Positioning device based on encoder, positioning assembly and positioning robot

Abstract

The invention provides a positioning device based on an encoder, a positioning assembly and a positioning robot. The positioning device, the positioning assembly and the positioning robot have high obstacle crossing ability while the positioning precision is kept. The positioning device based on the encoder comprises a rolling wheel, the rolling wheel comprises a wheel body and a wheel shaft, the wheel body is used for rotating around a straight line where the wheel shaft is located, and the rolling wheel is used for walking on a working surface; the encoder is connected with the roller and is used for recording motion data of the roller; and the swing shaft is connected with the rolling wheel, the rolling wheel can rotate around the swing shaft, and the swing shaft does not coincide with the wheel shaft and is not perpendicular to the operation surface.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular, to an encoder-based positioning device, a positioning component, and a positioning robot. Background Art

[0002] In the field of industrial robots, positioning devices play a vital role as the core sensing component of the automation system. Currently, a common positioning device in industrial scenarios is to connect an encoder and a roller into a coaxial transmission system, and convert the displacement by recording the number of rotations. In order to achieve accurate recording, the roller connected to the encoder is usually designed to fit tightly with the work surface. However, although this structure has high positioning accuracy, it lacks obstacle crossing capabilities. When encountering obstacles, it is very easy to cause the entire robot to jam during movement, and in severe cases, it may cause damage to the robot. Therefore, how to improve the obstacle crossing capability of encoder-based positioning devices remains a problem that needs to be solved. Summary of the Invention

[0003] The present application provides an encoder-based positioning device, a positioning component, and a positioning robot, which can maintain positioning accuracy while having a high obstacle-crossing capability.

[0004] In a first aspect, an encoder-based positioning device is provided, comprising: a roller, wherein the roller comprises a wheel body and a wheel axle, the wheel body being used to rotate around a straight line where the wheel axle is located, and the roller being used to walk on a working surface; an encoder, wherein the encoder is connected to the roller and is used to record motion data of the roller; and a swing shaft, wherein the swing shaft is connected to the roller and the roller can rotate around a straight line where the swing shaft is located, and the swing shaft does not coincide with the wheel axle and is not perpendicular to the working surface.

[0005] When the positioning device provided in the embodiments of the present application encounters an obstacle while traveling or turning, the device's roller can rotate about its swing axis, following the surface of the obstacle and traversing it. This prevents the roller from getting stuck in the obstacle during movement, improving the positioning device's obstacle-crossing capabilities and expanding its application range. Furthermore, the roller can remain in motion during the obstacle-crossing process, and an encoder continuously records the roller's motion data, enabling the positioning device to maintain high obstacle-crossing capabilities while still maintaining its positioning accuracy.

[0006] In some embodiments, the swing axis is arranged on a plane parallel to the working surface.

[0007] Compared with the solution of overcoming obstacles by rotating in other directions, the rotation of the roller in a plane perpendicular to the working surface enables the roller to overcome obstacles with a smaller rotation amplitude, reducing the rotation space required for the positioning device to overcome the obstacle.

[0008] In some embodiments, the swing axis includes a first swing axis and a second swing axis, and the first swing axis and the second swing axis are arranged crosswise.

[0009] The intersecting first and second swing axes provide the roller with rotational components in different directions, allowing the roller to traverse obstacles in different directions by rotating around the swing axes, improving its ability to overcome them. This positioning device is capable of traversing large obstacles and reduces the likelihood of the roller becoming stuck.

[0010] In some embodiments, the roller, the first swing axis and the second swing axis are arranged along a first direction, the first swing axis and the second swing axis are arranged on the side of the roller away from the working surface in the first direction, and the first direction is perpendicular to the working surface.

[0011] Because the first and second swing axes are both located on one side of the roller in the first direction, the roller can rotate about the first and second swing axes in any direction to create a certain distance from the work surface, providing space for the roller to overcome obstacles. This structure also makes the positioning device more compact, providing the roller with a larger rotation radius within a limited space.

[0012] In some embodiments, the positioning device includes: an elastic member, the initial state of the elastic member is located at the position where the roller is in the first state, the plane where the wheel body is located is perpendicular to the working surface in the first state, and the elastic member limits the rotation of the roller around the swing axis in the direction of the roller rotating around the swing axis.

[0013] The elastic member can keep the roller in vertical contact with the working surface, and can quickly return the roller to the center position when the roller rotates due to overcoming obstacles. This improves the obstacle overcoming capability of the positioning device and helps to improve the positioning accuracy of the positioning device.

[0014] In some embodiments, the positioning device includes a first connecting frame and a second connecting frame, the first connecting frame and the second connecting frame are rotationally connected via the swing shaft, and both ends of the elastic member are respectively connected to the first connecting frame and the second connecting frame.

