Displacement measuring mechanism and mobile robot

Abstract

The embodiment of the utility model relates to the technical field of mobile robots, in particular to a displacement measuring mechanism, which is applied to a mobile robot and comprises a mounting assembly. The roller is rotationally connected to the mounting assembly; the magnetic part is fixed on the roller, and the magnetic part is used for generating a magnetic field; the coded disc is arranged opposite to the magnetic part, the coded disc is used for processing a magnetic field, changed along with rotation of the roller, of the magnetic part and converting the magnetic field into an electric signal, and the coded disc transmits the electric signal to external equipment. By means of the mode, the displacement measuring mechanism is applied to the mobile robot, the displacement measuring mechanism can enable the mobile robot to have route planning, and the working efficiency is improved.

Description

Technical Field

[0001] The embodiments of the utility model relate to the technical field of robots, and in particular to a displacement measuring mechanism and a mobile robot. Background Art

[0002] The development of robots has played an important role in improving production efficiency and enhancing work safety. For example, the cleaning robot at the bottom of the swimming pool can clean the sediment at the bottom of the water, which not only reduces labor costs, but also reduces the operation risks of operation and maintenance personnel.

[0003] However, in the process of implementing the embodiments of the utility model, the inventors found that when the cleaning robot cleans sediments on the bottom of the water, the cleaning robot moves blindly without path planning, and the working efficiency is low. Utility Model Content

[0004] An embodiment of the utility model provides a displacement measuring mechanism, which is applied to a mobile robot, so that the mobile robot has route planning and improves work efficiency.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a displacement measuring mechanism, including a mounting assembly; a roller, rotatably connected to the mounting assembly; a magnetic member, fixed to the roller, and the magnetic member is used to generate a magnetic field; a code disk, arranged opposite to the magnetic member, and the code disk is used to process the magnetic field of the magnetic member that changes with the rotation of the roller into an electrical signal, and the code disk transmits the electrical signal to an external device.

[0006] Optionally, the roller includes a wheel body and a first rotating shaft, the wheel body is connected to the first rotating shaft; the mounting assembly includes a first fixing member and a first bearing, the first fixing member is provided with a first bearing groove, the first bearing is arranged in the first bearing groove, and the first rotating shaft is inserted into the inner ring of the first bearing.

[0007] Optionally, a second rotating shaft extends from the end face of the wheel body away from the first rotating shaft; the mounting assembly includes a second fixing member and a second bearing, the first fixing member and the second fixing member are arranged at intervals, the second fixing member is provided with a second bearing groove, the second bearing is arranged in the second bearing groove, and the second rotating shaft is inserted into the inner ring of the second bearing.

[0008] Optionally, the roller is provided with an anti-slip structure.

[0009] Optionally, the displacement measuring mechanism is further provided with an elastic component, and the elastic component is connected to the mounting component.

[0010] Optionally, the elastic component includes a connecting seat, a sliding member and an elastic member, the connecting seat is provided with a sliding groove, the sliding member is slidably arranged in the sliding groove, one end of the elastic member is connected to the connecting seat, the other end of the elastic member is connected to one end of the sliding member, and the other end of the sliding member is connected to the mounting component.

[0011] Optionally, a first limiting portion protrudes from the side wall of the slide groove; a second limiting portion extends from the surface of the sliding member, and when the second limiting portion is located at the first preset position, the second limiting portion abuts against the first limiting portion, and the sliding member is not allowed to move in the direction away from the connecting seat; when the second limiting portion is located at the second preset position, the second limiting portion abuts against the bottom wall of the slide groove, and the sliding member is not allowed to move toward the connecting seat.

[0012] Optionally, the elastic member is an elastic spring.

[0013] Optionally, the elastic component further includes a guide member, the guide member is fixed to the connecting seat, and the elastic member is sleeved on the guide member.

[0014] In order to solve the above technical problems, a technical solution adopted by the present utility model is: to provide a mobile robot, comprising a robot body and the displacement measuring mechanism, wherein the displacement measuring mechanism is arranged at the bottom of the robot body.

[0015] The beneficial effects of the embodiments of the present application are as follows: when an external force is applied, the roller of the displacement measuring mechanism rotates relative to the mounting assembly, and the magnetic part also rotates with the roller. The magnetic field generated by the magnetic part changes with the rotation of the roller, and the code disk converts the magnetic field that changes with the rotation of the roller into an electrical signal by processing the magnetic part, and the code disk transmits the electrical signal to an external device. The external device measures the displacement by decoding and analyzing the electrical signal, thereby enabling the mobile robot to perform path planning and increase work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without paying creative work.

