CN216783679U

CN216783679U - Omnidirectional wheel chassis based on multi-channel gray level sensor positioning

Info

Publication number: CN216783679U
Application number: CN202120944277.5U
Authority: CN
Inventors: 张晓捷; 程广河; 孙瑞瑞; 程大全; 王星星; 许敬尧
Original assignee: Qilu University of Technology; Shandong Computer Science Center National Super Computing Center in Jinan
Current assignee: Qilu University of Technology; Shandong Computer Science Center National Super Computing Center in Jinan
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2022-06-21
Anticipated expiration: 2031-04-30

Abstract

The utility model belongs to the technical field of robots, and particularly relates to an omnidirectional wheel chassis based on multi-path gray level sensor positioning, which comprises a robot chassis, omnidirectional wheel sets, a multi-path gray level sensor and a positioning controller, wherein the robot chassis is in a regular octagon shape, the central position of the robot chassis is taken as a symmetric center, four omnidirectional wheel sets are arranged on the robot chassis in a central symmetry manner, the multi-path gray level sensor and the positioning controller are fixedly arranged on the robot chassis, the multi-path gray level sensor is arranged between two omnidirectional wheel sets, and the multi-path gray level sensor is parallel to the side edge of the robot chassis and is positioned outside the side edge of the robot chassis. The multi-channel gray level sensor is arranged between the two adjacent omnidirectional wheel sets, so that the robot chassis can monitor road information in an omnidirectional manner, the positioning accuracy is ensured, the omnidirectional wheel sets are matched, the omnidirectional wheel chassis is better in operability, and the positioning accuracy is ensured while the movement is flexible.

Description

Omnidirectional wheel chassis based on multi-channel gray level sensor positioning

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to an omnidirectional wheel chassis based on multi-channel gray level sensor positioning.

Background

The omnidirectional chassis is a chassis capable of translating and rotating in all directions, so that the robot can walk in all directions. The omnidirectional chassis comprises at least three omnidirectional wheels which are independently driven, and the robot can move in an omnidirectional manner under the mutual constraint of the wheels by controlling the rotating speed of the omnidirectional wheels.

Chinese patent document CN203380880U discloses an omnidirectional chassis structure for controlling the walking of a robot, which includes a bottom plate, at least three motors fixed on the bottom plate, and an omnidirectional wheel rigidly connected with the output shafts of the motors; the motors are arranged asymmetrically. The utility model discloses a omnidirectional chassis structure, it is through staggering the motor and arranging, compares traditional chassis structure and is symmetrical arrangement's mode usually, and it is when satisfying chassis omnidirectional movement's performance requirement for whole chassis structure is compacter, and the output shaft of motor is direct and omnidirectional wheel rigid connection, and transmission efficiency is high, thereby makes this omnidirectional chassis structure flexible, easily control. The technical scheme only optimizes the arrangement of the omnidirectional wheels, but in practical application, how to arrange the positioning sensors on the omnidirectional chassis ensures the positioning accuracy of the omnidirectional chassis while the omnidirectional chassis is flexible and flexible without corresponding description, and the omnidirectional wheels are fixedly arranged relative to the bottom plate, so that the anti-seismic effect is poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an omnidirectional wheel chassis based on multi-path gray level sensor positioning, which mainly aims to arrange a multi-path gray level sensor between two adjacent omnidirectional wheel sets, can detect road surface information of each dimensionality in the horizontal direction, and arrange the multi-path gray level sensor at the outer side of the side edge of a robot chassis, so that the detection range is larger, and the accuracy of positioning information is ensured; four omnidirectional wheel groups provided with independent suspension systems are adopted as power output, so that the damping effect can be realized, and the effects of simplicity, strong flexibility and good stability are achieved.

The technical problem to be solved by the utility model is realized by adopting the following technical scheme: an omnidirectional wheel chassis based on multi-path gray level sensor positioning comprises a robot chassis, omnidirectional wheel sets, multi-path gray level sensors and a positioning controller, wherein the robot chassis is in a regular octagon shape, the center position of the robot chassis is taken as a symmetry center, the four omnidirectional wheel sets are arranged on the robot chassis in a centrosymmetric manner, each omnidirectional wheel set comprises a motor, a wheel shaft and an omnidirectional wheel arranged on the wheel shaft, the wheel shaft is connected with a motor shaft of the motor, and the motor is arranged on the robot chassis;

the multi-channel gray sensor and the positioning controller are fixedly installed on the robot chassis, the positioning controller is connected with the multi-channel gray sensor through a CAN bus, the multi-channel gray sensor is arranged between the two omnidirectional wheel sets, and the multi-channel gray sensor is parallel to the side edge of the robot chassis and is positioned on the outer side of the side edge of the robot chassis. Through set up multichannel grey level sensor between two adjacent omniwheel wheelsets to set up multichannel grey level sensor in the robot chassis outside, make its detection range bigger, guarantee the omnidirectional monitoring road surface information in robot chassis, guaranteed the accuracy of location, cooperation omniwheel wheelset simultaneously makes omniwheel chassis maneuverability better, has guaranteed the precision of motion when the motion is nimble.