[0015] The elastic member can keep the first connecting frame and the second connecting frame in the initial position. When the roller rotates due to overcoming obstacles, it can help the first connecting frame and the second connecting frame to quickly return to the initial position, maintain the contact between the wheel body and the working surface, and help improve the positioning accuracy of the positioning device.

[0016] In some embodiments, the positioning device includes: a telescopic mechanism, which is connected to the swing shaft and can move in a first direction, and the first direction is perpendicular to the working surface.

[0017] The telescopic mechanism can adjust the position of the roller in the first direction while the roller rotates, reducing the angle the roller needs to rotate during obstacle crossing, which is conducive to the rapid return of the roller, thereby improving positioning accuracy.

[0018] In some embodiments, the telescopic mechanism is disposed on a side of the swing shaft that is away from the working surface in the first direction.

[0019] The telescopic mechanism can assist the swing shaft in adjusting the roller in the first direction, and the displacement generated by the roller rotating in the first direction is shared by the movement of the telescopic mechanism, so that the roller can cross obstacles at a smaller rotation angle, reducing the possibility of inaccurate positioning data caused by excessive rotation of the roller, which is beneficial to improving the positioning accuracy of the positioning device.

[0020] In some embodiments, the wheel axle and the swing axis are perpendicular to each other.

[0021] The vertical arrangement of the swing axis and the wheel axle enables the roller to overcome obstacles from the side of the wheel body, thereby improving the adaptability of the positioning device to various obstacles and further reducing the possibility of the roller getting stuck when crossing obstacles.

[0022] In some embodiments, the positioning device includes a plurality of rollers and a first connecting frame, the straight lines where the wheel axles of at least two of the plurality of rollers are located intersect, the plurality of rollers are connected to the first connecting frame on the side facing the working surface in the first direction, and the swing shaft is connected to the first connecting frame and is arranged on the side of the first connecting frame away from the working surface in the first direction.

[0023] This allows multiple rollers to overcome obstacles as a whole, with consistent motion across them. This simplifies the encoder's control logic and helps maintain positioning accuracy while overcoming obstacles. Furthermore, when using multiple rollers for positioning, this setup also makes the overall structure more compact, taking up less space.

[0024] In a second aspect, an encoder-based positioning assembly is provided, comprising: a plurality of positioning devices as described in any embodiment of the first aspect, wherein the rollers of at least two of the plurality of positioning devices are cross-arranged.

[0025] The cross-arranged rollers can achieve positioning on the plane, and each roller can independently overcome obstacles. It has good obstacle-crossing function and can cope with a wider range of working conditions.

[0026] In a third aspect, an encoder-based positioning robot is provided, comprising: a robot body; a positioning device as described in any embodiment of the first aspect, or a positioning component as described in any embodiment of the second aspect, wherein the positioning device or positioning component is carried on the robot body.

[0027] The positioning robot provided in the embodiments of the present application can have good obstacle-crossing capability while maintaining positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of an encoder-based positioning device provided in this application.

[0029] Figure 2 yes Figure 1 The schematic diagram of the exploded structure of the encoder-based positioning device is shown.

[0030] Figure 3 This is a structural diagram of another encoder-based positioning device provided in this application.

[0031] Figure 4 This is a structural diagram of an encoder-based positioning component provided in this application.

[0032] Figure 5 This is a structural diagram of an encoder-based positioning robot provided in this application. DETAILED DESCRIPTION

[0033] The following detailed description of the embodiments of the present application is provided in conjunction with the accompanying drawings and examples. The following detailed description of the embodiments and the accompanying drawings are used to illustrate the principles of the present application, but are not intended to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0034] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating directions or positional relationships, are used solely for the purpose of facilitating the description of this application and simplifying the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limiting this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Perpendicular" does not mean perpendicular in the strict sense, but rather within the tolerance range. "Parallel" does not mean parallel in the strict sense, but rather within the tolerance range. All technical and scientific terms used in this application have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification of the application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including," "having," and any variations thereof in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions.

[0035] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0036] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0037] The term "and / or" in this application simply describes an association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B exist, and B exists. In addition, the character " / " in this application generally indicates that the related objects are in an "or" relationship.

[0038] The term "multiple" in this application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0039] In the embodiments of this application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components in different embodiments are omitted. It should be understood that the thickness, length, width, and other dimensions of the various components in the embodiments of this application, as well as the overall thickness, length, width, and other dimensions of the integrated device shown in the drawings are merely illustrative and should not constitute any limitation on this application.