[0017] Figure 1 This is a view of the displacement measuring mechanism provided by the utility model;

[0018] Figure 2 It is an exploded diagram of the displacement measuring mechanism provided by the utility model;

[0019] Figure 3It is a cross-sectional view of the displacement measuring mechanism provided by the utility model;

[0020] Figure 4 It is another cross-sectional view of the displacement measuring mechanism provided by the utility model;

[0021] Figure 5 This is a view of the mobile robot provided by the utility model.

[0022] Reference numerals:

[0023] 100. Displacement measuring mechanism;

[0024] 10. Roller; 11. Wheel body; 12. First rotating shaft; 13. Second rotating shaft; 14. Anti-slip structure;

[0025] 20. Mounting assembly; 21. First fixing member; 22. First bearing; 23. Second fixing member; 24. Second bearing; 21a. First bearing groove; 23a. Second bearing groove;

[0026] 30. Magnetic parts; 40. Code disk;

[0027] 50, elastic component; 51, connecting seat; 52, sliding member; 53, elastic member; 54, first limiting portion; 55, second limiting portion; 56, guide member; 51a, sliding groove; 52a, wheel groove;

[0028] 1000, mobile robot; 200, robot body; 200a, mounting slot. DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of the utility model, the utility model is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are for illustrative purposes only.

[0030] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0031] This application provides an embodiment of a displacement measurement mechanism 100, see Figure 1-Figure 2 , the displacement measuring mechanism 100 includes a roller 10, a mounting assembly 20, a magnetic member 30 and a code disc 40. The roller 10 is rotatably connected to the mounting assembly 20, the magnetic member 30 is fixed to the roller 10, the magnetic member 30 is used to generate a magnetic field, the code disc 40 is arranged opposite to the magnetic member 30, the code disc 40 is used to process the magnetic field of the magnetic member 30 that changes with the rotation of the roller 10 and convert it into an electrical signal, and the code disc 40 transmits the electrical signal to an external device. Under the action of an external force, the displacement measuring mechanism 100 rotates relative to the mounting assembly 20, the magnetic member 30 also rotates with the roller 10, the magnetic field generated by the magnetic member 30 changes with the rotation of the roller 10, the code disc 40 converts the magnetic field of the magnetic member 30 that changes with the rotation of the roller 10 into an electrical signal, and the code disc 40 transmits the electrical signal to an external device, and the external device plans a path after decoding and analyzing the electrical signal to achieve displacement measurement, thereby increasing work efficiency.

[0032] For the above roller 10, see Figure 2 The roller 10 includes a wheel body 11 and a first rotating shaft 12. The wheel body 11 is connected to the first rotating shaft 12, and the first rotating shaft 12 is rotatably connected to the mounting assembly 20. It can be understood that the wheel body 11 is cylindrical, the first rotating shaft 12 is located in the axial direction of the wheel body 11, and the first rotating shaft 12 is also cylindrical, and the axial direction of the first rotating shaft 12 is colinear with the axial direction of the wheel body 11.

[0033] In some embodiments, a second rotating shaft 13 extends from the end surface of the wheel body 11 away from the first rotating shaft 12, and the second rotating shaft 13 is rotatably connected to the mounting assembly 20, such as Figure 1 It can be understood that the first rotating shaft 12 and the second rotating shaft 13 are arranged opposite to each other, the second rotating shaft 13 is cylindrical, and the axial direction of the second rotating shaft 13 is colinear with the axial direction of the wheel body 11 .

[0034] In some embodiments, the roller 10 is provided with an anti-skid structure 14, which can reduce the risk of the roller 10 slipping and improve the accuracy of the measurement. Specifically, the anti-skid structure 14 is provided on the outer circumference of the wheel body 11. It can be understood that the wheel body 11 has a plurality of convex strips arranged at intervals along the outer circumference, and the shape of the convex strips is "I" shape, "V" shape or curve shape.

[0035] For the above-mentioned installation assembly 20, see Figure 2 The mounting assembly 20 includes a first fixing member 21 and a first bearing 22 . The first fixing member 21 is provided with a first bearing groove 21 a . The first bearing 22 is disposed in the first bearing groove 21 a . The first rotating shaft 12 is inserted into the inner ring of the first bearing 22 .

