CN2632632Y - Driving wheel with corner test - Google Patents
Driving wheel with corner test Download PDFInfo
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- CN2632632Y CN2632632Y CN 02231208 CN02231208U CN2632632Y CN 2632632 Y CN2632632 Y CN 2632632Y CN 02231208 CN02231208 CN 02231208 CN 02231208 U CN02231208 U CN 02231208U CN 2632632 Y CN2632632 Y CN 2632632Y
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- wheel
- driving wheel
- dectected
- steering angle
- described driving
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Abstract
The utility model relates to a driving wheel able to detect a turning angle, which comprises a detecting device provided on a vehicle housing or a wheel shaft. A plurality of objects under testing is distributed along the circle of one side of the vehicle wheel with an equal distance between each other. Detecting of the shaft angle and the vehicle wheel is combined together in the utility model, which saves the necessity for a speed reducer when using a common motor and the necessity for a rotary transmission device when using a common code disc assembled by an electric wheel hub of a flat motor, so as to achieve a more compact driving mechanism for the moving body. Detecting precision of the turning angle of wheel disc is able to be adjusted conveniently according to requirements of the system. Therefore the utility model has the advantages of assembly convenience, extremely low cost, simple structure, high transmission efficiency, stable performance and reliable function.
Description
Technical field
The utility model relates to the servo driving of moving body, particularly driving wheel capable of being dectected for steering angle.
Technical background
21 century, various service robots are about to come into daily life.Preliminary definition of service robot has been given in international robot combined meeting: service robot is the robot of a kind of half autonomous or full utonomous working, and it can finish the healthy services that is beneficial to man, but does not comprise manufacturing-oriented equipment.The application scenario of mobile model service robot can comprise mall shopping, guide; Restaurant service, hotel ceremony; Hospital care, household cleaning; Community's tour, bank building security personnel etc., the robot of the some other people's of pressing close to life also is put into wherein.
Along with the raising of development of technologies and people's living standard, service robot just is being subjected to extensive concern.Estimate that service robot total amount in 2003 will be increased to 4.94 ten thousand, wherein 40,000 is domestic robot (except that vacuum cleaning machine people), and 5000 is the Medical Robot.Family expenses vacuum cleaning machine the people will come into the market for the end of the year 2000, if reasonable price, sales volume in 2003 may reach more than 250,000.The total sales volume of domestic robot is estimated will be above 300,000, and it shows that service robot market is about to enter a brand-new stage.From the technical merit aspect of demand and existing equipment, robot for disabled persons does not also reach people's the set goal.
The part of the most critical of robot platform is a servo drive system, therefore, reduces the robot platform cost and must reduce the cost of servo drive system when keeping servo drive system that suitable performance is arranged.On common wheeled mobile robot and various electric motor car, electric wheelchair,, adopt traditional servomotor control mode usually for realizing the closed-loop control of body speed and position.As shown in Figure 1, motor output shaft 1 connects speed reduction unit 4, and the velocity transformation of process speed reduction unit 4 is welding robot driving wheel 5 again; By shaft coupling 3 rotation axis is linked to each other with photoelectric code disk 2 simultaneously and be used for to controller feedback position and velocity information.The physical construction of control system is very complicated, and a plurality of deceleration is rotated and reduced rotational efficienty, and is bulky, limited the miniaturization of car body volume.And photoelectric code disk price comparison costliness, so the servo-drive system cost is higher.
Along with various hub-type motors and the development that can directly overlap the flat electric machine of wheel-mounted, this type of motor has possessed many advantages, little as axial dimension, be convenient to installation, stable performance, need not outside speed reduction unit, cost is lower etc., makes it that very big application prospect be arranged in various mobile robots and electric motor car.But realize the detection of speed and position, usually the scrambler of structure then is difficult to install, wheel shaft is fixed because wheel spoke rotates, and is that tubular shaft scrambler or solid shaft scrambler all must need a gear train that the rotation information of wheel is passed on the axle of a rotation.Simultaneously, exploitation a kind of towards above-mentioned application scenario low-cost shaft angle pick-up unit and replace expensive shaft-position encoder and reduce system cost and become a kind of active demand.