[0040] The encoder-based positioning device and positioning component provided in the embodiments of the present application can be applied to wheeled robots, tracked robots, automatic guided vehicles (AGVs), navigation robotic arms and other equipment. The encoder-based positioning robot provided in the embodiments of the present application can be applied to industrial fields such as photovoltaic cleaning, site inspection, and quality inspection.

[0041] The following describes in detail the positioning device 1 based on the encoder 20, the positioning component 2 and the positioning robot 3 provided in the embodiment of the present application with reference to the accompanying drawings.

[0042] Figure 1 The present invention shows a positioning device 1 based on an encoder 20, comprising a roller 10, an encoder 20, and a swing shaft 30. The roller 10 comprises a wheel body 11 and an axle 12. The wheel body 11 is configured to rotate about a line along which the axle 12 lies. The roller 10 is configured to travel over a work surface. The encoder 20 is connected to the roller 10 and is configured to record the motion data of the roller 10. The swing shaft 30 is connected to the roller 10 and is capable of rotating about a line along which the swing shaft 30 lies. The swing shaft 30 does not coincide with the axle 12 and is not perpendicular to the work surface.

[0043] The roller 10 is the structure of the positioning device 1 used for traveling on the work surface. It includes a wheel body 11 and an axle 12. The wheel body 11 is the portion that contacts the work surface, and the axle 12 is located in the center of the wheel body 11. The wheel body 11 can rotate about the line on which the axle 12 is located, enabling travel on the work surface. In some embodiments, the roller 10 can be a Mecanum wheel, enabling travel in multiple directions.

[0044] The encoder 20 is connected to the roller 10. Specifically, the encoder 20 can be connected to the wheel axle 12. The position and posture of the vehicle or robot are determined by recording the motion data of the roller 10. For example, the motion data recorded by the encoder 20 can be data information such as the rotation speed, rotation angle, and rotation time of the roller 10, and the position and posture of the vehicle or robot can be inferred in combination with the kinematic model.

[0045] The positioning device 1 also includes a swing axis 30, and the roller 10 as a whole can rotate around the straight line on which the swing axis 30 is located. When the roller 10 as a whole rotates around the straight line on which the swing axis 30 is located, the swing axis 30 itself can rotate together with the roller 10, or it can not rotate. In some embodiments, the encoder 20 connected to the roller 10 can rotate around the swing axis 30 together with the roller 10. The swing axis 30 is arranged on the outside of the roller 10 and is at a certain distance from the wheel axle 12. If the swing axis 30 does not coincide with the wheel axle 12 and is not perpendicular to the working surface, then the plane in which the roller 10 rotates around the swing axis 30 intersects with the working surface. When the roller 10 rotates to a certain angle, it can leave the working surface to overcome obstacles on the working surface.

[0046] Obstacles on the working surface are usually structures that protrude from the working surface. For example, in the field of photovoltaic cleaning, the working surface may refer to the photovoltaic panel to be cleaned, and the obstacle may refer to the frame of the edge of the photovoltaic panel that protrudes from the photovoltaic panel body. Especially when multiple photovoltaic panels are spliced ​​together, the frames of adjacent photovoltaic panels form an obstacle, which restricts the movement of the positioning device 1 from the surface to be cleaned of one photovoltaic panel to the surface to be cleaned of another photovoltaic panel. In severe cases, it may cause the positioning device 1 to get stuck near the frame and cause damage to the positioning device 1. Therefore, the positioning device 1 provided in the embodiment of the present application can rotate around the swing axis 30 in the direction of the resistance exerted by the obstacle when it contacts the obstacle, and leave the working surface a certain distance in the direction perpendicular to the working surface to adapt to the height of the obstacle protruding from the working surface, thereby crossing the obstacle during the movement.

[0047] There may be one or more swing axes 30. If multiple swing axes 30 are provided, the multiple swing axes 30 may be arranged in parallel or in a cross-arranged arrangement. Parallel swing axes 30 provide the roller 10 with multiple rotation radii to cope with obstacles of different heights; cross-arranged swing axes 30 provide the roller 10 with multiple rotation directions to cope with obstacles from different directions.

[0048] When the positioning device 1 provided in the embodiment of the present application encounters an obstacle while traveling or turning, the roller 10 of the positioning device 1 can rotate about the swing axis 30, following the surface of the obstacle to pass over the obstacle. This prevents the roller 10 from getting stuck in the obstacle during movement, thereby improving the positioning device 1's obstacle-crossing capability and expanding its application range. At the same time, the roller 10 can remain in motion during the obstacle-crossing process, and the encoder 20 continuously records the motion data of the roller 10. This allows the positioning device 1 to maintain its positioning accuracy while having a high obstacle-crossing capability.

