Wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground
A technology of front and rear arrangement and measurement capability, applied in measurement devices, linear/angular velocity measurement, velocity/acceleration/impact measurement, etc., can solve problems such as poor environmental adaptability, poor comprehensive performance, inability to take into account traction and steering resistance, etc. Simple, ground-adaptive effects
Inactive Publication Date: 2012-05-23
HARBIN ENG UNIV
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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
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Embodiment Construction
[0013] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0014] combine figure 1 The components of the robot wheel with the ability to measure slippage in the front and rear arrangement suitable for rough ground are: drive wheel 1, drive wheel support arm 2, hinged shaft 3, spring 4, driven wheel support arm 5, driven wheel 6; combined figure 2 , the composition of the driving wheel 1 includes: driving wheel rim 7, hexagonal head full thread bolt assembly 8, bearing support flange 9, IGUS sliding bearing 10, driving wheel clamping sleeve 11, hexagonal head full thread bolt assembly 12, both sides Deep groove ball bearing with dust cover 13, motor shaft sleeve 14, round head ordinary flat key 15, harmonic reducer 16, motor flange 17, wheel arm clamping sleeve 18, shaft circlip 19, motor 20 , hexagon socket head screw assembly 21, hexagon socket head screw assembly 22, motor clamping sleeve 23; combined image 3 The co...
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The invention relates to wheels of robot with slip measuring capability arranged back and forth and adapted to rough ground. The wheels of the robot comprise a driving wheel (1), a driving wheel supporting arm (2), a cardan axle (3), a spring (4), a driven wheel supporting arm (5), and a driven wheel (6), wherein the driving wheel (1) is fixedly connected with one side of the driving wheel supporting arm (2); the other side of the driving wheel supporting arm (2) is connected with one side of the driven wheel supporting arm (5) by the cardan axle (3); the spring (4) is connected between the driving wheel supporting arm (2) and the driven wheel supporting arm (5); and the driven wheel supporting arm (5) is fixedly connected with the driven wheel (6). The wheels of the robot have the advantages that the wheels have simple, compact and reliable structure, good ground surface adaptability and guarantee the continuous movement of the main car body of the mobile robot, are suitable for various environments and can measure slip ratio, etc.
Description
(1) Technical field [0001] The invention relates to a wheel for a mobile robot, in particular to a mechanism for in-wheel drive and slip rate measurement for 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 sa...
Claims
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IPC IPC(8): B62D57/028G01P3/00
Inventor 徐贺栾钰琨薛开张振宇武永见谭大伟
Owner HARBIN ENG UNIV