CN104567861A - Universal wheel speed measurement device - Google Patents
Universal wheel speed measurement device Download PDFInfo
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- CN104567861A CN104567861A CN201510013410.4A CN201510013410A CN104567861A CN 104567861 A CN104567861 A CN 104567861A CN 201510013410 A CN201510013410 A CN 201510013410A CN 104567861 A CN104567861 A CN 104567861A
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- steamboat
- interlock dish
- universal wheel
- connecting rod
- switch
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a universal wheel speed measurement device, which comprises a detection circuit board (1), a linkage disc (2), a pinion wheel (7) and a transmission mechanism, wherein the linkage disc (2) is driven through the transmission mechanism by utilizing cams on two sides of the pinion wheel (7) to move up and down and horizontally rotate, the flanging on the edge of the linkage disc (2) moves in switches (11) semicircularly arranged on the detection circuit board so as to block off or make way signals and play a role in switching on or off the switches. The detection circuit board (1) detects the on-off frequency and position change of the switches (11), and transmits the signal to a control system for further processing. According to the universal wheel speed detection device, the slipping of driving wheels of a robot, especially the situation of slipping of one driving wheel, can be accurately monitored. In addition, the universal wheel speed detection device can realize the detection on whether the walking route of the robot is straight instead of a gyroscope, and the production cost of the device is lowered.
Description
Technical field
The present invention relates to from movable cleaner field, refer to a kind of universal wheel speed measuring device of Intelligent cleaning robot especially.
Background technology
Along with the development of society and the progress of science and technology, Smart Home more and more presses close to the life of people.At present, a kind of Intelligent cleaning robot gradually enter average family, replace manually carry out floor cleaning task.This kind of Intelligent cleaning robot is normally supported by two driving wheels and an engaged wheel, and driving wheel is by motor Direct driver, and in order to provide onward impulse, engaged wheel generally comprises universal wheel and auxiliary wheel, in order to help to keep balance.
But when surface state more complicated, driving wheel often there will be the phenomenon of skidding, such as ground smoother or robot are stranded, and now, although driving wheel is still rotated further, robot cannot move on work.But, now robot control system still default robot be in normal operating conditions, therefore, robot can work on until electricity just quits work lower than certain value and not having during electricity, thus causes a large amount of wastes of electric energy.
For this problem, the universal wheel speed measuring device of existing clean robot, general employing eccentric wheel is connected on universal wheel, eccentric wheel is arranged a connecting rod, eccentric wheel drivening rod moves reciprocatingly, and above connecting rod, is provided with Photoelectric infrared switch, whether the to-and-fro movement of connecting rod plays on-off action to infrared signal, realize skidding to the driving wheel of robot judging in this, as detection signal.
But this structure falls in hole to a driving wheel or the situation of a driving wheel skidding loses judgement.When this situation occurs, robot will do to be absorbed in the circular motion that the driving wheel in hole is the center of circle.Because now universal wheel is still in continuation motion, therefore control system still thinks that robot is in normal operating conditions.
In addition, exist between two driving wheels due to robot fabrication error cause the speed of two wheels inconsistent and cause track route skew.What the detection whether existing clean robot is straight line for the track route of robot generally adopted is a kind of gyroscope.Gyroscope is a kind of electron device, and use the route of gyroscope measuring robots to need the programmed algorithm support of more complicated, this needs undoubtedly to drop into higher cost for developer, and gyroscope itself is also expensive.
Summary of the invention
In view of this, the object of the invention is to propose a kind of universal wheel speed measuring device, clean robot driving wheel can be detected and skid, the generation of the situation of an especially driving wheel skidding.Meanwhile, whether gyroscope can be replaced to realize is the detection of straight line to clean robot track route.
Based on above-mentioned purpose a kind of universal wheel speed measuring device provided by the invention, comprising: detection line plate, interlock dish, steamboat and gear train; Wherein, described steamboat both sides are arranged with cam respectively, interlock plate edge is provided with flange upwards, detection line plate is arranged on above interlock dish, detection line plate is provided with at least three switches (11) with described interlock dish flange correspondence position, and interlock dish is connected by gear train with between steamboat.In steamboat rolling process, moved up and down by described cam driven interlock dish, make the flange on interlock dish trigger portion switch folding on described detection line plate; Steamboat horizontally rotates in process, drives interlock dish level of synchronization to rotate, make the flange on interlock dish trigger other position switch foldings by described gear train; Detection line plate detector switch folding frequency and change in location.
Described detection line plate its near steamboat one side be at least provided with at least three, left, center, right switch, described switch-linear hybrid is on same semi arch.Wherein, two switches lay respectively at starting point and the destination county of semi arch, and rest switch is positioned on the Along ent of semi arch.Switch set on detection line plate is one of Photoelectric infrared switch, touch-switch, fine motion mechanical switch three kinds.
The top of described interlock dish lower cylindrical is the rectangle post matched with connecting rod Upper cylindrical shape center rectangle hole dimension, and this rectangle post inserts in above-mentioned slot, and interlock dish center upper portion is provided with spring fixed column.
Described steamboat symmetria bilateralis is provided with cam, and described cam is made up of the axostylus axostyle coaxial with steamboat and cam shaft.
Described gear train comprises: Compress Spring, connecting rod, little wheel cap and little wheel seat;
Wherein, described little wheel seat is provided with the rectangular recess for holding steamboat, and described steamboat is placed in little wheel seat rectangular recess from bottom, and the axostylus axostyle of steamboat is rotatable to be fixed on the sidewall of this rectangular recess, and little wheel cap covers above little wheel seat.Connecting rod lower containment is inner at little wheel seat, and connecting rod integral is horizontally rotated with little wheel seat, and both sides, connecting rod bottom are provided with frame and contact with the cam shaft of steamboat both sides and connect.Interlock dish is connected with above-mentioned connecting rod top, and interlock dish is horizontally rotated with connecting rod, and interlock disk center is provided with spring fixed column, and Compress Spring one end is enclosed within the spring fixed column of interlock disk center, and the other end is fixedly connected with detection line plate bottom.