[0049] According to some embodiments of the present application, the swing axis 30 is disposed on a plane parallel to the working surface.

[0050] Considering that obstacles are often protrusions on the work surface, the roller 10 can more easily traverse them by rotating in a plane perpendicular to the work surface. Therefore, the swing axis 30 can be positioned parallel to the work surface. When the roller 10 contacts an obstacle, it rotates about the swing axis 30 in a plane perpendicular to the work surface, thereby offsetting the roller 10 from the work surface by a certain distance in a direction perpendicular to the work surface, providing space for the roller 10 to traverse the obstacle.

[0051] Compared with the solution of overcoming obstacles by rotating in other directions, the rotation of the roller 10 in a plane perpendicular to the working surface enables the roller 10 to overcome obstacles with a smaller rotation amplitude, reducing the rotation space required for the positioning device 1 to overcome obstacles.

[0052] According to some embodiments of the present application, the swing shaft 30 includes a first swing shaft 31 and a second swing shaft 32 , and the first swing shaft 31 and the second swing shaft 32 are cross-arranged.

[0053] Figure 1 and Figure 2 The structure in which the first swing axis 31 and the second swing axis 32 are arranged crosswise is shown. Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the positioning device 1 in FIG. Specifically, the first swing axis 31 and the second swing axis 32 are respectively arranged on planes parallel to the working surface, and the first swing axis 31 and the second swing axis 32 may not be coplanar.

[0054] The first swing axis 31 and the second swing axis 32 can provide different rotation directions for the roller 10. When the roller 10 contacts an obstacle in any direction of travel, the first swing axis 31 and the second swing axis 32 can cooperate with each other to achieve rotation in the corresponding direction. Figure 2 The first swing axis 31 shown in FIG. 1 extends along a third direction Z, and the second swing axis 32 extends along a second direction Y. The first direction X is perpendicular to the work surface, the second direction Y is perpendicular to the axle 12 of the roller 10, and the third direction Z is parallel to the axle 12 of the roller 10. The first direction X, the second direction Y, and the third direction Z are mutually perpendicular. While the roller 10 is moving in the second direction Y, it can rotate about the first swing axis 31 to overcome obstacles in the second direction Y. While the roller 10 is moving in the third direction Z, it can rotate about the second swing axis 32 to overcome obstacles in the third direction Z. While moving in other directions on the work surface, the roller 10 can simultaneously rotate about the first swing axis 31 and the second swing axis 32, allowing the portion of the roller 10 in contact with the work surface to be raised to the surface of the obstacle, allowing it to overcome the obstacle.

[0055] The cross-arranged first swing axis 31 and second swing axis 32 can provide the roller 10 with rotational components in different directions, so that when facing obstacles in different directions, the roller 10 can improve its ability to overcome the obstacles by rotating about the swing axis 30. This positioning device 1 has the ability to overcome large obstacles and reduces the possibility of the roller 10 being stuck by the obstacles.

[0056] According to some embodiments of the present application, the roller 10, the first swing axis 31 and the second swing axis 32 are arranged along the first direction X, and the first swing axis 31 and the second swing axis 32 are arranged on the side of the roller 10 away from the working surface in the first direction X, and the first direction X is perpendicular to the working surface.

[0057] like Figure 1 and Figure 2 As shown, the roller 10, the first swing axis 31, and the second swing axis 32 are arranged in sequence in the first direction X. The roller 10 contacts the work surface, the first swing axis 31 is disposed on a side of the roller 10 facing away from the work surface in the first direction X, and the second swing axis 32 is disposed on a side of the first swing axis 31 facing away from the work surface in the first direction X. In some embodiments, the centers of the roller 10, the first swing axis 31, and the second swing axis 32 are aligned along the first direction X.

[0058] Because the first swing axis 31 and the second swing axis 32 are both disposed on one side of the roller 10 in the first direction X, the roller 10 can rotate about the first swing axis 31 and the second swing axis 32 in any direction to create a certain distance from the working surface, thereby providing space for the roller 10 to overcome obstacles. Furthermore, this structure can make the positioning device 1 more compact, providing the roller 10 with a larger rotation radius within a limited space.

[0059] According to some embodiments of the present application, the positioning device 1 includes an elastic member 40, the initial state of the elastic member 40 is located at the position where the roller 10 is in the first state, the plane where the wheel body 11 is located is perpendicular to the working surface in the first state, and the elastic member 40 limits the rotation of the roller 10 around the swing axis 30 in the direction of the roller 10 rotating around the swing axis 30.

