CN211220689U - Displacement detection wheel, robot chassis and mobile robot - Google Patents
Displacement detection wheel, robot chassis and mobile robot Download PDFInfo
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- CN211220689U CN211220689U CN201922223025.9U CN201922223025U CN211220689U CN 211220689 U CN211220689 U CN 211220689U CN 201922223025 U CN201922223025 U CN 201922223025U CN 211220689 U CN211220689 U CN 211220689U
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Abstract
The utility model discloses a displacement detection wheel, robot chassis and mobile robot, the displacement detection wheel includes that fixed bolster, shaft and rotation install at epaxial displacement wheel rigid connection has magnetoelectric encoder on the terminal surface of shaft, and rigid connection has the strong magnet of arranging with the face-to-face clearance of magnetoelectric encoder on the displacement takes turns to, the shaft is connected with the fixed bolster through huo ken linear mechanism, is connected with between huo ken linear mechanism and fixed bolster to be used for promoting the displacement wheel and hugs closely the torsional spring that ground was arranged. The utility model utilizes the Hookan straight line mechanism to ensure that the displacement wheel does not generate transverse displacement when moving upwards, and the displacement detection wheel is convenient to be installed on the premise of not changing the space of the existing area; the torsion spring is used for applying force downwards to the displacement wheel, so that the displacement wheel is arranged in a manner of being attached to the ground, and the phenomenon of slipping of the displacement wheel is effectively avoided; the strong magnet and the magnetoelectric encoder are arranged on the displacement wheel and the wheel shaft of the displacement wheel, and the magnetoelectric encoder is used for measuring the displacement of the robot, so that the cost is low.
Description
Technical Field
The utility model relates to an autonomic mobile robot field especially relates to a displacement detection wheel, robot chassis and mobile robot.
Background
The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like. Therefore, mobile robotics has gained widespread attention in countries around the world.
The study of mobile robots began at the end of the 60 s. Nils Nilssen and Charles Rosen et al, Stanford institute (SRI), developed an autonomous mobile robot named Shakey in 1966 to 1972. The aim is to research and apply artificial intelligence technology and to automatically reason, plan and control the robot system in a complex environment.
At present, the distance measurement when a robot moves mainly has the following two modes:
the method comprises the steps of directly installing an inertial navigation module, and automatically performing integral operation by measuring the acceleration (inertia) of the robot to obtain the instantaneous speed and instantaneous position data of the robot. The module has high cost, is easy to be interfered and has a narrow application range.
Secondly, a rotary encoder is arranged on a driving wheel or a driving motor shaft of the robot, and the moving distance of the robot can be obtained through calculation according to the rotation accumulation of the rotary encoder, such as Chinese patent with the publication number of CN 205928686U, Chinese patent with the publication number of CN 205766098U and the like. The scheme has the advantages of simple structure, small change amount and low cost, and is widely applied to mobile robots. However, since the encoder is directly arranged on the driving wheel or the driving motor, once the obstacle and the ground are wet and slippery, the driving wheel slips, and the robot moving distance converted by the encoder is inaccurate.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to the weak point of prior art, provide a displacement detection wheel, robot chassis and mobile robot that adaptable outdoor each road surface environment used, the rate of accuracy is high.
The utility model provides a displacement detection wheel, install at epaxial displacement wheel including fixed bolster, shaft and rotation, on the fixed bolster was fixed in mobile robot's chassis, the shaft was connected with the fixed bolster through huo ken rectilinear mechanism, was connected with between huo ken rectilinear mechanism and fixed bolster and was used for promoting the displacement wheel and hugs closely the torsional spring that ground was arranged rigid connection has magnetoelectric encoder on the terminal surface of shaft, and rigid connection has the strong magnet of arranging with the face-to-face clearance of magnetoelectric encoder on the displacement wheel.