[0036] In some embodiments, the mounting assembly 20 further includes a second fixing member 23 and a second bearing 24. Figure 2 The first fixing member 21 and the second fixing member 23 are arranged at intervals, the second fixing member 23 is provided with a second bearing groove 23 a, the second bearing 24 is arranged in the second bearing groove 23 a, and the second rotating shaft 13 is inserted into the inner ring of the second bearing 24 .

[0037] As for the magnetic member 30 mentioned above, the magnetic member 30 is capable of generating a magnetic field, and as the roller 10 rotates, the magnetic member 30 also rotates synchronously. In this embodiment, the magnetic member 30 is a permanent magnet, and the shape of the magnetic member 30 is cylindrical, and the axial direction of the magnetic member 30 is colinear with the axial direction of the wheel body 11; the first rotating shaft 12 is provided with a receiving groove adapted to the magnetic member 30, and the magnetic member 30 is installed in the receiving groove. In some embodiments, the magnetic member 30 can be an electromagnetism component, and it can be understood that by energizing the electromagnetism component, the electromagnetism component converts electrical energy into a magnetic field.

[0038] The displacement measuring mechanism 100 is also provided with an elastic component 50, which is connected to the mounting component 20. Figure 2 When the displacement measuring mechanism 100 is installed on an external device and the displacement measuring mechanism 100 moves with the external device, the elastic component 50 can not only increase the obstacle-crossing capability of the displacement measuring mechanism 100, but also when the roller 10 passes over a bump protruding from the ground or the roller 10 goes uphill on an inclined surface, the elastic component 50 contracts away from the ground to reduce the excessive gravity borne by the roller 10, and when the roller 10 passes over a concave ground, the elastic component 50 extends toward the ground to make the roller 10 roll along the concave ground or the downhill inclined surface, thereby increasing the measurement accuracy of the displacement measuring mechanism 100.

[0039] Preferably, the elastic component 50 includes a connecting seat 51, a sliding member 52 and an elastic member 53. Figure 2-Figure 4 As shown. The connecting seat 51 is provided with a slide groove 51a, the sliding member 52 is slidably arranged in the slide groove 51a, one end of the elastic member 53 is connected to the connecting seat 51, the other end of the elastic member 53 is connected to one end of the sliding member 52, and the other end of the sliding member 52 is connected to the mounting assembly 20. When the elastic member 50 extends toward the ground, that is, due to the concave ground or the downhill inclined surface, under the action of the elastic member 53, the sliding member 52 moves in a direction away from the connecting seat 51, so that the roller 10 rolls along the concave ground, thereby increasing the accuracy of the displacement measuring mechanism 100. When the elastic member 50 is retracted away from the ground, that is, the displacement measuring mechanism 100 passes through the bump protruding from the ground or the roller 10 is inclined uphill, under the gravity of the external device, the ground presses the roller 10, so that the elastic member 53 performs a compression movement, and the elastic member 53 generates an elastic force, and the elastic force keeps the roller 10 in contact with the ground, so that the displacement measuring mechanism 100 forms a flexible contact with the ground.

[0040] Preferably, a first limiting portion 54 protrudes from the side wall of the slide groove 51a. Figure 3 As shown. The first limiting portion 54 includes a limiting section and a supporting section. The limiting section is connected to one end of the supporting section. The limiting section is vertically inserted into the side wall of the chute 51a. The other end of the supporting section is connected to the side wall of the chute 51a. The limiting section, the supporting section and the side wall of the chute 51a are enclosed together to form a right triangle. The supporting section can provide support for the limiting section and reduce the risk of deformation of the limiting section. In addition, a second limiting portion 55 extends from the surface of the sliding member 52. When the second limiting portion 55 is located at the first preset position, the second limiting portion 55 abuts against the first limiting portion 54, and the sliding member 52 is not allowed to move in the direction away from the connecting seat 51. When the second limiting portion 55 is located at the second preset position, the second limiting portion 55 abuts against the bottom wall of the chute 51a, and the sliding member 52 is not allowed to move in the direction of the connecting seat 51.

[0041] In some embodiments, a wheel groove 52a is formed at one end of the sliding member 52 away from the connecting seat 51. Figure 4 Part of the roller 10 is received in the wheel groove 52a, and another part of the roller 10 is exposed at the notch of the wheel groove 52a.

