CN210616508U

CN210616508U - Driven wheel and robot

Info

Publication number: CN210616508U
Application number: CN201921164027.9U
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Topband Co Ltd
Current assignee: Shenzhen Topband Co Ltd
Priority date: 2019-07-17
Filing date: 2019-07-17
Publication date: 2020-05-26
Anticipated expiration: 2029-07-17

Abstract

The utility model is suitable for a robotechnology field provides a from driving wheel and robot, should include the wheel body from the driving wheel and rotate the pivot of being connected with the wheel body, still including setting up at wheel body inside by response part and inductor, the inductor setting is in the pivot, is set up on the wheel body by response part to follow the same relative pivot of wheel body and rotate, and the response region of the rotation route process inductor of being responded to the part. The utility model provides a follow driving wheel is through being set up inside the wheel body by response part and inductor, dwindles the distance between the two, makes and can use the less part of interference ability by response part, and still seals inside the wheel body by response part, can not cause the interference influence to other sensors of robot. In addition, because the sensed part and the sensor are arranged in the wheel body, the sensing of the sensed part by the sensor is not influenced by the posture of the wheel body, and the driven wheel can be made into a universal wheel to move in any direction.

Description

Driven wheel and robot

Technical Field

The utility model belongs to the technical field of the robot, especially, relate to a from driving wheel and robot.

Background

With the rapid development of science and technology and the continuous improvement of human living standard, a series of intelligent robots closely related to the daily life of people, such as mowing robots, sweeping robots, accompanying robots, water receiving robots and the like, are produced in recent years, and the intelligent robots greatly facilitate the daily life of a large number of users.

In order to ensure the running stability of the robot, in the running process of the robot, the driven wheel generally needs to be subjected to slip detection, the emphasis of the slip detection is to collect the theoretical movement distance and the actual movement distance of the driven wheel, and the actual movement distance is generally calculated through the number of rotation turns of the driven wheel.

At present, the magnetic induction subassembly that generally adopts hall sensor and magnet to constitute responds to the number of turns of rotating from the driving wheel, however among the prior art, hall sensor installs inside the robot at present, and magnet is installed from the driving wheel, leads to between hall sensor and the magnet apart from great, must use the great magnet of magnetism, and magnet magnetism is great, and the easier is to other sensors to the robot cause the interference influence more. In addition, only when the magnet is located at the position corresponding to the Hall sensor, the Hall sensor can detect the magnet, so that the driven wheel of the existing robot can only use the fixed pulley, and the robot cannot realize operations such as turning.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a from driving wheel and robot aims at solving the response subassembly among the prior art and easily causes the technical problem who disturbs the influence to other sensors of robot.

The embodiment of the utility model provides a realize like this, a from driving wheel, including the wheel body and with the pivot of wheel body rotation connection, its characterized in that still is in including setting up the wheel body is inside by response part and inductor, the inductor sets up in the pivot, by response part setting on the wheel body, and follow the wheel body is together relative the pivot is rotated, just by response part's rotation route process the response region of inductor.

Furthermore, the driven wheel further comprises a circuit board, the circuit board is arranged on the rotating shaft and located inside the wheel body, and the sensor is arranged on the circuit board.

Furthermore, a sleeve hole is arranged in the center of the circuit board, and the circuit board is sleeved on the rotating shaft through the sleeve hole.

Further, the sensed member and the sensor are disposed offset from the axis of the shaft.

Furthermore, a cavity is formed in the wheel body, and the sensed component, the sensor and the circuit board are contained in the cavity.

Furthermore, the wheel body comprises a rim, a first wheel cover and a second wheel cover, the first wheel cover and the second wheel cover are arranged at two ends of the rim in a covering mode, the rotating shaft is rotatably connected with the first wheel cover through a bearing, and the sensed part is arranged on the second wheel cover.

Furthermore, the circuit board communicates with the outside in a wireless connection mode.