[0060] The elastic member 40 may be a spring, for example, a torsion spring, a tension spring, etc. Figure 1 and Figure 2The elastic member 40 is shown as a torsion spring. The elastic member 40 generally has the function of recovering after deformation, that is, when the elastic member 40 is deformed by an external force, it can recover to a state where it is not affected by the external force after the external force is eliminated. In the embodiment of the present application, the initial state of the elastic member 40 refers to the state where the elastic member 40 is not affected by an external force. When the elastic member 40 is in this initial state, the roller 10 is kept in the first state. The first state refers to the state where the wheel body 11 stands vertically on the working surface, that is, the wheel body 11 is in a state where the plane where the wheel body 11 is located is perpendicular to the working surface.

[0061] When the roller 10 is in the first state, it can travel normally on an obstacle-free surface. If it encounters an obstacle during travel, the roller 10 is subjected to the resistance exerted by the obstacle on the wheel body 11, causing it to rotate about the swing axis 30. The elastic member 40 is deformed by the force and has a tendency to return to its initial state. In other words, the elastic member 40 can allow the roller 10 to rotate about the swing axis 30 to a certain extent, while also limiting further rotation of the roller 10 in its rotational direction, reducing excessive rotation of the roller 10 during obstacle traversal. It also ensures that the roller 10 maintains contact with the obstacle surface during obstacle traversal, thereby reducing positioning errors that may occur during obstacle traversal.

[0062] After the roller 10 passes over the obstacle, the elastic member 40 has a tendency to return to the initial state, which can help the roller 10 quickly return to the first state.

[0063] The elastic member 40 can keep the roller 10 in vertical contact with the working surface, and can quickly return the roller 10 to the center position when the roller 10 rotates due to overcoming obstacles. This improves the obstacle overcoming capability of the positioning device 1 and helps to improve the positioning accuracy of the positioning device 1.

[0064] According to some embodiments of the present application, the positioning device 1 includes a first connecting frame 33 and a second connecting frame 34, the first connecting frame 33 and the second connecting frame 34 are rotatably connected through a swing shaft 30, and the two ends of the elastic member 40 are respectively connected to the first connecting frame 33 and the second connecting frame 34.

[0065] like Figure 1 and Figure 2As shown, the first connecting frame 33 connects the roller 10 and the swing shaft 30. Specifically, the roller 10 is arranged on the side of the first connecting frame 33 facing the working surface in the first direction X. In some embodiments, the first connecting frame 33 can be connected to the roller 10 near the wheel axle 12 of the roller 10. The swing shaft 30 is arranged on the side of the first connecting frame 33 facing away from the working surface in the first direction X, and is arranged on the side of the second connecting frame 34 facing the working surface in the first direction X. In some embodiments, the swing shaft 30 is located directly above the roller 10 in the first direction X. The swing shaft 30 can be fixedly connected to one of the first connecting frame 33 and the second connecting frame 34. For example, the swing shaft 30 is fixedly connected to the first connecting frame 33, and the second connecting frame 34 can rotate relative to the swing shaft 30 and the first connecting frame 33. Similarly, the swing shaft 30 can also be fixedly connected to the second connecting frame 34. In other embodiments, the swing shaft 30 is not fixedly connected to the first and second connecting frames 33, 34. In this case, the first and second connecting frames 33, 34 can both rotate about the swing shaft 30, and the first and second connecting frames 33, 34 can also rotate relative to each other. The swing shaft 30 can extend through the first and second connecting frames 33, 34, so that the first and second connecting frames 33, 34 can be rotationally connected via the swing shaft 30. The elastic member 40 is connected at both ends to the first and second connecting frames 33, 34, respectively, to maintain the first and second connecting frames 33, 34 in their initial positions and to limit relative rotation between the first and second connecting frames 33, 34 within a certain range.

[0066] Taking the elastic member 40 as a torsion spring as an example, when the first connecting frame 33 and the second connecting frame 34 are in their initial positions, the two arms of the elastic member 40 are arranged parallel to the first direction X. One arm extends along the first direction X toward the work surface and is connected to the first connecting frame 33; the other arm extends along the first direction X away from the work surface and is connected to the second connecting frame 34. If the first connecting frame 33 and the second connecting frame 34 rotate relative to each other, the elastic member 40 exerts an elastic force that restores the first connecting frame 33 and the second connecting frame 34 to their initial positions. In some embodiments, the side of the second connecting frame 34 facing away from the work surface in the first direction X can be connected to the machine on which the positioning device 1 is installed, or can be connected to another structure.

