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

An omnidirectional steering wheel module and the wheeled mobile robot made of it

technical field

The utility model relates to the steering wheel module technology, in particular to an omnidirectional steering wheel module and a wheeled mobile robot made thereof.

Background technique

In recent years, the penetration rate of mobile robots in the fields of logistics warehousing, material transfer in industrial scenarios, and intelligent inspection has gradually increased. The driving forms of general wheeled mobile robots include: steering wheel module, double differential wheel module, mecanum wheel group, Differential speed walking modules, etc., by matching different numbers of universal wheels and changing the arrangement and position of the drive, the mobile robot can realize omnidirectional or multidirectional driving.

At present, the steering wheel module in the driving module of the prior art has omnidirectional driving capability, but the prior art generally uses an external rotary encoder to realize the feedback of the rotation angle value during the rotation process, such as disclosed in the prior art An integrated steering wheel module for driving and steering and its application (application number: 201711059314.9).

However, the design of this type of external rotary encoder needs to realize its own rotation through the rotation transmission of the slewing support, that is, the transmission structure needs to be arranged, so more parts are required, and the installation process is more cumbersome, resulting in higher hardware costs.

In addition, most of the transmission methods in this type of rotary encoder structure are gear transmission, and because there is a transmission gap in the transmission process, after a long time of operation, the wear of the transmission parts will increase and the transmission gap will increase, resulting in the measured angle value The accuracy is reduced, so that the mobile robot control unit cannot obtain the accurate rotation angle value of each drive module, which will lead to errors in the motion analysis and execution of the control unit during the movement of the mobile robot, and ultimately reduce the positioning accuracy of the mobile robot .

Utility model content

For this reason, the main purpose of this utility model is to provide an omnidirectional steering wheel module and the wheeled mobile robot made of it, so as to change the structure of the steering wheel rotation detection part and solve the problems caused by the indirect measurement of the traditional rotary encoder meshing transmission structure. The disadvantages of poor angle detection accuracy and high structural cost.

In order to achieve the above object, the utility model provides an omnidirectional steering wheel module, which includes: a driving wheel device, a steering drive device, a main bracket and a steering mechanism, which also includes: a magnetic rotary encoder, wherein the steering mechanism includes : supporting wheel, steering shaft, the bottom of the steering shaft is connected with the main bracket, the supporting wheel is sleeved outside the steering shaft, and is connected with the steering shaft as a bearing, the supporting wheel is suspended on the main bracket, and the steering shaft There is a drop between the top of the support wheel to define a detection space to accommodate the magnetic rotary encoder, wherein the ruler end of the magnetic rotary encoder is arranged on the top of the steering shaft and arranged coaxially with the steering shaft, and the magnetic rotary encoder The read head end is attached to support wheels to float on the steering shaft.

Further, the magnetic rotary encoder includes: a magnetic scale and a detection read head, wherein the magnetic scale is arranged on the top of the steering shaft and arranged coaxially with the steering shaft, and the detection read head is connected to the support wheel to levitate on the steering shaft, and place its detection part at the detection position of the magnetic scale.

Further, the detection read head includes: a support, a magnetic scale read head, wherein the tail end of the support is connected to the inner ring wall of the support wheel, so that its front end extends and hangs on the top of the steering shaft, and the magnetic grid The ruler reading head is connected to the front end of the support to hang over the detection position on the magnetic scale.

Further, the steering drive device includes: a steering wheel, a reducer, and a steering motor. The steering motor is fixed at the first position of the main bracket, and is connected to the steering wheel through a reducer. The steering wheel and the supporting wheel are geared. Mesh transmission, the drive wheel device includes: a travel motor, a drive wheel integrated reducer, the drive wheel integrated reducer is fixed at the second position of the main bracket, and the travel motor is connected to it for driving.

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 scale is in the form of an unclosed ring with a sector angle greater than 180°.

Further, the magnetic scale is ring-shaped.