The Hooke linear mechanism comprises a connecting rod I, a connecting rod II and a connecting rod III, wherein the lower end of the connecting rod I is fixedly connected with a wheel shaft, the upper end of the connecting rod I is hinged to a fixed support through the connecting rod II, the connecting rod III is hinged between the connecting rod I below the connecting rod II and the fixed support, the length of the connecting rod III is larger than that of the connecting rod II, a torsional spring is installed on a hinged shaft at the joint of the connecting rod III and the fixed support, the connecting rod III is pushed by the torsional spring to downwards rotate around the joint of the connecting rod III and the fixed support, and an on-wheel displacement wheel is driven.
In order to further ensure that the transverse displacement does not occur when the connecting rod moves upwards, the axes connected with the connecting rod II, the connecting rod III and the wheel axle on the connecting rod I are arranged in a coplanar manner and are parallel to each other, the distance between the two axes connected with the connecting rod II and the connecting rod III on the fixed support is L1, the distance between the two axes connected with the fixed support and the connecting rod I on the connecting rod II is L2, the distance between the two axes connected with the connecting rod II and the connecting rod III on the connecting rod I is L3, the distance between the two axes connected with the fixed support and the connecting rod I on the connecting rod III is L4, the distance between the two axes connected with the connecting rod III and the wheel axle on the connecting rod I is L5, L2 is L1, L3 is 1.25 multiplied by L1, L4 is 1.5 multiplied by L1, and L5 is multiplied by 2 by L1.
The displacement wheel comprises a hub I, a hub II and a tire, wherein the hub I and the hub II are respectively rotatably installed on a wheel shaft through a bearing, the tire is in friction connection with the two hubs, the hub I is connected with the hub II through a threaded fastener, a strong magnet is installed on the hub arranged with a face-to-face gap of a magnetoelectric encoder, and each hub is coaxially arranged with the wheel shaft.
In order to ensure the coaxiality, the butt joint surfaces of the two hubs are provided with matched flanges and grooves, and the two hubs are connected in a matched clamping mode through the flanges and the grooves.
The butt joint ends of the two hubs are respectively provided with a concave ring, the inner side of the tire is provided with a convex ring which is used for being in friction connection with the inner walls of the two concave rings, and the tire is clamped and installed on the two hubs in a matched mode through the convex rings and the concave rings.
The wheel shaft, the displacement wheel, the magnetoelectric encoder and the strong magnet are coaxially arranged.
The magnetoelectric encoder is a Hall magnetoelectric encoder, and Hall elements on the magnetoelectric encoder are coaxial with the strong magnet and are arranged at an interval of 1 mm.
A robot chassis comprises any one of the displacement detection wheels.
A mobile robot comprises the robot chassis.
The utility model connects the wheel shaft of the displacement wheel with the fixed bracket through the Huokang straight line mechanism, so that the displacement wheel does not generate transverse displacement when moving upwards, and the displacement detection wheel is convenient to install on the premise of not changing the space of the existing area, thereby effectively controlling the transformation cost; the torsion spring is used for applying force downwards to the displacement wheel on the Hoken linear mechanism, so that the displacement wheel is arranged in a manner of being attached to the ground, and only in the moving process of the robot, the displacement wheel can rotate by means of the friction force between the displacement wheel and the ground, and therefore the phenomenon that the displacement wheel slips is effectively avoided; the displacement wheel and the wheel shaft thereof are provided with the corresponding arranged strong magnets and the magnetoelectric encoders, when the displacement wheel moves, the strong magnets rotate around the wheel shaft along with the displacement wheel, the magnetoelectric encoders replace the existing encoders to measure the displacement of the robot according to the rotation of the strong magnets, the change amount is small, the cost is low, the universality is strong, and the wide applicability can be ensured.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partial sectional view of the structure in fig. 1.
Fig. 3 is a movement principle diagram of the utility model in use.