[0067] In some embodiments, the swing axis 30 may include a first swing axis 31 and a second swing axis 32, which are arranged crosswise. The positioning device 1 may then include a first connecting frame 33, a second connecting frame 34, and a third connecting frame 35. The roller 10 and the first swing axis 31 are respectively arranged on either side of the first connecting frame 33 in the first direction X. The first swing axis 31 and the second swing axis 32 are respectively arranged on either side of the second connecting frame 34 in the first direction X. The third connecting frame 35 is connected to the second swing axis 32 on the side facing the work surface in the first direction X. The side of the third connecting frame 35 facing away from the work surface in the first direction X can be connected to the machine or other structure on which the positioning device 1 is installed. The first swing axis 31 extends through the first connecting frame 33 and the second connecting frame 34, while the second swing axis 32 extends through the second connecting frame 34 and the third connecting frame 35. The first connecting frame 33 and the second connecting frame 34 are rotationally connected, while the second connecting frame 34 and the third connecting frame 35 are rotationally connected.

[0068] The positioning device 1 may further include a first elastic member 41 and a second elastic member 42. The first elastic member 41 is mounted on the first swing shaft 31, with one end connected to the first connecting frame 33 and the other end connected to the second connecting frame 34. The second elastic member 42 is mounted on the second swing shaft 32, with one end connected to the second connecting frame 34 and the other end connected to the third connecting frame 35. When the positioning device 1 is in the initial position, the first elastic member 41 and the second elastic member 42 remain in a stress-free state. When the first connecting frame 33, the second connecting frame 34, and the third connecting frame 35 rotate relative to each other, the first elastic member 41 and the second elastic member 42 exert elastic force to restore the first connecting frame 33, the second connecting frame 34, and the third connecting frame 35 to their initial positions.

[0069] The elastic member 40 can keep the first connecting frame 33 and the second connecting frame 34 in their initial positions. When the roller 10 rotates due to overcoming an obstacle, it can help the first connecting frame 33 and the second connecting frame 34 to quickly return to their initial positions, maintaining the contact between the wheel body 11 and the working surface, which is beneficial to improving the positioning accuracy of the positioning device 1.

[0070] According to some embodiments of the present application, the positioning device 1 includes a telescopic mechanism 50 , which is connected to the swing shaft 30 and can move in a first direction X, where the first direction X is perpendicular to the working surface.

[0071] like Figure 2As shown, in one embodiment, the telescopic mechanism 50 may specifically include a sleeve 51 and a telescopic rod 52. The sleeve 51 is connected to the machine on which the positioning device 1 is installed. For example, if the positioning device 1 is installed on a robot, the positioning device 1 can be installed on the robot by connecting the sleeve 51 to the robot. The telescopic rod 52 is connected to the swing shaft 30, driving the swing shaft 30 and the roller 10 to move in the first direction X. In one specific embodiment, the telescopic rod 52 may be connected to the second connecting frame 34.

[0072] During the obstacle traversal process, the roller 10 must generate displacement in the first direction X. This displacement can be generated by the roller 10 rotating about the swing axis 30 in the first direction X, and by the movement of the telescopic mechanism 50 in the first direction X. The more displacement provided by the telescopic mechanism 50, the less displacement the roller 10 must generate through rotation, and the smaller the angle of rotation of the roller 10 about the swing axis 30. This helps the wheel body 11 maintain contact with the work surface and the obstacle surface, reducing errors in the motion data recorded by the encoder 20. Furthermore, the smaller the angle of rotation of the roller 10 about the swing axis 30, the easier it is to return to the first state after traversing the obstacle.

[0073] The telescopic mechanism 50 can adjust the position of the roller 10 in the first direction X while the roller 10 rotates, reducing the angle that the roller 10 needs to rotate during obstacle crossing, which is conducive to the rapid return of the roller 10 and thus improves positioning accuracy.

[0074] According to some embodiments of the present application, the telescopic mechanism 50 is disposed on a side of the swing shaft 30 that is away from the working surface in the first direction X.

[0075] like Figure 1 and Figure 2 As shown, the telescopic mechanism 50 can be connected to the side of the swing shaft 30 away from the working surface in the first direction X, that is, the telescopic mechanism 50 can provide the roller 10 with displacement in the first direction X directly above the roller 10.

[0076] The telescopic mechanism 50 can assist the swing shaft 30 in adjusting the roller 10 in the first direction X. The movement of the telescopic mechanism 50 can share the displacement generated by the roller 10 in the first direction X after the roller 10 rotates, so that the roller 10 can pass over obstacles at a smaller rotation angle, reducing the possibility of inaccurate positioning data caused by excessive rotation of the roller 10, which is beneficial to improving the positioning accuracy of the positioning device 1.

[0077] According to some embodiments of the present application, when the positioning device 1 includes a wheel axle 12 and a swing axis 30 , the wheel axle 12 and the swing axis 30 are perpendicular to each other.