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

Through the omnidirectional steering wheel module and the wheeled mobile robot made by the utility model, the drop structure is cleverly used to establish a drop structure between the support wheel and the steering shaft to obtain the space for accommodating the magnetic grid displacement sensor. The grid displacement sensor has fewer small parts, and it is non-contact measurement and wear-free during detection. It does not need to establish the characteristics of meshing transmission, so that the structure of the entire steering wheel module can be designed more compactly, and the structure cost is lower. In addition, compared with the current gear meshing Compared with the technology of indirect measurement of the rotation angle by the transmission, the use of the magnetic grating displacement sensor can directly measure the rotation angle value, which eliminates the transmission gap problem and makes the error of the measured rotation angle value smaller, thereby improving the control unit in controlling the movement of the mobile robot. The motion analysis accuracy in the process can improve the positioning accuracy of the mobile robot.

Description of drawings

The accompanying drawings constituting a part of this application are used to provide a further understanding of the utility model, and the schematic embodiments of the utility model and their descriptions are used to explain the utility model, and do not constitute an improper limitation of the utility model. In the attached picture:

Fig. 1 to Fig. 3 are the structural representations of the omnidirectional steering wheel module of the present utility model;

Fig. 4 is a partial cross-sectional structural schematic diagram of the omnidirectional steering wheel module of the present invention.

Explanation of reference signs

Main bracket 1, magnetic rotary encoder 2, steering mechanism 3, steering drive device 4, said driving wheel device 5, control unit 7, mobile robot chassis 8, detection space 9, magnetic scale 21, detection read head 22, magnetic Scale reading head 23, support wheel 31, steering shaft 32, bearing ball 33, steering wheel 41, reducer 42, steering motor 43, travel motor 51, drive wheel integrated reducer 52, support 221.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the utility model more clear, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the utility model. Obviously, the described The embodiments are some embodiments of the present utility model, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the utility model is used. It is only for the convenience of describing the utility model and simplifying the description, rather than Any indication or implication that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance. Rather, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly inclined.

In the description of the present utility model, it should also be noted that, unless otherwise clearly stipulated and limited, the terms "setting", "laying", "installing", "connecting" and "connecting" should be understood in a broad sense, for example, It can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above-mentioned terms in the present invention according to specific situations and in combination with the prior art. In addition, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. And one or more of the components in the illustrations may be necessary or not, and the relative positional relationship between the components in the above illustrations may be adjusted according to actual needs.

In order to change the structure of the steering wheel rotation detection part, the disadvantages brought by the traditional rotary encoder transmission structure are solved. Please refer to Figures 1 to 4, the utility model provides an omnidirectional steering wheel module, which includes: a driving wheel device, a steering drive device 4, a main bracket 1 and a steering mechanism 3, which also includes: a magnetic rotary encoder 2, wherein the magnetic rotary encoder 2 is preferably an off-axis absolute magnetic rotary encoder, which includes: a magnetic scale 21, a detection read head 22, wherein the steering mechanism 3 includes: a support wheel 31, a steering shaft 32 , the bottom of the steering shaft 32 is fixedly connected with the main bracket 1, the support wheel 31 is sleeved outside the steering shaft 32, and is connected with the steering shaft 32 as a bearing, and the support wheel 31 is suspended on the main bracket 1.

Wherein it is worth mentioning that, in order to arrange the magnetic rotary encoder 2 in the steering mechanism 3 with a compact structure as cleverly as possible, and to be able to detect the coaxial rotation angle of the steering shaft 32 relative to the support wheel 31, in this example, the The design between the steering shaft 32 and the top of the support wheel 31 is in the shape of a drop, thereby defining a detection space 9 to accommodate the magnetic scale 21 and the detection read head 22, wherein the magnetic scale 21 is annularly arranged on the steering wheel. The top of the shaft 32 is arranged coaxially with the steering shaft 32 , and the detection read head 22 is connected to the support wheel 31 to be suspended on the steering shaft 32 , and its detection part is placed at the detection position of the magnetic scale 21 .

Under normal circumstances, the magnetic scale 21 is preferably in an unclosed ring shape, and its sector angle is greater than 180° to meet the detection of the usual universal steering wheel module, but if it involves special needs, the magnetic scale can also be The ruler 21 has a 360° ring shape, and this setting does not affect its accommodation in the detection space 9 .