The technical scheme of the utility model is as follows: the omnidirectional wheel set is connected to a chassis of the robot in a vertically rotatable manner through the independent suspension system. The omnidirectional wheel set is arranged on the robot chassis through the independent suspension system, and the damping effect is achieved.

The technical scheme of the utility model is as follows: the independent suspension system comprises a damping spring, a spring hinge, a motor base and a motor base hinge;

one end of the damping spring is connected to the spring hinge in a vertically rotating mode through a pin shaft, the other end of the damping spring is fixedly connected to the motor base, the motor base is connected with the motor base through a bearing, and the motor base hinge and the spring hinge are both fixed to the robot chassis through threaded connection; the motor is fixedly arranged on the motor base. The damping spring has a damping effect, and meanwhile, the wheel sets of the omnidirectional wheel are fixedly arranged on the motor base, and the motor base can rotate up and down, so that the omnidirectional wheel can deform and adjust to adapt when encountering obstacles or gullies, the wheel sets do not influence each other, the stability of the chassis of the omnidirectional wheel is ensured, and the damage of vibration to the motor is reduced.

The technical scheme of the utility model is as follows: two damping springs are arranged on two sides of the motor base respectively, and the two damping springs are symmetrically arranged relative to the central line of the wheel shaft. Through set up a damping spring respectively in motor cabinet both sides, when the omniwheel received unbalanced external force, compare with setting up a damping spring, the direction of deformation is more nimble, has increased the stability on omniwheel chassis.

The technical scheme of the utility model is as follows: multichannel grayscale sensor includes circuit board, sampling module and light screen, a plurality of sampling modules of evenly having arranged along its length direction in the circuit board below, centers on sampling module a week is provided with the light screen, the circuit board passes through the locating hole and is fixed together with the robot chassis. Will the sampling module evenly sets up, makes to detect more stably, sets up the light screen around the sampling module, avoids the influence of external light to the detection, and it is higher to make the sampling module detect the precision.

The utility model also claims an autonomous positioning robot applying the omnidirectional wheel chassis based on multi-channel gray sensor positioning.

The utility model has the beneficial effects that:

(1) in the aspect of positioning, a multi-path gray sensor is arranged between two adjacent omnidirectional wheel sets, so that the road information of each dimension in the horizontal direction can be detected, and the multi-path gray sensor is arranged on the outer side of the side edge of the chassis of the robot, so that the detection width and range are larger, and the accuracy of positioning information is ensured; the omnidirectional wheel is matched for use, so that the movement flexibility is ensured, and the chassis of the omnidirectional wheel can meet the advantage of narrower space;

(2) the four omnidirectional wheel sets with independent suspension systems are used as power output, so that the shock absorption effect can be realized, and the effects of strong flexibility and good stability are achieved;

(3) two symmetrical damping springs are arranged in the independent suspension system, so that when an omnidirectional wheel set is subjected to unbalanced external force, the deformation direction is more flexible than that of the damping spring, and the stability of the omnidirectional wheel chassis is improved;

(4) the omnidirectional wheel chassis can be widely applied to autonomous positioning robots in unmanned workshops, storehouses, dangerous places and the like.

Drawings

Fig. 1 is a schematic structural diagram of an omnidirectional wheel chassis based on multi-channel gray scale sensor positioning according to the present invention;

FIG. 2 is a schematic view of an assembly of the omni-wheel set of the present invention;

FIG. 3 is a schematic structural view of an omni wheel set according to the present invention

FIG. 4 is a schematic structural view of the independent suspension system of the present invention;

FIG. 5 is a schematic diagram of the mechanism of the multi-channel gray scale sensor according to the present invention;

in the figure, a robot chassis 1, a multi-channel gray scale sensor 2, a positioning controller 3, a motor 4, a wheel shaft 5, an omnidirectional wheel 6, a damping spring 7, a spring hinge 8, a motor base 9, a motor base hinge 10, a circuit board 11, a sampling module 12, a shading plate 13 and a positioning hole 14 are arranged.

Detailed Description

The utility model will now be described in further detail with reference to the accompanying drawings and examples, which are simplified schematic drawings and illustrate only the basic structure of the utility model in a schematic manner, and thus show only the constituents relevant to the utility model.

As shown in fig. 1-3, an omnidirectional wheel chassis based on multichannel gray level sensor location includes robot chassis 1, omnidirectional wheel group, multichannel gray level sensor 2 and positioning controller 3, robot chassis 1 is regular octagon, with 1 central point in robot chassis is the symmetric center, four omnidirectional wheel group is central symmetry and sets up on robot chassis 1, omnidirectional wheel group includes motor 4, shaft 5 and installs omnidirectional wheel 6 on the shaft 5, shaft 5 with the motor shaft of motor 4 is connected, motor 4 sets up on robot chassis 1.