The labels shown in the figures and the corresponding component names are:
1. fixing a bracket;
2. a hopken linear mechanism; 21. a connecting rod I; 22. a connecting rod II; 23. a connecting rod III; 211. a through groove;
3. a wheel axle; 31. a shaft hole;
4. a displacement wheel; 41. a hub I; 42. a hub II; 43. a tire; 411. a flange; 412. a concave ring; 421. a groove; 431. a convex ring;
5. a magnetoelectric encoder; 6. strong magnets; 7. a torsion spring.
Detailed Description
As can be seen from figures 1 and 2, the displacement detection wheel of the utility model comprises a fixed bracket 1, a Hooken straight line mechanism 2, a wheel shaft 3, a displacement wheel 4, a magnetoelectric encoder 5, a strong magnet 6 and a torsional spring 7,
the fixed bracket 1 is detachably arranged on a chassis of the mobile robot through a threaded fastener,
the hopken linear mechanism 2 comprises a connecting rod I21, a connecting rod II 22 and a connecting rod III 23, the connecting rod II 22 is hinged between the upper end of the connecting rod I21 and the upper end of the fixed support 1 through a pin shaft, the connecting rod III 23 is hinged between the middle part of the connecting rod I21 and the lower end of the fixed support 1 through a pin shaft, the connecting rod III 23 is arranged below the connecting rod II 22, the length of the connecting rod III 23 is larger than that of the connecting rod II 22,
the wheel shaft 3 is a step shaft and is vertically fixed on the inner side of the lower end of the connecting rod I21 through a threaded fastener, a shaft hole 31 is arranged at the shaft center of the wheel shaft 3, a through groove 211 communicated with the shaft hole 31 is arranged at the end, connected with the wheel shaft 3, of the connecting rod I21, the wheel shaft 3 is connected with the fixed support 1 through a Hooke's straight line mechanism 2 and can move up and down on the fixed support 1,
the displacement wheel 4 comprises a wheel hub I41, a wheel hub II 42 and a tire 43, the wheel hub II 42 is rotatably sleeved between the step of the wheel shaft 3 and the connecting rod I21 through a bearing, the wheel hub I41 is rotatably covered on the inner end face of the step of the wheel shaft 3 through a bearing, the inner wall of the wheel hub I41 and the inner end face of the wheel shaft 3 are arranged in a clearance mode, the tire 43 is sleeved on the two wheel hubs through an elastic clamp, the connecting faces of the tire 43 and the wheel hubs are in friction connection, the tire 43 is fixedly connected with the two wheel hubs through the friction force between the elasticity, the wheel hub I41 and the wheel hub II 42 are detachably connected together through a threaded fastener, and each wheel hub,
the magnetoelectric encoder 5 is fixed on the inner end surface of the wheel shaft 3 through screws, a wire harness of the magnetoelectric encoder 5 passes through the shaft hole 31 on the wheel shaft 3 and penetrates out of the through groove 211 on the connecting rod I21,
the strong magnet 6 is arranged on the inner wall of the hub I41 which is arranged with a gap between the surface of the strong magnet and the magnetoelectric encoder 5, the wheel shaft 3, the displacement wheel 4, the magnetoelectric encoder 5 and the strong magnet 6 are all coaxially arranged,
the torsion spring 7 is sleeved on a hinged shaft at the joint of the connecting rod III 23 and the fixed bracket 1, the connecting rod III 23 is pushed by the torsion spring 7 to rotate downwards around the joint of the connecting rod III and the fixed bracket 1,
when the device is used, the connecting rod III 23 swings downwards under the action of the torsion spring 7 to drive the wheel shaft 3 and the displacement wheel 4 on the connecting rod I21 to move downwards, so that the displacement wheel 4 can be tightly attached to the ground or the surface of an object to be measured;
when rolling on the ground, displacement wheel 4 and strong magnet 6 pass through the bearing and around 3 motions of shaft, and magnetoelectric encoder 5 can detect strong magnet 6's rotation angle, can detect the displacement of displacement wheel 4 through following formula:
displacement (pi × outer diameter of displacement wheel × rotation angle)/360.