Furthermore, the circuit board communicates with the outside in a wired connection mode, the rotating shaft is a hollow shaft, and a wire for communicating the circuit board with the outside is led out from the inside of the rotating shaft in a hollow mode.

The utility model discloses another aspect still provides a robot, include the robot host computer and locate the drive wheel of robot host computer bottom and follow the driving wheel, it is foretell from the driving wheel to follow the driving wheel.

Furthermore, the rotating shaft of the driven wheel is rotatably connected with the bottom of the robot main machine through a bearing.

The utility model discloses the beneficial effect who reaches: the sensed part and the sensor are arranged in the wheel body, the distance between the sensed part and the sensor is reduced, so that the sensed part can use a part with smaller interference capacity (such as a magnet with smaller magnetism), and the sensed part is also enclosed in the wheel body, and cannot cause interference influence on other sensors of the robot. In addition, because the sensed part and the sensor are arranged in the wheel body, the sensing of the sensed part by the sensor is not influenced by the posture of the wheel body, so that the driven wheel can be made into a universal wheel to move in any direction, and the operation of turning the robot and the like is realized.

Drawings

Fig. 1 is an exploded perspective view of a driven wheel according to a first embodiment of the present invention;

FIG. 2 is an exploded perspective view of a driven wheel at another angle according to a first embodiment of the present invention

Fig. 3 is an assembly view of a driven wheel according to a first embodiment of the present invention;

fig. 4 is an exploded perspective view of a driven wheel according to a second embodiment of the present invention;

fig. 5 is an assembly view of the robot according to the third embodiment of the present invention;

fig. 6 is an exploded perspective view of a robot according to a third embodiment of the present invention;

fig. 7 is an enlarged view taken at I in fig. 6.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example one

Referring to fig. 1 to 3, a driven wheel 10 according to a first embodiment of the present invention is shown, including a wheel body 11, a rotating shaft 12 rotatably connected to the wheel body 11, and a sensed component 13, a sensor 14 and a circuit board 15 disposed inside the wheel body 11, where the sensor 14 is configured to sense the sensed component 13, where:

the internal portion of wheel body 11 is equipped with cavity a, by response part 13, inductor 14 and circuit board 15 are acceptd in cavity a, be equipped with cup joint hole 151 on the central point of circuit board 15, circuit board 15 is on pivot 12 through cup joint hole 151 suit, inductor 14 sets up on circuit board 15, with relatively fixed setting on pivot 12, by response part 14 setting on wheel body 11, and follow wheel body 11 together and rotate relative pivot 12, and the rotation route of being responded to part 13 passes through the induction zone of inductor 14, make wheel body 11 every turn round, inductor 14 senses once by response part 13, thereby realize responding to the number of turns of following the rotation of driving wheel. In practical implementation, the sensed component 13 may be a magnet, and correspondingly, the sensor 14 may be a hall sensor, a reed pipe sensor or a magnetic sensitive switch, or the sensed component 13 may also be another component capable of being sensed by an electronic device, for example, a high-reflectivity material, and correspondingly, the sensor 14 may be an infrared transceiver.

Specifically, the wheel body 11 includes a rim 111, and a first wheel cover 112 and a second wheel cover 113 covering both ends of the rim 111, the first wheel cover 112, and the second wheel cover 113 enclose a cavity a, the rotating shaft 12 is rotatably connected to the first wheel cover 112 through a bearing 121, a receiving hole b is disposed on an inner side of the second wheel cover 113, and the sensed component 12 is disposed in the receiving hole b. When the wheel is specifically implemented, the wheel rim and the wheel cover can be connected in detachable connection modes such as screw connection, clamping connection and the like, so that electric devices inside the wheel body 11 can be conveniently maintained. In addition, in order to ensure the sealing performance of the cavity a, a sealing element can be arranged between the rim and the wheel cover for sealing, and the sealing element can be, but is not limited to, an O-ring, a rubber ring, a silicone ring and the like.