Multichannel grayscale sensor 2 and positioning controller 3 fixed mounting are on robot chassis 1, positioning controller 3 passes through CAN bus connection with multichannel grayscale sensor 2, multichannel grayscale sensor 2 sets up between two omnidirectional wheel wheelsets, multichannel grayscale sensor 2 is on a parallel with robot chassis 1 side and is located the robot chassis 1 side outside.

As shown in fig. 4, the omni-wheel set is connected to the robot chassis 1 to be capable of rotating up and down through an independent suspension system.

The independent suspension system comprises a damping spring 7, a spring hinge 8, a motor base 9 and a motor base hinge 10.

One end of the damping spring 7 is connected to the spring hinge 8 through a pin shaft in a manner of rotating up and down, the other end of the damping spring 7 is fixedly connected to the motor base 9, the motor base 9 is connected with the motor base hinge 10 through a bearing, and the motor base hinge 10 and the spring hinge 8 are both fixed on the robot chassis 1 through threaded connection; the motor 4 is fixedly arranged on the motor base 9.

Two damping springs 7 are respectively arranged on two sides of the motor base 9, and the two damping springs 7 are symmetrically arranged relative to the central line of the wheel shaft 5.

As shown in fig. 5, the multi-channel grayscale sensor 2 includes a circuit board 11, sampling modules 12 and a light shielding plate 13, the length of the circuit board 11 is 400mm, 24 sampling modules 12 are uniformly arranged below the circuit board 11 along the length direction thereof, the distribution distance of the sampling modules 12 is 17mm, the line track with the width larger than or equal to 17mm can be accurately acquired, the acquired information is more comprehensive, the positioning is more accurate, the light shielding plate 13 is arranged around the sampling module 12 for one circle, and the circuit board 11 is fixed with the robot chassis 1 through a positioning hole 14.

The omnidirectional wheel chassis is accurate in positioning and flexible in movement, can move quickly in a narrow space and is accurate in position, and therefore the omnidirectional wheel chassis can be widely applied to autonomous positioning robots in unmanned workshops, storehouses, dangerous places and the like.

Claims

1. The utility model provides an omniwheel chassis based on multichannel grey level sensor location which characterized in that: the robot comprises a robot chassis (1), omnidirectional wheel sets, a plurality of paths of gray level sensors (2) and a positioning controller (3), wherein the robot chassis (1) is in a regular octagon shape, the center position of the robot chassis (1) is taken as a symmetry center, the four omnidirectional wheel sets are arranged on the robot chassis (1) in a centrosymmetric manner, each omnidirectional wheel set comprises a motor (4), a wheel shaft (5) and an omnidirectional wheel (6) arranged on the wheel shaft (5), the wheel shaft (5) is connected with a motor shaft of the motor (4), and the motor (4) is arranged on the robot chassis (1);

multichannel grayscale sensor (2) and positioning controller (3) fixed mounting are on robot chassis (1), positioning controller (3) pass through CAN bus connection with multichannel grayscale sensor (2), multichannel grayscale sensor (2) set up between two omnidirectional wheel wheelsets, multichannel grayscale sensor (2) are on a parallel with robot chassis (1) side and are located the robot chassis (1) side outside.

2. The omni-directional wheel chassis based on multi-way grayscale sensor positioning of claim 1, wherein: the omnidirectional wheel set is connected to a robot chassis (1) in a vertically rotatable manner through the independent suspension system.

3. The omni-wheel chassis based on multi-way grayscale sensor positioning of claim 2, wherein: the independent suspension system comprises a damping spring (7), a spring hinge (8), a motor base (9) and a motor base hinge (10);

one end of the damping spring (7) is connected to the spring hinge (8) in a vertically rotating mode through a pin shaft, the other end of the damping spring (7) is fixedly connected to the motor base (9), the motor base (9) is connected with the motor base hinge (10) through a bearing, and the motor base hinge (10) and the spring hinge (8) are both fixed to the robot chassis (1) through threaded connection;

the motor (4) is fixedly arranged on the motor base (9).

4. The omni-wheel chassis based on multi-way grayscale sensor positioning of claim 3, wherein: two sides of the motor base (9) are respectively provided with a damping spring (7), and the two damping springs (7) are symmetrically arranged relative to the center line of the wheel shaft (5).

5. The omni-wheel chassis based on multi-way grayscale sensor positioning of claim 1, wherein: multichannel grayscale sensor (2) include circuit board (11), sampling module (12) and light screen (13), a plurality of sampling module (12) of evenly having arranged along its length direction in circuit board (11) below, center on sampling module (12) a week is provided with light screen (13), circuit board (11) are together fixed through locating hole (14) and robot chassis (1).