[0078] In one specific embodiment, the positioning device 1 may include only one axle 12 and one swing axis 30. In this case, the axle 12 may be arranged perpendicularly to the swing axis 30. "Perpendicularly" may mean that the two are not in the same plane in space, but are perpendicular to each other when translated to the same plane. In another embodiment, the positioning device 1 may include multiple swing axes 30. In this case, two of the multiple swing axes 30 may simply be arranged crosswise, and do not need to be perpendicular.

[0079] The wheel axle 12 is usually arranged in the center area of ​​the wheel body 11 and is perpendicular to the plane where the wheel body 11 is located. Figure 1 and Figure 2 Taking the positioning device 1 shown as an example, the wheel axle 12 extends along the third direction Z. The wheel body 11 drives the positioning device 1 in the second direction Y by rotating about the wheel axle 12. The swing axis 30 is arranged perpendicular to the wheel axle 12, that is, the swing axis 30 extends along the second direction Y, and the wheel body 11 can rotate about the swing axis 30 in a plane perpendicular to the second direction Y. In other words, the wheel body 11 can rotate in a plane perpendicular to the direction of travel of the roller 10 to overcome obstacles from the side of the wheel body 11. Obstacles from the side of the wheel body 11 are often more likely to get stuck on the roller 10. Therefore, arranging the swing axis 30 and the wheel axle 12 perpendicularly can improve the roller 10's ability to overcome obstacles on the working surface.

[0080] The vertical arrangement of the swing shaft 30 and the wheel axle 12 enables the roller 10 to overcome obstacles from the side of the wheel body 11, thereby improving the adaptability of the positioning device 1 to various obstacles and further reducing the possibility of the roller 10 being stuck when crossing obstacles.

[0081] According to some embodiments of the present application, the positioning device 1 includes a plurality of rollers 10 and a first connecting frame 33, and the straight lines on which the wheel axles 12 of at least two of the plurality of rollers 10 are located intersect with each other, and the plurality of rollers 10 are connected to the first connecting frame 33 on the side facing the working surface in the first direction X, and the swing shaft 30 is connected to the first connecting frame 33 and is arranged on the side of the first connecting frame 33 away from the working surface in the first direction X.

[0082] The positioning device 1 may include a plurality of rollers 10 connected to the same first connecting frame 33. The plurality of rollers 10 may be arranged in parallel, i.e., the lines on which the axles 12 of the plurality of rollers 10 lie parallel to each other; at least two of the plurality of rollers 10 may also be arranged to intersect, i.e., the lines on which the axles 12 of at least two of the plurality of rollers 10 lie intersecting. Figure 3 The structure of the positioning device 1 including a plurality of rollers 10 is shown. Specifically, the structure of the positioning device 1 is shown in which the axles 12 of two rollers 10 are intersectingly arranged.

[0083] The multiple rollers 10 may share a common swing shaft 30. Specifically, the swing shaft 30 is connected to the first connecting frame 33, and the swing shaft 30 and the rollers 10 are respectively arranged on either side of the first connecting frame 33 in the first direction X. When encountering an obstacle, the multiple rollers 10 rotate as a whole around the swing shaft 30 to overcome the obstacle. In some embodiments, the swing shaft 30 may include a first swing shaft 31 and a second swing shaft 32, and the first swing shaft 31 and the second swing shaft 32 are both arranged on the side of the first connecting frame 33 facing away from the work surface in the first direction X. In some embodiments, the positioning device 1 may include a telescopic mechanism 50, and the telescopic mechanism 50 is arranged on the side of the swing shaft 30 facing away from the work surface in the first direction X. The multiple rollers 10 can partially adjust their positions in the first direction X through the telescopic mechanism 50.

[0084] In some embodiments, the centers of the multiple rollers 10 as a whole can be on a straight line parallel to the first direction X with the center of the swing axis 30 . This can improve the stability of the multiple rollers 10 during rotation and reduce the rotation amplitude of the multiple rollers 10 .

[0085] This allows multiple rollers 10 to traverse obstacles as a whole, with the motion of the multiple rollers 10 being consistent, which simplifies the control logic of the encoder 20 and helps maintain positioning accuracy while achieving obstacle traversal. Furthermore, when positioning is performed using multiple rollers 10, this arrangement also makes the overall structure more compact, taking up less space.

[0086] The present application also provides a positioning assembly 2 based on an encoder 20, comprising a plurality of positioning devices 1 as provided in any of the above embodiments, wherein the rollers 10 of at least two positioning devices 1 among the plurality of positioning devices 1 are cross-arranged.

