CN219077295U - Omnidirectional steering wheel module and wheeled mobile robot manufactured by same - Google Patents

Abstract

The utility model provides an omnidirectional steering wheel module and a wheeled mobile robot manufactured by the omnidirectional steering wheel module, wherein the omnidirectional steering wheel module comprises: the driving wheel device turns to drive arrangement, main support and steering mechanism, magnetic rotary encoder, wherein steering mechanism includes: the magnetic rotary encoder comprises a main support, a steering shaft, wherein the bottom of the steering shaft is connected with the main support, the supporting wheel is sleeved outside the steering shaft and is in a bearing connection state with the steering shaft, the supporting wheel is suspended on the main support, a drop exists between the steering shaft and the top of the supporting wheel to define a detection space for accommodating the magnetic rotary encoder, the ruler end of the magnetic rotary encoder is arranged at the top of the steering shaft coaxially with the steering shaft, the reading head end of the magnetic rotary encoder is connected to the supporting wheel and is suspended on the steering shaft, so that the structure of a steering wheel rotation detection part is changed, and the defects of poor angle detection precision and high structural cost caused by indirect measurement of a meshing transmission structure of the traditional rotary encoder are overcome.

Description

Omnidirectional steering wheel module and wheeled mobile robot manufactured by same

Technical Field

The utility model relates to steering wheel module technology, in particular to an omnidirectional steering wheel module and a wheel type mobile robot manufactured by the same.

Background

In recent years, the permeability of mobile robots in the fields of logistics storage, material transportation under industrial scenes, intelligent inspection and the like is gradually increased, and the driving mode of the general wheel type mobile robots comprises the following steps: steering wheel module, two differential wheel modules, mecanum wheelset, differential walking module etc. through collocation different quantity universal wheels and change driven arrangement mode and position for mobile robot can realize omnidirectional or multidirectional the traveling.

Steering wheel module in the prior art's drive module itself possesses omnidirectional driving ability, but prior art generally adopts through external rotary encoder, realizes the feedback of rotation angle value among the rotation process, for example prior art discloses a drive turns to integrated steering wheel module and application (application number: 201711059314.9).

However, the design of such an external rotary encoder needs to realize self rotation through rotation transmission of the rotary support, namely, a transmission structure needs to be arranged, so that more parts are needed, the installation process is complicated, and the hardware cost is high.

In addition, most of transmission modes in the structure adopting the rotary encoder are in gear transmission, transmission gaps exist in the transmission process, after long-time operation, abrasion of transmission parts is increased, the transmission gaps are increased, the precision of measured angle values is reduced, and therefore the mobile robot control unit cannot obtain accurate rotation angle values of each driving module, and further errors exist in motion analysis and execution of the control unit in the motion process of the mobile robot, and finally the positioning precision of the mobile robot is reduced.

Disclosure of Invention

Therefore, the main purpose of the utility model is to provide an omnidirectional steering wheel module and a wheeled mobile robot manufactured by the omnidirectional steering wheel module, so as to change the structure of a steering wheel rotation detection part, and solve the defects of poor angle detection precision and high structural cost caused by indirect measurement of a traditional rotary encoder meshing transmission structure.

In order to achieve the above object, the present utility model provides an omni-directional steering wheel module, comprising: the drive wheel device turns to drive arrangement, main support and steering mechanism, wherein still includes: a magnetic rotary encoder, wherein the steering mechanism comprises: the magnetic rotary encoder comprises a main support, a supporting wheel and a steering shaft, wherein the bottom of the steering shaft is connected with the main support, the supporting wheel is sleeved outside the steering shaft and is in bearing connection with the steering shaft, the supporting wheel is suspended on the main support, a drop exists between the steering shaft and the top of the supporting wheel to define a detection space for accommodating the magnetic rotary encoder, the ruler end of the magnetic rotary encoder is arranged at the top of the steering shaft and is coaxial with the steering shaft, and the reading head end of the magnetic rotary encoder is connected to the supporting wheel so as to suspend on the steering shaft.

Further, the magnetic rotary encoder includes: the magnetic grating ruler is arranged at the top of the steering shaft and is coaxially arranged with the steering shaft, the detection reading head is connected to the supporting wheel so as to suspend on the steering shaft, and the detection part of the detection reading head is arranged at the detection position of the magnetic grating ruler.