In addition, the sensed part 13 and the sensor 14 are both arranged deviating from the axis of the rotating shaft 12, so that the rotating radius of the sensed part 13 can be enlarged, the sensed part 13 is further far away from the sensor 14 when rotating outside the non-sensing area of the sensor 14, and the sensor 14 is prevented from making wrong sensing due to too close. Furthermore, in some optional embodiments of the present invention, the rotation path of the sensing part 13 can pass through the center of the sensing area of the sensor 14, when the sensing part 13 is located in the center of the sensing area of the sensor 14, the sensor 14 is right opposite to the sensing part 13, and the strength sensed by the sensor 14 is the maximum, so that the program is favorable for making accurate turn judgment, that is, the sensor 14 senses the maximum strength every time, and then represents that the wheel body 11 has just rotated for one turn.

It can be understood that, because being set up in wheel body 11 by sensing part 13 and inductor 14, inductor 14 is not influenced by the wheel body 11 gesture to the response of being sensed part 13, that is wheel body 11 rotates no matter how and can not influence inductor 14 and the relative position by sensing part 13, inductor 14 still can guarantee to be responded to by sensing part 13, consequently follow driving wheel in the embodiment can assemble the bottom of the robot as the universal wheel, and when specifically assembling, can be connected with the rotation of robot bottom through the bearing with the one end that wheel body 11 was kept away from to pivot 12, can reach the function of universal wheel.

The circuit board 15 may be configured to calculate a moving distance of the driven wheel 10 according to the number of rotation turns of the driven wheel 10 sensed by the sensor 14, or may be configured to send out data sensed by the sensor 14. In order to communicate with the outside, the circuit board 15 is provided with a wireless communication module to communicate with the outside (such as a robot controller) in a wireless connection manner, so that the detection of slipping of the driven wheel is realized. The wireless connection mode may be, but is not limited to, bluetooth communication, zigbee communication, Wifi communication, radio frequency communication, and the like.

It should be noted that the driven wheel may be in the form of a universal wheel, and when the slip detection needs to be performed on any form of driven wheel at the bottom of the robot, the driven wheel that needs to be slip detected may be designed according to the sensing structure in this embodiment.

In summary, in the driven wheel 10 of the present embodiment, the sensed component 13 and the sensor 14 are disposed inside the wheel body 11, and the distance between the sensed component 13 and the sensor is reduced, so that the sensed component 13 can use a component with less interference capability (for example, a magnet with less magnetism), and the sensed component 13 is also enclosed inside the wheel body 11, which does not cause interference influence on other sensors of the robot. In addition, because the sensed part 13 and the sensor 14 are arranged in the wheel body 11, the sensing of the sensed part 13 by the sensor 14 is not influenced by the posture of the wheel body 11, so the driven wheel can be made into a universal wheel type to move in any direction, and the robot can be turned and other operations.

Example two

Referring to fig. 4, a driven wheel 10 according to a second embodiment of the present invention is shown, where the driven wheel 10 of the present embodiment is different from the driven wheel 10 of the first embodiment in that:

the circuit board 15 communicates with the outside through a wired connection mode, the rotating shaft 12 is a hollow shaft, and a conducting wire of the circuit board 15 communicating with the outside is led out through the hollow part 122 in the rotating shaft 12.

It should be noted that the implementation principle and some advantageous effects of the device in the second embodiment of the present invention are the same as those of the device in the first embodiment, and therefore, the application contents in the first embodiment can be referred to for the parts not mentioned in this embodiment.