The utility model content
The purpose of this utility model provides a kind of driving wheel that can directly detect the band angular detection of wheel wheel disc speed and position.
For achieving the above object, driving wheel capable of being dectected for steering angle comprises:
Pick-up unit is positioned on the vehicle frame or on the wheel shaft;
A plurality of detected bodies equally spaced are distributed on the circumference of wheel one side.
The utility model is integrated together the detection of shaft angle and wheel, saved and used the essential speed reduction unit of general motor and connect the required shaft coupling of code-disc, also saved and used the flat electric machine electric wheel hub that the required rotation drive machine of code-disc commonly used is installed, thereby made mobile drive bulk mechanism quite compact.Wheel disc corner accuracy of detection also can be regulated easily according to system's needs.Therefore it have easy for installation, cost is extremely low, simple in structure, transmission efficiency is high, stable performance, reliable advantage.
Description of drawings
Fig. 1 is conventional servomotor structural drawing;
Fig. 2 is that the utility model adopts magnetoelectric sensor to detect the synoptic diagram of wheel steering angle;
Fig. 3 is that the utility model adopts electro-optical pickoff to detect the synoptic diagram of wheel wheel disc corner;
Fig. 4 is sensor signal Processing Structure figure of the present utility model;
Fig. 5 is the control system schematic diagram of the utility model according to the deviation control motor wheel disc rotation of feedback quantity and scheduled volume.
Embodiment
The utility model is a kind ofly to be used with flat electric machine or wheel hub motor on various wheeled mobile bodies, and link is carried out in the motion that constitutes mobile body drive system and detect the device of feedback element.Go up direct this driving wheel of suit wheel disc at flat electric machine or wheel hub motor (external rotor electric machine), constituted mobile drive bulk device.Adopt photoelectricity or magnetoelectricity to detect the detection that principle realizes wheel wheel disc speed and position.Its basic structure such as Fig. 2, shown in Figure 3.Fig. 2 detects wheel steering angle for adopting magnetoelectric sensor, the wheel wheel disc is sleeved on motor 27, a plurality of magnetic sheets 23 are spacedly distributed on a certain circumference of wheel 21 1 sides, detect the magnetic switch sensor 24 of magnetic sheet 23, as Hall element, be fixed on vehicle frame 28 or the wheel shaft 22, and place the top of this wheel disc circumference.The center of wheel disc rotation angle detecting apparatus and the axis coinciding that drives wheel disc.Each magnetic sheet 23 is by the position of magnetic switch sensor 24, and the saltus step of one-period then takes place the sensor output level.Adjust the relative position between two Magnetic Sensors and magnetic sheet and two Magnetic Sensors, specifically, each sensor distance wheel disc has specific relative height, can be about 50% square wave by output duty cycle when making the motor uniform rotation.Two Magnetic Sensors make two Magnetic Sensors export the square wave in two groups of 1/4 cycles of phase differential at the k+1/4 of distance doubly (k is a natural number) between adjacent two magnetic sheets at interval on this tangent to periphery direction.Because each pulse in the square wave is corresponding with the special angle that wheel disc rotates, so this square-wave signal has comprised angle and velocity information that wheel disc rotates.The sense of rotation of wheel can concern according to both phase order to be judged, the angle of wheel rotation is corresponding with the count value of square-wave pulse, and the speed of wheel can be by being calculated by the time interval between two pulses.In fact the wheel disc angle corresponding with pulse depend on the quantity of magnetic sheet on the wheel disc, and the quantity of magnetic sheet then can be selected according to the required accuracy of detection of servo-drive system and the size of wheel spoke.
