Unlock instant, AI-driven research and patent intelligence for your innovation.

Wheels of robot with driving and slip measuring capability adapted to rough ground

A measurement capability and robot technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of inability to adapt to different working environments, traction and steering resistance, poor environmental adaptability, etc. Simple, ground-adaptable effect

Inactive Publication Date: 2011-01-26
HARBIN ENG UNIV
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] There are many problems in the current robot wheel system: (1) The environmental adaptability is poor, the wheel form is fixed, and its versatility cannot adapt to different working environments, such as sandy ground and soft ground
(3) In the sandy environment, for the same wheel, its traction and steering resistance cannot be taken into account
That is, the comprehensive performance of traction and steering is poor
No ability to both drive and measure slip

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Wheels of robot with driving and slip measuring capability adapted to rough ground

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0009] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0010] The components of the robot wheel with driving and slip measurement capabilities adapted to rough ground are: driving rim 1, hexagon head full thread bolt assembly 2, bearing support flange 3, IGUS sliding bearing 4, clamping sleeve 5, Hexagon head fully threaded bolt assembly 6, deep groove ball bearing with dust cover on both sides 7, motor shaft sleeve 8, round head ordinary flat key 9, harmonic reducer 10, motor flange 11, wheel arm clamping sleeve 12 , Cross recessed countersunk head screw 13, circlip for shaft 14, IGUS sliding bearing 15, motor 16, encoder 17, bearing retaining ring 18, encoder flange 19, hexagon socket head screw assembly 20, motor clamping sleeve 21. The driven wheel rim 22 and the hexagon socket head cap screw assembly 23.

[0011] The outer casing of the encoder 17 and the clamping sleeve 5 are fixedly connected by screws, and th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides wheels of a robot with driving and slipping measuring capability adapted to rough ground and comprises an initiative wheel rim, a bearing supporting flange plate, a sliding bearing, a clamping sleeve, a deep groove ball bearing with dust covers at two sides, a motor shaft sleeve, a round head common level-key, a harmonic wave decelerating machine, a motor flange plate, a wheel arm clamping sleeve, an axial spring collar, an electric motor, a coder, a bearing retainer, a motor clamping sleeve and a driven wheel. The wheels of the robot have the advantages that the wheelshave simple, compact and reliable structure, good ground surface adaptability and guarantee the continuous movement of the main car body of the mobile robot, increase the driving capability of the whole car and barrier-crossing capability, drag capability and turning capability, are suitable for various environments and can measure track slip rate, etc.

Description

(1) Technical field [0001] The invention relates to a wheel, in particular to a mechanism for in-wheel drive and slip rate measurement of a mobile robot. (2) Background technology [0002] The in-wheel drive and slip rate measurement mechanism of the mobile robot is an important part of the walking part of the mobile robot, which can drive the mobile robot to move and measure the slip rate at the same time. It has the advantages of simple structure, high-speed stability, high energy utilization efficiency and superior versatility. For mobile robots, it is divided into out-of-wheel drive and in-wheel drive; because out-of-wheel drive usually takes up a certain amount of body space, and the relative center of gravity of the system is relatively high, while in-wheel drive can save space and reduce The center of gravity of the system has strong driving ability, so it is widely used. The wheels used in the past are briefly introduced as follows: the rigid sand wheel is composed...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00B25J5/00
Inventor 徐贺谭大伟栾钰琨张振宇薛开吴永见
Owner HARBIN ENG UNIV