EXAMPLE III

Another aspect of the present invention further provides a robot, please refer to fig. 5 to 7, which shows a robot in the middle of the third embodiment of the present invention, including the robot main machine 20, and two driving wheels 30 and two driven wheels 10 disposed at the bottom of the robot main machine 20, wherein the two driven wheels 10 are disposed at the front end of the robot main machine 20, and the two driving wheels 30 are disposed at the rear end of the robot main machine 20. The driven wheel 10 is the driven wheel 10 in the first embodiment or the second embodiment, and one end of the rotating shaft 12 of the driven wheel 10, which is far away from the wheel body 11, is rotatably connected with the bottom of the robot main body 20 through a bearing 123 to achieve the function of a universal wheel, so that the robot can realize steering when a speed difference exists between the two driving wheels 30.

In addition, in the specific implementation, the robot may further include a controller and an Inertial Navigation System (INS) installed inside the robot main unit 20, where the Inertial Navigation System is configured to detect acceleration and angular velocity (attitude) of the robot, so as to determine a theoretical movement distance of the robot main unit 20.

Specifically, the method for detecting the slippage of the robot may be:

the controller obtains a theoretical distance of the robot moving within a preset time, which is detected by an inertial navigation system;

the controller obtains the actual distance of the driven wheel moving within the preset time, which is sent by a circuit board in the driven wheel;

the controller determines whether the robot slips or not according to the theoretical distance and the actual distance;

and if the robot does not slip, the theoretical distance of the robot movement is equal to the actual distance, and if the robot slips, the theoretical distance of the robot movement is greater than the actual distance.

In specific implementation, the robot may be, but is not limited to, any one of a mowing robot, a sweeping robot, an accompanying robot, a water receiving robot, and the like.

In summary, in the robot in the embodiment, the sensed component and the sensor are disposed inside the driven wheel 10, so as to reduce the distance between the sensed component and the sensor, so that the sensed component can use a component with less interference capability (for example, a magnet with less magnetism), and the sensed component is also enclosed inside the wheel body, which does not cause interference influence on other sensors of the robot. In addition, since the sensed member and the sensor are disposed inside the driven wheel 10, the sensing of the sensed member by the sensor is not affected by the posture of the driven wheel 10, and therefore, the driven wheel 10 can be made into a universal wheel type to move in any direction, thereby realizing operations such as turning of the robot.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The driven wheel comprises a wheel body and a rotating shaft rotationally connected with the wheel body, and is characterized by further comprising a sensed part and a sensor, wherein the sensed part and the sensor are arranged in the wheel body, the sensor is arranged on the rotating shaft, the sensed part is arranged on the wheel body and rotates relative to the rotating shaft along with the wheel body, and the rotating path of the sensed part passes through a sensing area of the sensor.

2. The driven wheel of claim 1, further comprising a circuit board disposed on the shaft and within the wheel body, wherein the sensor is disposed on the circuit board.

3. The driven wheel according to claim 2, wherein a socket hole is provided in a central portion of the circuit board, and the circuit board is mounted on the rotating shaft through the socket hole.

4. A driven wheel according to claim 1, wherein the sensed member and the sensor are both arranged offset from the axis of the shaft.

5. The driven wheel of claim 2, wherein a cavity is formed in the wheel body, and the sensed component, the sensor and the circuit board are accommodated in the cavity.

6. The driven wheel of claim 1, wherein the wheel body comprises a rim and a first wheel cover and a second wheel cover covering two ends of the rim, the rotating shaft is rotatably connected with the first wheel cover through a bearing, and the sensed component is disposed on the second wheel cover.

7. The driven wheel of claim 2, wherein the circuit board communicates with the outside world via a wireless connection.

8. The driven wheel as claimed in claim 2, wherein the circuit board communicates with the outside through a wired connection, the rotating shaft is a hollow shaft, and a lead wire for communicating with the outside of the circuit board is led out through the hollow inside of the rotating shaft.

9. A robot, including the main frame of the robot and locate drive wheel and driven wheel of the main frame bottom of the said robot, characterized by that, the said driven wheel is the said driven wheel according to any claim 1-8.

10. The robot of claim 9, wherein the rotating shaft of the driven wheel is rotatably connected with the bottom of the robot main machine through a bearing.