Further, the detecting read head includes: the magnetic grating ruler reading head is connected to the front end of the support piece so as to be suspended at a detection position on the magnetic grating ruler.

Further, the steering drive device includes: the steering wheel, the reduction gear, steering motor fixes in main support first position, and it is connected with the steering wheel drive through the reduction gear, the steering wheel is gear engagement transmission with the supporting wheel, drive wheel device includes: the walking motor and the driving wheel integrated speed reducer are fixed at the second position of the main support, and the walking motor is in driving connection with the main support.

Further, the number of teeth of the steering wheel is smaller than the number of teeth of the outer ring of the supporting wheel.

Further, the magnetic grating ruler is in an unsealed ring shape, and the sector angle of the magnetic grating ruler is larger than 180 degrees.

Further, the magnetic grid ruler is annular.

In order to achieve the above object, according to another aspect of the present utility model, there is provided a wheeled mobile robot, a mobile unit of which includes: the steering wheel module adopts the structure of the omnidirectional steering wheel module.

According to the omnidirectional steering wheel module and the wheel type mobile robot manufactured by the omnidirectional steering wheel module, the drop structure is skillfully established between the supporting wheel and the steering shaft, so that the space for accommodating the magnetic grating displacement sensor is acquired, meanwhile, the magnetic grating displacement sensor is used for small and exquisite parts, no contact measurement and no abrasion are adopted during detection, the characteristic of meshing transmission is not required to be established, the whole steering wheel module structure can be designed to be more compact, the structural cost is lower, and in addition, compared with the existing technology for indirectly measuring the rotation angle through gear meshing transmission, the magnetic grating displacement sensor can be used for directly measuring the rotation angle value, the transmission clearance problem is eliminated, the error of the rotation angle value obtained through measurement is smaller, and therefore the movement analysis precision of a control unit in the movement process of the mobile robot is improved, and the positioning precision of the mobile robot is further improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:

fig. 1 to 3 are schematic structural views of an omni-directional steering wheel module according to the present utility model;

fig. 4 is a schematic view of a partial cross-sectional structure of the omni-directional steering wheel module of the present utility model.

Description of the reference numerals

The magnetic rotary encoder comprises a main bracket 1, a magnetic rotary encoder 2, a steering mechanism 3, a steering driving device 4, a driving wheel device 5, a control unit 7, a mobile robot chassis 8, a detection space 9, a magnetic grating ruler 21, a detection reading head 22, a magnetic grating ruler reading head 23, a supporting wheel 31, a steering shaft 32, a bearing ball 33, a steering wheel 41, a speed reducer 42, a steering motor 43, a walking motor 51, a driving wheel integrated speed reducer 52 and a supporting piece 221.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. While the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "configured," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art in view of the specific circumstances in combination with the prior art. Furthermore, embodiments of the utility model and features of the embodiments may be combined with each other without conflict. And one or more of the illustrated components may be necessary or optional, and the relative positional relationship between the various components illustrated above may be adjusted as desired.

In order to change the structure of the steering wheel rotation detection component, the defect caused by the transmission structure of the traditional rotary encoder is overcome. Referring to fig. 1 to 4, the present utility model provides an omni-directional steering wheel module, which includes: the drive wheel device, turn to drive arrangement 4, main support 1 and steering mechanism 3, wherein still include: a magnetic rotary encoder 2, wherein the magnetic rotary encoder 2 is preferably an off-axis absolute magnetic rotary encoder comprising: a magnetic grating ruler 21 for detecting the reading head 22, wherein the steering mechanism 3 comprises: the support wheel 31 and the steering shaft 32, wherein the bottom of the steering shaft 32 is fixedly connected with the main support 1, the support wheel 31 is sleeved outside the steering shaft 32 and is in bearing connection with the steering shaft 32, and the support wheel 31 is suspended on the main support 1.

It should be noted that, in order to arrange the magnetic rotary encoder 2 in the steering mechanism 3 with compact structure as skillfully as possible and detect the coaxial rotation angle of the steering shaft 32 relative to the supporting wheel 31, in this example, a drop shape is designed between the steering shaft 32 and the top of the supporting wheel 31, so as to define a detection space 9 for accommodating the magnetic grating ruler 21 and the detecting reading head 22, wherein the magnetic grating ruler 21 is annularly arranged on the top of the steering shaft 32 and coaxially arranged with the steering shaft 32, and the detecting reading head 22 is connected to the supporting wheel 31 so as to suspend on the steering shaft 32 and place the detecting part thereof at the detecting position of the magnetic grating ruler 21.