The driving wheel disc of Fig. 3 has adopted electro-optical pickoff to detect wheel wheel disc corner.Basic structure and magneto-electric are similar, and the wheel wheel disc is sleeved on motor 37, and wheel 31 1 sides are furnished with uniformly-spaced radial grid or chequered with black and white striped 35, and 36 is light source and photovoltaic sensing element among the figure, and it is fixed on vehicle frame 38 or the wheel shaft 32.The irradiate light of sending when light source arrives blackstreak, and light is absorbed, and photosensitive first sensing is less than light intensity, and when light was mapped to white stripes, light reflected, and photosensitive unit can sense light intensity.Equally, the photoelectric sensor below, whenever by a striped, the saltus step of sensor output level is once.Adjust the relative position between two photoelectric sensors, make two sensors export the square wave in two groups of 1/4 cycles of phase differential.When wheel rotated, the two-way that utilizes two sensors to export differed the square-wave signal in 1/4 cycle, and subsequent conditioning circuit can carry out 4 process of frequency multiplication, wheel steering angle is counted or rotating speed is measured.
Like this by suitable transformation has just constituted a kind of wheel with the corner measuring ability to common wheel.The resolution of wheel steering angle is pi/2 n (n is magnetic sheet number or a black streaking number on the wheel disc).Wheel when front hook be θ=k* pi/2 n (count value of k for the signal after 4 process of frequency multiplication is counted, the angle of θ wheel disc corner during, unit: rad) with respect to initial k=0; The present speed of wheel is that ω=π/(2n*T) (T is the time interval of current demand signal pulse and last pulse, unit: rad/s).
Because wheel spoke and magnetic sheet all have the dimensions qualification.So the positional precision of wheel can not be very high, still can be suitable for the requirement of the servo-drive system control accuracy of common service-oriented robot, amusement robot and intelligent vehicle body fully.The driving wheel capable of being dectected for steering angle that the utility model proposes, in above-mentioned occasion very big application prospect is arranged, match with flat electric machine and electric wheel hub and to add controller and just constituted an easy servo drive system, thereby realized simplifying the structure and with low costization of servo driving platform.
Embodiment
It is not on the very high mobile platform that this driving wheel capable of being dectected for steering angle is adapted at that various wheeled mobile robots and electric motor car, electric wheelchair etc. require control accuracy, constitutes the execution and the sensing link of mobile platform servo-control system with the flat electric machine wheel hub motor.In application, with subsequent conditioning circuit the two-way sensor signal is carried out quadruple and sensing processing, according to the needs of servo-drive system, carry out position and speed that position counting or velocity estimation obtain current wheel, as shown in Figure 4.Finish the Electric Machine Control algorithm according to the deviation between this feedback quantity and the scheduled volume afterwards, the rotation of control motor wheel disc.Its typical control structure as shown in Figure 5, interior ring is a speed ring, regulates through speed and can carry out the control of speed, outer shroud is a position ring, finishes the angle orientation requirement of system.
In the exploitation of certain service robot platform, it is on probation that this driving wheel capable of being dectected for steering angle has obtained, and the wheel disc angular detection has realized 3.75 ° resolution, and precision is about ± and 2 °; Speed sensing range: 0.05 ~ 100rpm; Speed accuracy of detection＜1% has satisfied the requirement of generic services robot for stroke location and speed control preferably.Whole gear train and servo-drive system have realized the control of mobile platform superior performance with extremely low cost.Little, in light weight, the compact conformation of whole drive system volume, cost reduces greatly, thereby has improved the ratio of performance to price of entire machine people's product, makes it have the extremely strong market competitiveness.
Claims (9)
1. driving wheel capable of being dectected for steering angle is characterized in that comprising:
Pick-up unit is positioned on the vehicle frame or on the wheel shaft;
A plurality of detected bodies equally spaced are distributed on the circumference of wheel one side.
2. by the described driving wheel capable of being dectected for steering angle of claim 1, it is characterized in that described pick-up unit is the optoelectronic switch sensor.
