous belt 3 of adaptive synchronicity belt wheel always with the adaptive elastic hold-down mechanism of rail contact.In this way, through
When crossing rough track, 7 lower section synchronous belt of adaptive synchronicity belt wheel will not leave track, and entire synchronous belt 3 is protected always
It holds and rail contact.
Belt wheel kidney slot 8 is arranged in 6 position of respective wheel axis on rangefinder mounting plate 2, and pulley shaft 6 stretches out belt wheel kidney slot 8
One end setting cross the through-hole of pulley shaft up and down.Setting guiding connecting shaft 9, pulley shaft 6 pass through through-hole on rangefinder mounting plate 2
In sliding setting guiding connecting shaft 9.It is oriented in connecting shaft 9 to be located between 6 top of pulley shaft and rangefinder mounting plate 2 and buffering is set
Spring 10.Rangefinder mounting plate 2 can be parallel two pieces, and top links together.In this way, the both ends of pulley shaft 6 can lead to
It crosses two sets of guiding connecting shafts 9 to be separately positioned on buffer spring 10 on parallel rangefinder mounting plate 2, move more stable.
Intermediate guiding axis 11 is set on mounting rack 1, kidney slot 12 is set on rangefinder mounting plate 2, intermediate guiding axis 11 exists
It is slided up and down in kidney slot 12.The limiting device for making rangefinder not swing is arranged in intermediate 11 both ends of guiding axis.Here,
The length direction of intermediate guiding axis 11 is left and right directions.Up and down direction refers to perpendicular to the axis of synchronous belt 3 and guide rail contacting surface
Direction.The shaft shoulder is arranged in intermediate 11 one end of guiding axis, and postive stop baffle 13 is arranged in the other end, and kidney slot 12 is located at the shaft shoulder and limiting block
Between plate 13.Threaded hole is set in intermediate guiding axis 11, bolt is set in threaded hole, rotation bolt makes postive stop baffle 13 compress waist
Shape hole 12, so that rangefinder be made not swing in the process of running.
Pilot hole, corresponding position on rangefinder mounting plate 2 is respectively set in two sides on mounting rack 1 positioned at intermediate guiding axis 11
Guiding axis 14 is set, and 14 one end of guiding axis is slided in pilot hole.It is located at rangefinder mounting plate 2 and mounting rack 1 on guiding axis 14
Between be arranged spring 15.Guiding axis 14 is Step Shaft, and the side axis outer diameter close to pilot hole is smaller, such guiding axis 14 and bullet
Spring 15 allows rangefinder to swing up and down, and the amplitude of swing again cannot be big, and mechanism specific embodiment can be 5 millimeters with clipping.
Central axis one end of at least one measuring wheel is arranged on rangefinder mounting plate 2 by bearing, and other end setting is same
Encoder 5 is arranged on rangefinder mounting plate 2 for the big belt wheel 16 of the heart.Small pulley 17,16 He of big belt wheel are set on the axis of encoder 5
It is connected between small pulley 17 by synchronous belt.16 outer diameter of big belt wheel is less than measuring wheel outer diameter, tests car body walking by encoder 5
Distance.
Two measuring wheels are respectively the first measuring wheel 18 and the second measuring wheel 19, central axis i.e. first of the first measuring wheel 18
Central axis is arranged on rangefinder mounting plate 2 by bearing.Second measuring wheel 19 is arranged on the second central axis 21 by bearing,
Horizontal kidney slot 20 is arranged in the position of corresponding second central axis of rangefinder mounting plate 2, and the second central axis 21 is tensioned by synchronous belt
Mechanism is adjustable to be arranged in the horizontal kidney slot 20 of rangefinder mounting plate 2.By adjusting the second central axis 21 in horizontal waist
Position in shape hole 20 adjusts the center of the first measuring wheel 18, the second measuring wheel 19 away from making synchronous belt 3 always in tensioning state.
Synchronous belt strainer can be set such as flowering structure: 21 one end of the second central axis is stretched out, and extension end setting is horizontally through second
The through-hole of central axis 21 is located at horizontal kidney slot 20 on rangefinder mounting plate 2 far from the side of the first central axis and threaded hole is arranged,
Adjusting screw rod 22 passes through through-hole and threaded hole cooperates.Rotation adjusting screw rod 22 is allowed to be moved forward and backward the nut to adjusting screw rod 22
The movement of the second central axis 21 is held out against, front and back here refers to the direction of carrier traveling.Other strainer can certainly be used.
Rangefinder mounting plate 2 can be parallel two pieces, and top links together, and 21 both ends of the second central axis are separately positioned on rangefinder
It is more firm on mounting plate 2.
When it is implemented, carrier moves in orbit, elastic pressuring clamping device 4, which compresses measuring wheel, makes synchronous belt 3 below
With track pressing friction, synchronous belt rotation drives measuring wheel rotation, measures with the encoder 5 that measuring wheel is connected by synchronous belt
The distance of car body operation.When track is uneven or disconnects, rangefinder moves up and down in kidney slot 12, adaptive synchronicity
Belt wheel 7 is moved up and down along guiding connecting shaft 9, to make synchronous belt 3 compress always with track.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Although multiple embodiments of the invention have been shown and described above, for those of ordinary skill in the art
For, it is possible to understand that a variety of variations are carried out to these embodiments without departing from the principles and spirit of the present invention, are repaired
Change, replacement and variant, protection scope of the present invention is limited by every claim and its equivalency range.
