Double-wheel differential integrated driving module based on double IMU modules

Abstract

The invention discloses a double-wheel differential integrated driving module based on double IMU modules, and relates to the technical field of driving modules, the double-wheel differential integrated driving module comprises a fixed wheel carrier and driving module bodies, the driving module bodies are arranged on the two sides of the fixed wheel carrier respectively, and supporting assemblies are inserted into the two sides, away from the driving module bodies, of the fixed wheel carrier respectively. The fixed wheel frame is connected with a floating wheel frame through a supporting assembly, the top surface of the floating wheel frame is provided with a crossed hobbing, one side, close to the crossed hobbing, of the floating wheel frame is provided with an IMU monitoring mechanism, the two driving module main bodies respectively comprise driving motors, the two driving motors are respectively mounted on two sides of the fixed wheel frame, and the driving motors are connected with the fixed wheel frame. The output ends of the two driving motors are in transmission connection with rolling wheels correspondingly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of driving module, in particular to a double-wheel differential integrated driving module based on double IMU modules. BACKGROUND

[0002] At present, many production workshops or warehouses use AGV trolleys to transport goods to improve the efficiency of production or storage. The existing AGV trolley driving modes have two kinds of steering wheel driving and differential driving. The steering wheel can realize omnidirectional motion. The differential driving uses two motors to drive two wheels respectively, and realizes the steering of the wheel train through the different speeds of the two wheels. Through retrieval, a double-wheel differential driving device is disclosed in the Chinese patent with the authorization announcement number CN216764220U, which includes a mounting disc and a differential driving unit in the mounting disc. The mounting disc is cylindrical, and the top end is provided with a fixed disc. The differential driving unit is provided with an angle sensor, an electromagnetic push rod, a side roller and a top roller. The side roller and the top roller are in rolling contact with the mounting disc and the fixed disc respectively. The electromagnetic push rod is arranged along the diameter direction of the mounting disc. The inner side wall of the mounting disc is arranged with a plurality of locking insertion holes matched with the electromagnetic push rod. Compared with the prior art, the utility model has the advantages of high control precision, strong flexibility, high reliability and the like.

[0003] At present, the existing driving module usually assembles an encoder, which utilizes the mechanical transmission of the rotation angle to detect the steering direction of the module. However, such a structure will cause errors and serious consequences if the user misoperates or external factors cause the encoder to fail. SUMMARY

[0004] The purpose of the present application is to provide a double-wheel differential integrated driving module based on double IMU modules to solve the problems raised in the background art.

[0005] In view of the above problems, the technical scheme provided by the present application is:

[0006] A double-wheel differential integrated driving module based on a double-IMU module, comprising a fixed wheel frame and a driving module body, the two sides of the fixed wheel frame are respectively provided with a driving module body, the two sides of the fixed wheel frame away from the driving module body are respectively provided with a support assembly, the fixed wheel frame is connected with a floating wheel frame through the support assembly, the top surface of the floating wheel frame is provided with a cross hobbing, and the side of the floating wheel frame close to the cross hobbing is provided with an IMU monitoring mechanism, wherein the double-IMU positioning is a technology for position and attitude estimation by using two inertial measurement units. Compared with a single-IMU system, the double-IMU configuration can provide higher precision and robustness. The module can better estimate the attitude of the object through the two IMUs which are spatially separated. The relative positions of the two IMUs are fixed, which can provide additional kinematic constraints. In the error compensation function, the measurement data of the two IMUs can be corrected with each other, reducing the cumulative error. At the same time, when one IMU fails, the system can still work. The double-IMU positioning technology has important application value in occasions requiring high-precision and high-reliability positioning, and through reasonable design and algorithm optimization, the performance of the positioning system can be significantly improved.

[0007] As a preferred technical solution of the present application, the two driving module bodies respectively comprise a driving motor, the two driving motors are respectively mounted on the two sides of the fixed wheel frame, and the output ends of the two driving motors are respectively drivingly connected with rollers.

[0008] As a preferred technical solution of the present application, the cross hobbing comprises a gear ring, the top surface of the gear ring is provided with a first bolt, and the top surface of the gear ring is connected with the top surface of the floating wheel frame through the first bolt.