In general, the magnetic grating ruler 21 is preferably in an unsealed ring shape, and the sector angle is larger than 180 degrees, so that the detection of a common universal steering wheel module can be met, but if special use needs are involved, the magnetic grating ruler 21 can also be in a ring shape with 360 degrees, and the arrangement does not influence the accommodation of the magnetic grating ruler in the detection space 9.

Specifically, referring to fig. 1 to 2, the steering driving apparatus 4 includes: the steering wheel 41, the reduction gear 42, steering motor 43 fixes in main support 1 first position, and it is connected with the steering wheel 41 drive through reduction gear 42, steering wheel 41 is gear engagement transmission with supporting wheel 31, drive wheel device 5 includes: the walking motor 51 and the driving wheel integrated speed reducer 52, wherein in this example, the driving wheel integrated speed reducer 52 is preferably an embedded rubber coating wheel integrated speed reducer, which is fixed at the second position of the main support 1 through a flange at one side of the embedded rubber coating wheel integrated speed reducer, and the walking motor 51 is in driving connection with the embedded rubber coating wheel integrated speed reducer.

In practical use, as shown in fig. 4, the top of the supporting wheel 31 is connected with the chassis 8 of the mobile robot to fix the relative position thereof, and the steering motor 43 and the speed reducer 42 drive the steering wheel 41 to be geared with the supporting wheel 31, meanwhile, since the steering shaft 32 is in a bearing connection with the supporting wheel 31, and the steering shaft 32 is fixed on the main support 1, at this time, the main support 1 connected with the steering motor 43 is driven to axially rotate along with the steering shaft 32 by the meshing of the steering wheel 41 and the supporting wheel 31, so as to drive the driving wheel device to form a universal rotation.

Further, in order to achieve the effect of increasing torque by decelerating, in the preferred embodiment, the number of teeth of the steering wheel 41 is smaller than the number of teeth of the outer ring of the supporting wheel 31.

Further, as shown in fig. 1, 2, and 4, it is exemplified how to fix the detection positions of the detection readhead 22 and the magnetic scale 21, wherein the detection readhead 22 includes: the magnetic grating ruler reading head 23 is connected with the tail end of the supporting piece 221, so that the front end of the magnetic grating ruler reading head 23 extends to be suspended on the top of the steering shaft 32, and the magnetic grating ruler reading head 23 is connected with the front end of the supporting piece 221 so as to be suspended on the detection position on the magnetic grating ruler 21.

In addition, the support 221 is not necessarily provided with a member, and in other preferred embodiments, the magnetic scale reading head 23 may be directly fixed to the support wheel 31, and the support may be actively disposed below the magnetic scale reading head 23 by expanding the annular diameter of the magnetic scale 21.

On the other hand, it will be understood by those skilled in the art that, as will be understood from the description of the present embodiment, the diameter of the magnetic scale 21 and the relative position of the magnetic scale reading head 23 in the detection space 9 may be adjusted, so as to meet the requirements of various practical detections, so that those skilled in the art may implement the present embodiment according to practical situations, without limitation, and thus any other alternative implementation under the concept of the present utility model will be within the scope of the disclosure of the present embodiment.

At this time, the supporting wheel 31 and the steering shaft 32 are coaxially connected, so that once the steering shaft 32 rotates, the magnetic grating ruler 21 is driven to coaxially rotate correspondingly, and the magnetic grating ruler reading head 23 can determine the rotation angle data by utilizing the change of the magnetic field through magnetic induction.

Therefore, after the universal steering wheel module is mounted on the vehicle body, the steering driving device 4 drives the driving wheel device to a mechanical zero position, namely, after the advancing direction of the wheels is parallel to the vehicle body, the mobile robot control unit 7 sets the numerical value read by the magnetic grating ruler reading head 23 to be 0 value, and zero calibration of the rotation angle can be realized for subsequent rotation angle measurement.