Claims (7)
1. a kind of carrier precision ranging mechanism, it is characterised in that: including the mounting rack being arranged on the car body of walking, mounting rack
Upper setting rangefinder；Rangefinder includes the rangefinder mounting plate being slidably arranged on mounting rack, rotates and sets on rangefinder mounting plate
Two measuring wheels being connected by synchronous belt are set, measuring wheel is synchronous pulley；Between the mounting rack and rangefinder mounting plate of car body
Be arranged elastic pressuring clamping device make synchronous belt below measuring wheel always with walking rail contact friction；The connection of at least one measuring wheel
Encoder.
2. a kind of carrier precision ranging mechanism according to claim 1, it is characterised in that: two rangefinder mounting plates are upper
Position, which slides up and down, between two measuring wheels is arranged at least one pulley shaft, by bearing setting lower surface and together on pulley shaft
The adaptive synchronicity belt wheel with cooperation is walked, setting makes synchronous below adaptive synchronicity belt wheel between pulley shaft and rangefinder mounting plate
Band always with the adaptive elastic hold-down mechanism of rail contact.
3. a kind of carrier precision ranging mechanism according to claim 2, it is characterised in that: right on the rangefinder mounting plate
Answer belt wheel shaft position that belt wheel kidney slot is set, the logical of pulley shaft is crossed in one end setting that pulley shaft stretches out belt wheel kidney slot up and down
Hole, setting guiding connecting shaft on rangefinder mounting plate, pulley shaft are oriented in connecting shaft by through-hole sliding setting；It is oriented to connecting shaft
It is upper that buffer spring is set between rangefinder mounting plate above pulley shaft.
4. -3 any a kind of carrier precision ranging mechanism according to claim 1, it is characterised in that: set on the mounting rack
Intermediate guiding axis is set, kidney slot is set on rangefinder mounting plate, intermediate guiding axis slides up and down in kidney slot；Intermediate guiding axis
The limiting device for making rangefinder not swing is arranged in both ends.
5. a kind of carrier precision ranging mechanism according to claim 4, it is characterised in that: be located at centre on the mounting rack
Pilot hole is respectively set in the two sides of guiding axis, and guiding axis is arranged in corresponding position on rangefinder mounting plate, and guiding axis one end is being oriented to
It is slided in hole；Spring is set between rangefinder mounting plate and mounting rack on guiding axis.
6. a kind of carrier precision ranging mechanism according to claim 1, it is characterised in that: the center of at least one measuring wheel
Axis one end is arranged on rangefinder mounting plate by bearing, and concentric big belt wheel is arranged in the other end, is arranged on rangefinder mounting plate
Small pulley is arranged on the axis of encoder in encoder, is connected between big belt wheel and small pulley by synchronous belt.
7. a kind of carrier precision ranging mechanism according to claim 6, it is characterised in that: two measuring wheels are respectively first
Measuring wheel and the second measuring wheel, the central axis of the first measuring wheel i.e. the first central axis are arranged by bearing in rangefinder mounting plate
On；Second measuring wheel is arranged on the second central axis by bearing, the position setting of corresponding second central axis of rangefinder mounting plate
Horizontal kidney slot, the second central axis pass through the adjustable horizontal kidney slot that rangefinder mounting plate is arranged in of synchronous belt strainer
It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821673336.4U CN208795241U (en) | 2018-10-16 | 2018-10-16 | A kind of carrier precision ranging mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821673336.4U CN208795241U (en) | 2018-10-16 | 2018-10-16 | A kind of carrier precision ranging mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208795241U true CN208795241U (en) | 2019-04-26 |
Family
ID=66211981
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821673336.4U Active CN208795241U (en) | 2018-10-16 | 2018-10-16 | A kind of carrier precision ranging mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208795241U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998813A (en) * | 2020-08-21 | 2020-11-27 | 西安环海机器人科技有限公司 | Self-propelled pipeline inner coating quality assessment robot |
| CN112061181A (en) * | 2020-09-28 | 2020-12-11 | 广东博智林机器人有限公司 | Position detection device and transport vehicle |
| CN113146513A (en) * | 2021-05-12 | 2021-07-23 | 山东旗帜信息有限公司 | Millimeter-level positioning and correcting device for carrier |
| CN114526764A (en) * | 2022-01-13 | 2022-05-24 | 广东碧品居建筑工业化有限公司 | Encoder calibration device |
-
2018
- 2018-10-16 CN CN201821673336.4U patent/CN208795241U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998813A (en) * | 2020-08-21 | 2020-11-27 | 西安环海机器人科技有限公司 | Self-propelled pipeline inner coating quality assessment robot |
| CN112061181A (en) * | 2020-09-28 | 2020-12-11 | 广东博智林机器人有限公司 | Position detection device and transport vehicle |
| CN112061181B (en) * | 2020-09-28 | 2022-06-03 | 广东博智林机器人有限公司 | Position detection device and transport vehicle |
| CN113146513A (en) * | 2021-05-12 | 2021-07-23 | 山东旗帜信息有限公司 | Millimeter-level positioning and correcting device for carrier |
| CN114526764A (en) * | 2022-01-13 | 2022-05-24 | 广东碧品居建筑工业化有限公司 | Encoder calibration device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210407 Address after: 401120 4-3, building 5, 8 Gangcheng East Road, Jiangbei District, Chongqing Patentee after: CHONGQING XINGWANG SHIKE SAISI AUTOMATION Co.,Ltd. Address before: 461000 Henan shikesisi Automation System Co., Ltd., Zhongyuan Electric Valley Overseas Students Pioneer Park, Xuchang City, Henan Province Patentee before: Zhang Ranbing Patentee before: Yan Xuekui |