Specifically, referring to Fig. 1 to Fig. 2, described steering drive device 4 comprises: steering wheel 41, speed reducer 42, steering motor 43, and described steering motor 43 is fixed on the first position of main support 1, and it passes The speed reducer 42 is drivingly connected with the steering wheel 41, and the steering wheel 41 and the supporting wheel 31 are gear meshed for transmission. The driving wheel device 5 includes: a travel motor 51, and a driving wheel integrated speed reducer 52. In this example, the driving wheel The wheel-integrated reducer 52 is preferably an embedded rubber-covered wheel-integrated reducer, which is fixed at the second position of the main bracket 1 through a flange on one side of itself, and the traveling motor 51 is connected to it for driving.

Wherein in actual use, as shown in Figure 4, the top of the support wheel 31 is connected with the chassis 8 of the mobile robot to fix its relative position, while the steering motor 43 and the reducer 42 drive the steering wheel 41 to mesh with the support wheel 31 gears At the same time, because the steering shaft 32 and the support wheel 31 are bearing-connected, and the steering shaft 32 is fixed on the main support 1, the engagement of the steering wheel 41 with the support wheel 31 will drive the main support connected to the steering motor 43 1. Rotate axially with the steering shaft 32, thereby driving the drive wheel device to form universal rotation.

In addition, in order to achieve the effect of decelerating and increasing torque, in a 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, Fig. 2 and Fig. 4, how to fix the detection position of the detection read head 22 and the magnetic scale 21 is illustrated, wherein the detection read head 22 includes: a support member 221, a magnetic scale read head 23, wherein the tail end of the support member 221 is connected to the inner ring wall of the support wheel 31 so that its front end extends and hangs on the top of the steering shaft 32, and the magnetic scale reading head 23 is connected to the front end of the support member 221 to hang on the top of the steering shaft 32. Detection bit on the magnetic scale 21.

In addition, what needs to be explained here is that the support member 221 does not necessarily have to be provided with parts. In other preferred embodiments, the magnetic scale read head 23 can also be directly fixed in the support wheel 31, by enlarging the ring of the magnetic scale 21 Diameter way to actively arrange under the magnetic scale reading head 23.

On the other hand, those skilled in the art can also understand that, through the description of the examples in this case, it can be known that adjusting the diameter of the magnetic scale 21 and the relative position of the magnetic scale reading head 23 in the detection space 9 can also be adjusted. The reading accuracy of the magnetic rotary encoder 2 satisfies the needs of various actual detections, so those skilled in the art can also implement according to the actual situation, and this example is not limited, it can be seen that any in the present utility model Other transformations and implementations under the concept, without departing from the inventive concept of the present utility model, other replacement implementations are all within the scope of disclosure of this embodiment.

At this time, since the support wheel 31 and the steering shaft 32 are arranged in a coaxial bearing connection, once the steering shaft 32 rotates, it will drive the magnetic scale 21 to do a corresponding coaxial rotation, so that the magnetic scale read head 23 can be magnetically induced. , using the change of the magnetic field to determine its rotation angle data.

In this way, when the universal steering wheel module is installed on the car body, the steering drive device 4 drives the driving wheel device to the mechanical zero position, that is, after the forward direction of the wheel is kept parallel to the car body, the mobile robot control unit 7 will After the value read by the magnetic scale reading head 23 is set to 0, the zero calibration of the rotation angle can be realized for subsequent measurement of the rotation angle.

It can be seen that this case cleverly utilizes the structural drop in the steering mechanism 3 to accommodate the magnetic rotary encoder 2, and at the same time corresponds to the steering structure of the steering mechanism 3 to set the ring-shaped magnetic scale 21 and the detection read head 22, thereby using The change of the magnetic field determines the absolute position of the read head 23 of the magnetic scale. This move, on the basis of replacing the original traditional code disc and encoder, not only achieves a compact design structure, but also in use, the magnetic scale read head 23 and the magnetic scale 21 are shock-resistant, corrosion-resistant, and pollution-resistant. , high reliability and simple structure, which can effectively prevent the problem of inaccurate angle measurement caused by the dirt on the surface of the magnetic scale 21 after long-term operation.