As can be seen from FIG. 3, in the present invention, the axle center of the fixed bracket 1 hinged with the connecting rod II 22 is set as a, the axle center of the connecting rod II 22 hinged with the connecting rod I21 is set as b, the axle center of the connecting rod I21 hinged with the connecting rod III 23 is set as c, the axle center of the connecting rod I21 fixedly connected with the wheel axle 3 is set as d, the axle center of the connecting rod III 23 hinged with the fixed bracket 1 is set as e, the axle center b, the axle center c and the axle center d are arranged in a coplanar manner parallel to each other,
the distance from the axle center a to the axle center e on the fixed bracket 1 is L1, the distance from the axle center a to the axle center b on the connecting rod II 22 is L2, the distance from the axle center b to the axle center c on the connecting rod I21 is L3, the distance from the axle center c to the axle center e on the connecting rod III 23 is L4, the distance from the axle center c to the axle center d on the connecting rod I21 is L5, wherein,
L2＝L1；
L3＝1.25×L1；
L4＝1.5×L1；
L5＝2×L1，
through the Hooken linear mechanism 2 meeting the arm length proportion, when the wheel shaft 3 moves up and down in the range of 2 xL 1, the straight-up and straight-down linear motion is basically realized, so that the displacement wheel can easily move up and down, and the Hooken linear mechanism is more suitable for being installed in small space areas in the front and the back.
As can be seen from FIG. 2, for guaranteeing the axiality the utility model discloses be equipped with an annular flange 411 on I41's the outer terminal surface of wheel hub, be equipped with one on II 42's of wheel hub the interior terminal surface with the corresponding recess 421 of arranging of flange 411, wheel hub I41 is connected through flange 411 and recess 421 cooperation joint with II 42 of wheel hub.
As can be seen from fig. 2, the same female ring 412 is disposed on the butt end of the two hubs of the present invention, the inner side of the tire 43 is provided with the male ring 431 disposed corresponding to the two female rings 412, the female ring 412 of the two hubs is connected with the male ring 431 of the tire 43 in an interference fit manner, and the tire 43 is clamped and clamped on the two hubs by the two hubs through the cooperation of the male ring 431 and the female ring 412 and by the friction between the elasticity and the two hubs.
The utility model discloses in, for guaranteeing displacement wheel 4 can be reliably smooth and easy rotation, the resistance is less, is difficult to appear sliding, also can bear the shake that the road surface is uneven to arouse for a long time, guarantees reliable motion, and the bearing between displacement wheel 4 and shaft 3 is 6005 deep groove ball bearing.
Magnetoelectric encoder is a neotype angle or displacement measurement device, and its principle adopts magnetic resistance or hall element to measure the angle or the displacement value of the magnetic material of change, and the change of magnetic material angle or displacement can arouse the change of certain resistance or voltage, enlargies the change volume through amplifier circuit, handles back output pulse signal or analog signal through the singlechip, reaches the measuring purpose. And the utility model discloses a magnetoelectric encoder 5 is hall formula magnetoelectric encoder, and hall element on the magnetoelectric encoder 5 is coaxial and interval 1mm with the strong magnet arranges.
The utility model also provides a robot chassis that is equipped with above-mentioned displacement detection wheel.
The utility model also provides a mobile robot who is equipped with above-mentioned robot chassis.
Claims (10)
1. A displacement detection wheel, its characterized in that: install at epaxial displacement wheel (4) of wheel including fixed bolster (1), shaft (3) and rotation, on the fixed bolster was fixed in mobile robot's chassis, the shaft was connected with the fixed bolster through huokang rectilinear mechanism (2), was connected with torsional spring (7) that are used for promoting the displacement wheel and hug closely ground and arrange between huokang rectilinear mechanism and fixed bolster rigid connection has magnetoelectric encoder (5) on the terminal surface of shaft, rigid connection has strong magnet (6) of arranging with the face-to-face clearance of magnetoelectric encoder on the displacement wheel.