3. by the described driving wheel capable of being dectected for steering angle of claim 1, it is characterized in that described pick-up unit is the magnetic switch sensor.
4. by the described driving wheel capable of being dectected for steering angle of claim 1, it is characterized in that described detected body is a magnetic sheet.
5. by the described driving wheel capable of being dectected for steering angle of claim 1, it is characterized in that described detected body is radial grid or chequered with black and white striped.
6. by the described driving wheel capable of being dectected for steering angle of claim 1, it is characterized in that the center and the axis coinciding that drives wheel disc of wheel disc rotation angle detecting apparatus.
7. by the described driving wheel capable of being dectected for steering angle of claim 1, it is characterized in that described pick-up unit is two.
8. by the described driving wheel capable of being dectected for steering angle of claim 3, it is characterized in that two Magnetic Sensors are in that the k+1/4 of distance is doubly between adjacent two magnetic sheets at interval on the wheel disc tangential direction.
9. by the described driving wheel capable of being dectected for steering angle of claim 2, it is characterized in that two photoelectric sensors on the wheel disc tangential direction at interval adjacent two fringe spacings from k+1/4 doubly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02231208 CN2632632Y (en) | 2002-04-28 | 2002-04-28 | Driving wheel with corner test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02231208 CN2632632Y (en) | 2002-04-28 | 2002-04-28 | Driving wheel with corner test |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2632632Y true CN2632632Y (en) | 2004-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02231208 Expired - Lifetime CN2632632Y (en) | 2002-04-28 | 2002-04-28 | Driving wheel with corner test |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102628696A (en) * | 2011-02-01 | 2012-08-08 | 英飞凌科技股份有限公司 | Sensor |
| CN104776948A (en) * | 2015-04-29 | 2015-07-15 | 辽宁工程技术大学 | Drum torque detecting system |
| CN105043238A (en) * | 2015-07-07 | 2015-11-11 | 燕山大学 | Automobile steering wheel angle sensor and processing method for angle signal |
| CN105048719A (en) * | 2015-08-25 | 2015-11-11 | 石忠 | Opening and closing curtain motor |
| CN107119429A (en) * | 2017-05-22 | 2017-09-01 | 广东好太太科技集团股份有限公司 | A kind of adjustable clothes airing machine of stroke-limit and its adjusting method |
| CN107119430A (en) * | 2017-05-22 | 2017-09-01 | 广东好太太科技集团股份有限公司 | Clothes airing machine and its monitoring method that a kind of stroke can be monitored |
-
2002
- 2002-04-28 CN CN 02231208 patent/CN2632632Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102628696A (en) * | 2011-02-01 | 2012-08-08 | 英飞凌科技股份有限公司 | Sensor |
| CN102628696B (en) * | 2011-02-01 | 2015-09-23 | 英飞凌科技股份有限公司 | Sensor |
| CN104776948A (en) * | 2015-04-29 | 2015-07-15 | 辽宁工程技术大学 | Drum torque detecting system |
| CN105043238A (en) * | 2015-07-07 | 2015-11-11 | 燕山大学 | Automobile steering wheel angle sensor and processing method for angle signal |
| CN105048719A (en) * | 2015-08-25 | 2015-11-11 | 石忠 | Opening and closing curtain motor |
| CN107119429A (en) * | 2017-05-22 | 2017-09-01 | 广东好太太科技集团股份有限公司 | A kind of adjustable clothes airing machine of stroke-limit and its adjusting method |
| CN107119430A (en) * | 2017-05-22 | 2017-09-01 | 广东好太太科技集团股份有限公司 | Clothes airing machine and its monitoring method that a kind of stroke can be monitored |
| CN107119430B (en) * | 2017-05-22 | 2019-02-22 | 广东好太太科技集团股份有限公司 | A kind of clothes airing machine that stroke can monitor and its monitoring method |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20120428 Granted publication date: 20040811 |