In addition, corresponding to the above-mentioned embodiments, according to another aspect of the present invention, a wheeled mobile robot is provided, the mobile unit of which includes: a steering wheel module, wherein the steering wheel module adopts the omnidirectional steering wheel module as described above The structure of the group.

To sum up, through the omnidirectional steering wheel module provided by the utility model and the wheeled mobile robot made of it, the drop structure established between the support wheel 31 and the steering shaft 32 is cleverly used to obtain the displacement of the magnetic grid. The space of the sensor, at the same time, the magnetic grid displacement sensor has fewer small parts, and the detection is non-contact measurement without wear, without the need to establish the characteristics of meshing transmission, so that the structure of the entire steering wheel module can be designed more compactly, and the structural cost is lower. In addition Compared with the current technology that achieves indirect measurement of the rotation angle through gear meshing transmission, the use of a magnetic grating displacement sensor can directly measure the rotation angle value, eliminating the problem of transmission gap, making the error of the measured rotation angle value smaller, thereby improving The control unit 7 analyzes the motion analysis accuracy of the mobile robot during the motion process, thereby improving the positioning accuracy of the mobile robot.

The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not exhaust all details, nor do they limit the utility model to the described specific implementations. Obviously, many modifications and variations can be made based on the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principle and practical application of the utility model, so that those skilled in the art can well understand and utilize the utility model. The utility model is only limited by the claims and its full scope and equivalents. All modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the utility model shall be included in the scope of the utility model. within the scope of protection.

In addition, any combination of various implementations of the embodiments of the present invention can also be made, as long as they do not violate the idea of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims (8)

1. An omnidirectional steering wheel module, comprising: a driving wheel device, a steering drive device, a main bracket and a steering mechanism, characterized in that it also includes: a magnetic rotary encoder, wherein the steering mechanism includes: a support wheel, a steering shaft, The bottom of the steering shaft is connected to the main bracket, the supporting wheel is sleeved outside the steering shaft and connected to the bearing of the steering shaft, the supporting wheel is suspended on the main bracket, and there is a drop between the steering shaft and the top of the supporting wheel , to define a detection space to accommodate the magnetic rotary encoder, wherein the ruler end of the magnetic rotary encoder is arranged on the top of the steering shaft and arranged coaxially with the steering shaft, and the read head end of the magnetic rotary encoder is connected to the support wheel , to be suspended on the steering axis. 2. The omnidirectional steering wheel module according to claim 1, wherein the magnetic rotary encoder comprises: a magnetic scale and a detection read head, wherein the magnetic scale is arranged on the top of the steering shaft at the same time as the steering shaft. The shaft is arranged, and the detection read head is connected to the support wheel to be suspended on the steering shaft, and its detection part is placed at the detection position of the magnetic scale. 3. The omnidirectional steering wheel module according to claim 2, wherein the detection read head comprises: a support, a magnetic scale read head, wherein the tail end of the support is connected to the inner ring wall of the support wheel, The front end thereof extends and hangs on the top of the steering shaft, and the read head of the magnetic scale is connected to the front end of the support to hang over the detection position on the magnetic scale. 4. The omnidirectional steering wheel module according to claim 1, wherein the steering drive device comprises: a steering wheel, a speed reducer, and a steering motor, and the steering motor is fixed at the first position of the main bracket, and it is The device is driven and connected to the steering wheel, and the steering wheel and the supporting wheel gear are meshed for transmission. The driving wheel device includes: a travel motor, a driving wheel integrated reducer, and the driving wheel integrated reducer is fixed at the second position of the main bracket. Said travel motor is connected with its drive. 5. The omnidirectional steering wheel module according to claim 4, wherein the number of teeth of the steering wheel is smaller than the number of teeth of the outer ring of the supporting wheel. 6. The omnidirectional steering wheel module according to claim 2, wherein the magnetic scale is in an unclosed ring shape, and its sector angle is greater than 180°. 7 . The omnidirectional steering wheel module according to claim 2 , wherein the magnetic scale is ring-shaped. 8 . 8. A wheeled mobile robot, the mobile unit of which comprises: a steering wheel module, characterized in that the steering wheel module adopts the structure of the omnidirectional steering wheel module as claimed in any one of claims 1 to 7.

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