[0087] The mechanical device for setting the positioning assembly 2 is simplified to a mounting frame 60, such as Figure 4 As shown, multiple positioning devices 1 can be installed on the same mounting frame 60. In some embodiments, the rollers 10 of at least two positioning devices 1 among the multiple positioning devices 1 are arranged crosswise, that is, the straight lines where the axles 12 of the rollers 10 are located are arranged crosswise.

[0088] The cross-arranged rollers 10 can achieve positioning on a plane, and each roller 10 can independently overcome obstacles, which not only has a good obstacle-crossing function but can also cope with a wider range of working conditions.

[0089] The present application also provides a positioning robot 3 based on an encoder 20, comprising a robot body 70, and a positioning device 1 as provided in any of the above embodiments, or a positioning component 2 as provided in any of the above embodiments, the positioning device 1 or the positioning component 2 being carried on the robot body 70.

[0090] Figure 5 A positioning robot 3 based on an encoder 20 is shown. In some embodiments, the positioning robot 3 may be provided with at least one positioning device 1; in other embodiments, the positioning robot 3 may be provided with at least one positioning component 2.

[0091] The positioning robot 3 provided in the embodiment of the present application can have good obstacle-crossing capability while maintaining positioning accuracy.

[0092] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A positioning device based on an encoder, characterized in that: include: A roller (10), the roller (10) comprising a wheel body (11) and a wheel axle (12), the wheel body (11) being used to rotate around a straight line on which the wheel axle (12) is located, and the roller (10) being used to travel on a working surface; an encoder (20), the encoder (20) being connected to the roller (10) and being used to record motion data of the roller (10); A swing shaft (30), the swing shaft (30) is connected to the roller (10), the roller (10) can rotate around the straight line where the swing shaft (30) is located, the swing shaft (30) does not coincide with the wheel axle (12) and is not perpendicular to the working surface.

2. The positioning device according to claim 1, characterized in that The swing axis (30) is arranged on a plane parallel to the working surface.

3. The positioning device according to claim 1 or 2, characterized in that: The swing shaft (30) comprises a first swing shaft (31) and a second swing shaft (32), and the first swing shaft (31) and the second swing shaft (32) are arranged crosswise.

4. The positioning device according to claim 3, characterized in that The roller (10), the first swing axis (31) and the second swing axis (32) are arranged along a first direction (X), the first swing axis (31) and the second swing axis (32) are arranged on a side of the roller (10) away from a working surface in the first direction (X), and the first direction (X) is perpendicular to the working surface.

5. The positioning device according to any one of claims 1 to 4, characterized in that The positioning device comprises: An elastic member (40), wherein the initial state of the elastic member (40) is located at a position where the roller (10) is in a first state, the plane where the wheel body (11) is located is perpendicular to the working surface in the first state, and the elastic member (40) limits the rotation of the roller (10) around the swing axis (30) in the direction in which the roller (10) rotates around the swing axis (30).

6. The positioning device according to any one of claims 1 to 5, characterized in that: The positioning device comprises a first connecting frame (33) and a second connecting frame (34), wherein the first connecting frame (33) and the second connecting frame (34) are rotatably connected via the swing shaft (30), and the two ends of the elastic member (40) are respectively connected to the first connecting frame (33) and the second connecting frame (34).

7. The positioning device according to any one of claims 1 to 6, characterized in that The positioning device comprises: A telescopic mechanism (50) is connected to the swing shaft (30) and is movable in a first direction (X), wherein the first direction (X) is perpendicular to the working surface.

8. The positioning device according to claim 7, characterized in that The telescopic mechanism (50) is arranged on a side of the swing shaft (30) that is away from the working surface in the first direction (X).

9. The positioning device according to any one of claims 1 to 8, characterized in that When the positioning device includes a wheel axle (12) and a swing axis (30), the wheel axle (12) and the swing axis (30) are perpendicular to each other.

10. The positioning device according to any one of claims 1 to 9, characterized in that The positioning device comprises a plurality of rollers (10) and a first connecting frame (33), wherein the straight lines on which the wheel axles (12) of at least two of the plurality of rollers (10) are located intersect with each other, the plurality of rollers (10) are connected to the first connecting frame (33) on a side facing the working surface in a first direction (X), and the swing shaft (30) is connected to the first connecting frame (33) and is arranged on a side of the first connecting frame (33) facing away from the working surface in the first direction (X).

11. A positioning component based on an encoder, characterized in that: include: A plurality of positioning devices according to any one of claims 1 to 10, wherein the rollers (10) of at least two of the plurality of positioning devices are cross-arranged.

12. A positioning robot based on an encoder, characterized in that: include: Robot body (70); The positioning device according to any one of claims 1 to 10, or the positioning assembly according to claim 11, wherein the positioning device or the positioning assembly is carried on the robot body (70).

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