2. The displacement detection wheel according to claim 1, wherein: the hopken linear mechanism comprises a connecting rod I (21), a connecting rod II (22) and a connecting rod III (23), wherein the lower end of the connecting rod I is fixedly connected with a wheel shaft, the upper end of the connecting rod I is hinged with a fixed support through the connecting rod II, the connecting rod III is hinged between the connecting rod I and the fixed support below the connecting rod II, the length of the connecting rod III is larger than that of the connecting rod II, a torsional spring is installed on a hinged shaft at the joint of the connecting rod III and the fixed support, the connecting rod III is pushed by the torsional spring to downwards rotate around the joint of the connecting rod III and the fixed support, and an on-wheel displacement wheel is.
3. The displacement detection wheel according to claim 2, wherein: the distance between the two axes connected with the connecting rod II and the connecting rod III on the connecting rod I is L1, the distance between the two axes connected with the connecting rod II and the connecting rod III on the connecting rod II is L2, the distance between the two axes connected with the fixing bracket and the connecting rod I on the connecting rod I is L3, the distance between the two axes connected with the connecting rod II and the connecting rod III on the connecting rod III is L4, the distance between the two axes connected with the connecting rod III and the wheel shaft on the connecting rod I is L5, the L2 is L1, the L3 is 1.25 × L1, the L4 is 1.5 × L1, and the L5 is 2 × L1.
4. The displacement detection wheel according to claim 1, wherein: the displacement wheel comprises a wheel hub I (41), a wheel hub II (42) and a tire (43), wherein the wheel hub I and the wheel hub II are respectively rotatably installed on a wheel shaft through a bearing, the tire is in friction connection with the two wheel hubs, the wheel hub I is connected with the wheel hub II through a threaded fastener, a strong magnet is installed on the wheel hub arranged with a face-to-face gap of a magnetoelectric encoder, and each wheel hub is coaxially arranged with the wheel shaft.
5. The displacement detection wheel according to claim 4, wherein: the butt joint surface of the two hubs is provided with a flange and a groove which are matched, and the two hubs are connected in a matched clamping manner through the flange and the groove.
6. The displacement detection wheel according to claim 4, wherein: the butt joint ends of the two hubs are respectively provided with a concave ring, the inner side of the tire is provided with a convex ring which is used for being in friction connection with the inner walls of the two concave rings, and the tire is clamped and installed on the two hubs in a matched mode through the convex rings and the concave rings.
7. The displacement detection wheel according to claim 1, wherein: the wheel shaft, the displacement wheel, the magnetoelectric encoder and the strong magnet are coaxially arranged.
8. The displacement detection wheel according to claim 1, wherein: the magnetoelectric encoder is a Hall magnetoelectric encoder, and Hall elements on the magnetoelectric encoder are coaxial with the strong magnet and are arranged at an interval of 1 mm.
9. A robot chassis comprising the displacement detection wheel of any of claims 1 to 8.
10. A mobile robot comprising the robot chassis of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922223025.9U CN211220689U (en) | 2019-12-12 | 2019-12-12 | Displacement detection wheel, robot chassis and mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922223025.9U CN211220689U (en) | 2019-12-12 | 2019-12-12 | Displacement detection wheel, robot chassis and mobile robot |
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| Publication Number | Publication Date |
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| CN211220689U true CN211220689U (en) | 2020-08-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815194A (en) * | 2019-12-12 | 2020-02-21 | 湖南合控智能技术有限公司 | Displacement detection wheel, robot chassis and mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110815194A (en) * | 2019-12-12 | 2020-02-21 | 湖南合控智能技术有限公司 | Displacement detection wheel, robot chassis and mobile robot |
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