[0009] As a preferred technical solution of the present application, the cross hobbing further comprises a cross bracket and a bearing, the four corners of the cross bracket are respectively provided with a second bolt, the cross bracket is connected with the top surface of the gear ring through the second bolt, and the outer wall of the bearing is provided with a ring-shaped groove matching the inside of the cross bracket. As a preferred technical solution of the present application, the IMU monitoring mechanism comprises a linear accelerometer and an angular rate gyroscope, the linear accelerometer is fixedly installed on the top surface of the floating wheel frame, the angular rate gyroscope is installed on the bottom surface of the floating wheel frame, and the angular rate gyroscope is located directly below the cross hobbing. As a preferred technical solution of the present application, the linear accelerometer and the angular rate gyroscope constitute a double-IMU module structure.

[0010] As a preferred technical solution of the present application, the support assembly comprises a graphite copper sleeve and a support shaft, the graphite copper sleeve is inserted at the connection between the fixed wheel frame and the floating wheel frame, the graphite copper sleeve internally sleeves the support shaft, one end of the support shaft is provided with a screw, and the support shaft is connected with one side of the floating wheel frame through the screw.

[0011] Compared with the prior art, the beneficial effects of the present application are that the fixed wheel frame provides a mounting base for the driving module body, the driving module bodies on both sides realize double-wheel differential driving, meet the requirements of equipment movement and steering, and the support assembly connects the fixed wheel frame and the floating wheel frame, so that the floating wheel frame can flexibly adapt to terrain bumps, improve the passability of the module on complex roads, and the cross hobbing on the top surface of the floating wheel frame enhances the rigidity, so that the IMU monitoring mechanism at different assembly positions can capture the motion state of the module in real time, and the linear accelerometer and angular rate gyroscope in the double-IMU module are combined to improve the motion parameter detection accuracy, and the driving and monitoring functions are integrated, which meets the control requirements of high-precision mobile equipment. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 A front perspective view of a double-wheel differential integrated driving module based on a double-IMU module is provided.

[0013] Figure 2 A rear perspective view of a double-wheel differential integrated driving module based on a double-IMU module is provided.

[0014] Figure 3 A bottom perspective view of a double-wheel differential integrated driving module based on a double-IMU module is provided.

[0015] Figure 4 An expanded schematic view of a double-wheel differential integrated driving module based on a double-IMU module is provided.

[0016] Figure 5 A cross hobbing expanded schematic view of a double-wheel differential integrated driving module based on a double-IMU module is provided.

[0017] In the figure: 1, fixed wheel frame; 2, floating wheel frame; 3, driving module body; 301, driving motor; 302, roller; 4, cross hobbing; 401, gear ring; 402, first bolt; 403, cross support; 404, second bolt; 405, bearing; 406, annular groove; 5, IMU monitoring mechanism; 501, linear accelerometer; 502, angular rate gyroscope; 6, support assembly; 601, graphite copper sleeve; 602, support shaft. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0019] Please refer to Figures 1-5 The application provides a technical solution: a double-wheel differential integrated driving module based on a double-IMU module, comprising a fixed wheel frame 1 and a driving module body 3, the driving module body 3 is arranged on both sides of the fixed wheel frame 1, the fixed wheel frame 1 is provided with a support assembly 6 on both sides away from the driving module body 3, the fixed wheel frame 1 is connected with a floating wheel frame 2 through the support assembly 6, the floating wheel frame 2 is provided with a cross hob 4 on the top surface, the floating wheel frame 2 is provided with an IMU monitoring mechanism 5 on the side close to the cross hob 4, the support assembly 6 connects the fixed wheel frame 1 and the floating wheel frame 2, so that the floating wheel frame can flexibly adapt to the terrain bump, and the passability of the module on the complex road surface is improved, at the same time, the cross hob 4 on the top surface of the floating wheel frame 2 enhances the structural rigidity, so that the IMU monitoring mechanism 5 in different assembly positions can capture the motion state of the module in real time, and the line accelerometer and the angular rate gyroscope in the double-IMU module are combined, so as to improve the motion parameter detection precision, the driving and monitoring functions are integrated as a whole, and the control requirement of the high-precision mobile device is adapted, secondly, compared with the single-IMU system, the double-IMU configuration can provide higher precision and robustness. The module can better estimate the attitude of the object through the two IMUs separated in space, the relative positions of the two IMUs are fixed, and additional kinematic constraint conditions can be provided. In the error compensation function, the measurement data of the two IMUs can be corrected with each other, and the cumulative error is reduced. At the same time, when one IMU fails, the system can still work. The double-IMU positioning technology has important application value in occasions requiring high-precision and high-reliability positioning, and through reasonable design and algorithm optimization, the performance of the positioning system can be significantly improved.