Therefore, the magnetic rotary encoder 2 is accommodated in the steering mechanism 3 by means of the structural fall, and the annular magnetic grating 21 and the detection reading head 22 are arranged corresponding to the steering structure of the steering mechanism 3, so that the absolute position of the magnetic grating reading head 23 is determined by means of the change of the magnetic field. On the basis of replacing the original traditional code disc and encoder, the compact design structure is realized, and meanwhile, in use, the magnetic grating ruler reading head 23 and the magnetic grating ruler 21 have the characteristics of shock resistance, corrosion resistance, pollution resistance, high reliability and simple structure, and the problem that the angle measurement is inaccurate due to stains on the surface of the magnetic grating ruler 21 after long-time running can be effectively prevented.

Further, according to another aspect of the present utility model, there is also provided a wheeled mobile robot, the mobile unit of which includes: the steering wheel module adopts the structure of the omnidirectional steering wheel module.

In summary, according to the omni-directional steering wheel module and the wheeled mobile robot manufactured by the omni-directional steering wheel module, the drop structure is skillfully established between the supporting wheel 31 and the steering shaft 32, so that the space for accommodating the magnetic grating displacement sensor is acquired, meanwhile, the magnetic grating displacement sensor is used for small and small parts, no contact measurement and no abrasion are required during detection, the characteristic of meshing transmission is not required to be established, the whole steering wheel module structure can be designed to be more compact, the structural cost is lower, and in addition, compared with the existing technology for indirectly measuring the rotation angle through gear meshing transmission, the magnetic grating displacement sensor can be used for directly measuring the rotation angle value, the problem of transmission gaps is solved, the error of the rotation angle value obtained through measurement is smaller, and therefore the movement analysis precision of the control unit 7 in the movement process of the mobile robot is improved, and the positioning precision of the mobile robot is further improved.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is to be limited only by the following claims and their full scope and equivalents, and any modifications, equivalents, improvements, etc., which fall within the spirit and principles of the utility model are intended to be included within the scope of the utility model.

In addition, any combination of various embodiments of the present utility model may be performed, so long as the concept of the embodiments of the present utility model is not violated, and the disclosure of the embodiments of the present utility model should also be considered.

Claims (8)

1. An omni-directional steering wheel module, comprising: the driving wheel device turns to drive arrangement, main support and steering mechanism, its characterized in that still includes: a magnetic rotary encoder, wherein the steering mechanism comprises: the magnetic rotary encoder comprises a main support, a steering shaft, wherein the bottom of the steering shaft is connected with the main support, the supporting wheel is sleeved outside the steering shaft and is connected with the steering shaft through a bearing, the supporting wheel is suspended on the main support, a drop exists between the steering shaft and the top of the supporting wheel to define a detection space for accommodating the magnetic rotary encoder, the ruler end of the magnetic rotary encoder is arranged at the top of the steering shaft and is coaxially distributed with the steering shaft, and the reading head end of the magnetic rotary encoder is connected to the supporting wheel so as to suspend on the steering shaft.

2. The omni-directional steering wheel module according to claim 1, wherein the magnetic rotary encoder comprises: the magnetic grating ruler is arranged at the top of the steering shaft and is coaxially arranged with the steering shaft, the detection reading head is connected to the supporting wheel so as to suspend on the steering shaft, and the detection part of the detection reading head is arranged at the detection position of the magnetic grating ruler.

3. The omni-directional steering wheel module according to claim 2, wherein the detecting the read head comprises: the magnetic grating ruler reading head is connected to the front end of the support piece so as to be suspended at a detection position on the magnetic grating ruler.

4. The omni-directional steering wheel module according to claim 1, wherein the steering driving device comprises: the steering wheel, the reduction gear, steering motor fixes in main support first position, and it is connected with the steering wheel drive through the reduction gear, steering wheel and support tooth wheel meshing transmission, drive wheel device includes: the walking motor and the driving wheel integrated speed reducer are fixed at the second position of the main support, and the walking motor is in driving connection with the main support.

5. The omni-directional steering wheel module of claim 4, wherein the number of teeth on the steering wheel is less than the number of teeth on the outer race of the support wheel.

6. The omni-directional steering wheel module according to claim 2, wherein the magnetic grating ruler is in an unsealed ring shape, and the fan angle is greater than 180 °.

7. The omni-directional steering wheel module according to claim 2, wherein the magnetic grating ruler is ring-shaped.

8. A wheeled mobile robot, the mobile unit of which comprises: steering wheel module, characterized in that it adopts the structure of the omni-directional steering wheel module according to any one of claims 1 to 7.

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