[0042] In some embodiments, the elastic member 53 is an elastic spring. Preferably, the elastic component 50 further includes a guide member 56, such as Figure 2 Combination Figure 4 The guide member 56 is fixed to the connection seat 51, and the elastic member 53 is sleeved on the guide member 56. When the sliding member 52 moves away from the connection seat 51 or moves toward the connection seat 51, the elastic spring is retracted or stretched along the guide member 56, reducing the risk of the elastic spring being displaced.

[0043] The utility model also provides an embodiment of a mobile robot 1000, which includes a robot body 200 and the above-mentioned displacement measuring mechanism 100, wherein the displacement measuring mechanism 100 is arranged at the bottom of the robot body 200. Specifically, a mounting groove 200a is arranged at the bottom of the robot body 200, and a connecting seat 51 is plugged into the mounting groove 200a and fixed to the robot body 200 by passing a bolt through the connecting seat 51. Figure 5 The specific structure and function of the displacement measuring mechanism 100 can be found in the above embodiments, which will not be described in detail here.

[0044] It should be noted that the preferred embodiments of the utility model are given in the specification and drawings of the utility model, but the utility model can be implemented in many different forms and is not limited to the embodiments described in the specification. These embodiments are not used as additional restrictions on the content of the utility model. The purpose of providing these embodiments is to make the understanding of the disclosure of the utility model more thorough and comprehensive. In addition, the above-mentioned technical features continue to be combined with each other to form various embodiments not listed above, which are all regarded as the scope of the description of the utility model; further, for ordinary technicians in this field, they can be improved or transformed according to the above description, and all these improvements and transformations should belong to the scope of protection of the claims attached to the utility model.

Claims

1. A displacement measuring mechanism, characterized in that: include: Install components; A roller, rotatably connected to the mounting assembly; A magnetic member, fixed to the roller, and used to generate a magnetic field; A code disk is arranged opposite to the magnetic member, and is used for converting the magnetic field of the magnetic member that changes with the rotation of the roller into an electrical signal, and the code disk transmits the electrical signal to an external device.

2. The displacement measuring mechanism according to claim 1, characterized in that: The roller comprises a wheel body and a first rotating shaft, wherein the wheel body is connected to the first rotating shaft; The mounting assembly includes a first fixing member and a first bearing, the first fixing member is provided with a first bearing groove, the first bearing is arranged in the first bearing groove, and the first rotating shaft is inserted into the inner ring of the first bearing.

3. The displacement measuring mechanism according to claim 2, characterized in that: A second rotation axis extends from the end surface of the wheel body facing away from the first rotation axis; The mounting assembly includes a second fixing member and a second bearing, the first fixing member and the second fixing member are spaced apart, the second fixing member is provided with a second bearing groove, the second bearing is arranged in the second bearing groove, and the second rotating shaft is inserted into the inner ring of the second bearing.

4. The displacement measuring mechanism according to claim 1, characterized in that: The roller is provided with an anti-skid structure.

5. The displacement measuring mechanism according to any one of claims 1 to 4, characterized in that: The displacement measuring mechanism is further provided with an elastic component, and the elastic component is connected to the mounting component.

6. The displacement measuring mechanism according to claim 5, characterized in that: The elastic component includes a connecting seat, a sliding member and an elastic member, the connecting seat is provided with a sliding groove, the sliding member is slidably arranged in the sliding groove, one end of the elastic member is connected to the connecting seat, the other end of the elastic member is connected to one end of the sliding member, and the other end of the sliding member is connected to the mounting component.

7. The displacement measuring mechanism according to claim 6, characterized in that: A first limiting portion protrudes from the side wall of the slide groove; A second limiting portion extends from the surface of the sliding member. When the second limiting portion is located at the first preset position, the second limiting portion abuts against the first limiting portion, and does not allow the sliding member to move in a direction away from the connecting seat. When the second limiting portion is located at the second preset position, the second limiting portion abuts against the bottom wall of the sliding groove, and does not allow the sliding member to move in the direction of the connecting seat.

8. The displacement measuring mechanism according to claim 7, characterized in that: The elastic member is an elastic spring.

9. The displacement measuring mechanism according to claim 8, characterized in that: The elastic component also includes a guide member, the guide member is fixed to the connecting seat, and the elastic member is sleeved on the guide member.

10. A mobile robot, characterized in that: It comprises a robot body and a displacement measuring mechanism as described in any one of claims 1 to 9, wherein the displacement measuring mechanism is arranged at the bottom of the robot body.

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