[0020] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0021] Two drive module bodies 3 respectively include drive motors 301, two drive motors 301 are respectively installed on both sides of the fixed wheel frame 1, and the output ends of the two drive motors 301 are respectively transmissionally connected with the rollers 302. The drive motors 301 respectively provide power for the two rollers 302, and the double-wheel differential is realized by independently controlling the motor speed, and the module steering angle and moving speed are accurately adjusted. The direct transmission of the motor and the roller reduces energy loss, responds quickly, can meet the demand of the equipment for fine walking, and improves the flexibility and accuracy of motion control. The cross hobbing 4 includes a gear ring 401, the top surface of the gear ring 401 is pierced with a first bolt 402, the gear ring 401 is connected with the top surface of the floating wheel frame 2 through the first bolt 402, and the gear ring 401 of the cross hobbing 4 is connected with the floating wheel frame 2 through the first bolt 402. It is firm and convenient to disassemble and assemble, ensures that the gear ring moves synchronously with the floating wheel frame, and avoids relative displacement affecting the structural stability.

[0022] The cross hobbing 4 further includes a cross bracket 403 and a bearing 405, the four corners of the cross bracket 403 are respectively pierced with a second bolt 404, the cross bracket 403 is connected with the top surface of the gear ring 401 through the second bolt 404, and the outer wall of the bearing 405 is provided with a ring-shaped groove 406 matching the inside of the cross bracket 403. The cross bracket 403 is connected with the gear ring 401 through the second bolt 404, the overall rigidity of the cross hobbing 4 is enhanced, and the carrying capacity of the module is improved. The ring-shaped groove 406 of the bearing 405 matches the inside of the cross bracket 403, so that the bearing can rotate flexibly relative to the cross bracket, reduces the motion friction resistance, and ensures that the floating wheel frame 2 moves smoothly when adapting to the terrain.

[0023] The IMU monitoring mechanism 5 includes a linear accelerometer 501 and an angular rate gyroscope 502, the linear accelerometer 501 is fixedly installed on the top surface of the floating wheel frame 2, the angular rate gyroscope 502 is installed on the bottom surface of the floating wheel frame 2, and the angular rate gyroscope 502 is located directly below the cross hobbing 4. The linear accelerometer 501 of the IMU monitoring mechanism 5 is installed on the top surface of the floating wheel frame 2 and can accurately detect the linear acceleration parameters of the module; the angular rate gyroscope 502 is located on the bottom surface of the floating wheel frame and directly below the cross hobbing 4, and can accurately capture the angular velocity change of the module. They are respectively installed at different positions to collect motion data from multiple angles, improve the comprehensiveness and accuracy of monitoring, and provide reliable basis for equipment attitude control.

[0024] The linear accelerometer 501 and the angular rate gyroscope 502 construct a double-IMU module structure, can simultaneously collect linear acceleration and angular velocity data of the module, compensate the measurement error of a single sensor through data fusion, improve the accuracy and reliability of motion state monitoring, and provide high-precision data support for path planning and attitude adjustment of the equipment.

[0025] The support assembly 6 comprises a graphite copper sleeve 601 and a support shaft 602, the graphite copper sleeve 601 is inserted at the connection between the fixed wheel frame 1 and the floating wheel frame 2, the graphite copper sleeve 601 internally sleeves the support shaft 602, one end of the support shaft 602 is inserted with a screw, the support shaft 602 is connected with one side of the floating wheel frame 2 through the screw, the graphite copper sleeve 601 reduces the friction between the fixed wheel frame 1 and the floating wheel frame 2, the support shaft 602 is connected with the floating wheel frame 2 through the screw, and the connection of the two is stable and can rotate relatively. The graphite copper sleeve 601 has self-lubricating property, prolongs the service life of the assembly, the support shaft limits the movement track of the floating wheel frame, avoids excessive shaking, and improves the movement stability of the module under complex terrain.

[0026] Specifically, the working principle of the double-wheel differential integrated driving module based on the double-IMU module is as follows: during use, the driving module bodies 3 on both sides of the fixed wheel frame 1 drive the rollers 302 through the driving motors 301 respectively, and the double-wheel differential is realized by independently controlling the motor speed, and the module steering angle and moving speed are accurately adjusted. The fixed wheel frame 1 is connected with the floating wheel frame 2 through the graphite copper sleeve 601 and the support shaft 602 of the support assembly 6, the graphite copper sleeve reduces the relative movement friction between the two and is self-lubricating, and the support shaft limits the movement track of the floating wheel frame, so that the floating wheel frame can flexibly adapt to the terrain bumping. In the cross hob 4 on the top surface of the floating wheel frame 2, the gear ring 401 is fixed with the floating wheel frame through the first bolt 402, the cross support 403 is connected with the gear ring through the second bolt 404 to enhance the rigidity, and the bearing 405 flexibly rotates along the annular groove relative to the cross support, so that the movement of the floating wheel frame is smooth. In the IMU monitoring mechanism 5 on the floating wheel frame, the top surface line accelerometer 501 detects the linear acceleration parameter, and the angular rate gyroscope 502 below the bottom surface cross hob captures the angular velocity change, the double-IMU module improves the motion parameter detection accuracy through data fusion, and the whole integrated driving and monitoring function provides precise motion control support for high-precision mobile devices. At the same time, by using two IMU modules, no matter how the vehicle moves, the combination of the magnetometer data of the two IMU modules can obtain a more stable heading, always know the absolute position and not lose, the magnetometer measures the earth's magnetic field vector, provides an absolute direction reference, and perfectly replaces the original multi-turn encoder. The absolute position loss caused by the misoperation of the multi-turn encoder or the battery running out will not cause serious consequences.

Claims

1. A dual-wheel differential integrated drive module based on a dual-IMU module, characterized in that, The utility model provides a kind of driving module, including fixed wheel frame (1) and drive module main body (3), the both sides of the fixed wheel frame (1) are equipped with drive module main body (3) respectively, support assembly (6) is respectively inserted in the both sides of the fixed wheel frame (1) away from drive module main body (3), the fixed wheel frame (1) is connected with floating wheel frame (2) by support assembly (6), the top surface of the floating wheel frame (2) is equipped with cross hobbing (4), the floating wheel frame (2) is equipped with IMU monitoring mechanism (5) on the side close to cross hobbing (4).

2. The dual-wheel differential integrated drive module based on dual-IMU modules according to claim 1, characterized in that, Two The drive module main body (3) includes drive motor (301), and two The drive motor (301) is mounted on the both sides of the fixed wheel frame (1), and the output end of two The drive motor (301) is respectively connected with the roller (302).

3. The dual-wheel differential integrated driving module based on dual-IMU modules according to claim 1, characterized in that, The cross hobbing (4) includes gear ring (401), the top surface of the gear ring (401) is inserted with first bolt (402), and the top surface of the floating wheel frame (2) is connected with the gear ring (401) by the first bolt (402).

4. The dual-wheel differential integrated driving module based on dual-IMU modules according to claim 3, characterized in that, The cross hobbing (4) further includes cross bracket (403) and bearing (405), the four corners of the cross bracket (403) are respectively inserted with second bolt (404), the top surface of the gear ring (401) is connected with the cross bracket (403) by the second bolt (404), and the outer wall of the bearing (405) is provided with annular groove (406) consistent with the inside of the cross bracket (403).

5. The dual-wheel differential integrated driving module based on dual-IMU modules according to claim 1, characterized in that, The IMU monitoring mechanism (5) includes linear accelerometer (501) and angular rate gyroscope (502), the linear accelerometer (501) is fixedly installed on the top surface of the floating wheel frame (2), the angular rate gyroscope (502) is installed on the bottom surface of the floating wheel frame (2), and the angular rate gyroscope (502) is located directly below the cross hobbing (4).

6. The dual-wheel differential integrated driving module based on dual-IMU modules according to claim 5, characterized in that, The linear accelerometer (501) and the angular rate gyroscope (502) construct double-IMU module structure.

7. The dual-wheel differential integrated drive module based on dual-IMU modules of claim 1, wherein, The support assembly (6) includes graphite copper sleeve (601) and support shaft (602), the graphite copper sleeve (601) is inserted at the connection of the fixed wheel frame (1) and floating wheel frame (2), the graphite copper sleeve (601) internally sleeves support shaft (602), one end of the support shaft (602) is inserted with screw, and the support shaft (602) is connected with one side of the floating wheel frame (2) by screw.

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