Described little wheel seat is divided into upper and lower two parts, the first half is an annulus, the latter half is the little wheel case of eccentric semi-spherical shape that central authorities are provided with rectangular recess, and annulus is enclosed within outside the circular port on eccentric semi-spherical shape steamboat cover top, and the little wheel case of eccentric semi-spherical shape can rotate freely in annulus.
Described connecting rod bottom is rectangle and is placed in described little wheel seat rectangular recess, is at least provided with this frame of each frame in both sides and contacts with the cam shaft of steamboat both sides respectively, and cam rotates, and can promote connecting rod and move up.Small end is provided with the cylinder that central authorities have slot.The top of described interlock dish lower cylindrical is the rectangle post matched with connecting rod Upper cylindrical shape center rectangle hole dimension, and this rectangle post inserts in above-mentioned slot, and interlock dish center upper portion is provided with spring fixed column.
Described little wheel cap is positioned at directly over little wheel seat, fastens with the annulus of little wheel seat the first half.
Described Compress Spring one end is enclosed within the spring fixed column of interlock disk center, and the other end is connected with the center of circle of the semicircular arc track at detection line on-board switching place, resets for making interlock dish.
As can be seen from above, universal wheel speed measuring device provided by the invention utilizes the cam of steamboat both sides to drive interlock dish to pump by gear train, and then the curved edge of interlock dish is moved in switch, plays switch and closes or conducting effect.When steamboat turns to, similarly, interlock dish is driven synchronously to turn to by gear train.Skid if one side drive wheel occurs in robot, robot can with this side drive wheel position for the center of circle moves in a circle, and now, the raised brim of interlock dish can trigger this side and middle part photoelectric switching signal, thus draw the judgement that this side drive wheel is skidded, and start program of getting rid of poverty.When the travel route generation left or right deflection of robot, the raised brim of interlock dish of the present invention can trigger the optoelectronic switch on the left side or the right equally, this signal of testing circuit plate record is also passed to control system, just can adjust travel route by guided robot, allow it linearly walk.Thus whether gyroscope can be replaced to realize is the detection of straight line to robot ambulation route.
Accompanying drawing explanation
Fig. 1 is the decomposing schematic representation of embodiment of the present invention universal wheel speed measuring device embodiment;
Fig. 2 is the detection line plate schematic diagram of embodiment of the present invention universal wheel speed measuring device embodiment;
Fig. 3 is the side schematic view of embodiment of the present invention universal wheel speed measuring device embodiment;
Fig. 4 is the front schematic view of the clean robot using embodiment of the present invention universal wheel speed measuring device;
Fig. 5 is the schematic bottom view of the clean robot using embodiment of the present invention universal wheel speed measuring device.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Below with reference to Fig. 1 to Fig. 5, mainly introduce the structure composition of an embodiment of universal wheel speed measuring device of the present invention.
The universal wheel speed measuring device of the embodiment of the present invention, mainly comprises: detection line plate 1, interlock dish 2, steamboat 7 and gear train;
Wherein, described steamboat 7 both sides are arranged with cam respectively, interlock is coiled 2 edges and is provided with flange upwards, detection line plate 1 is arranged on above interlock dish 2, detection line plate 1 coils 2 flange correspondence positions with described interlock and be provided with at least three switches 11, be connected by gear train between interlock dish 2 with steamboat 7;
In steamboat 7 rolling process, moved up and down by described cam driven interlock dish 2, make the flange on interlock dish 2 trigger portion switch 11 folding on described detection line plate 1; Steamboat 7 horizontally rotates in process, drives interlock to coil 2 level of synchronization rotate, make the flange on interlock dish 2 trigger other position switch 11 foldings by described gear train; Detection line plate 1 detector switch 11 folding frequency and change in location.
As shown in Figure 1, a specific embodiment of universal wheel speed measuring device comprises: be provided with the detection line plate 1 of optoelectronic switch, interlock dish 2, Compress Spring 3, little wheel cap 4, connecting rod 5, little wheel seat 6, steamboat 7.Wherein, described Compress Spring 3, connecting rod 5, little wheel cap 4 and little wheel seat 6 form gear train recited above jointly.
Wherein, steamboat 7 symmetria bilateralis is provided with cam, and this cam comprises the axostylus axostyle coaxial with steamboat (7) and cam shaft.The present embodiment central shaft rod height is 1cm, and cam shaft height is 0.5cm's.Little wheel seat 6 the latter half is the little wheel case of eccentric semi-spherical shape, and the first half is an annulus, and annulus is enclosed within the top of the little wheel case of eccentric semi-spherical shape.Little wheel case central authorities are provided with the rectangular recess for holding steamboat 7, the axostylus axostyle of steamboat 7 is rotatable to be fixed on the sidewall of this rectangular recess, particularly, the inwall of this rectangular recess is arranged with the toroidal cavity for holding described cam shaft, the circle centre position of this toroidal cavity is provided with the groove for holding described little axle rod, is strip groove from the toroidal cavity center of circle down to little wheel seat lower limb for holding the groove of described little axle rod in the present embodiment.In the present embodiment, the toroidal cavity degree of depth is 0.5cm, and strip depth of groove is 0.5cm.When steamboat 7 is arranged in little wheel seat 6 central long strip connected in star, the axostylus axostyle of steamboat 7 both sides is stuck in described strip groove, can rotate to make steamboat 7 around axostylus axostyle; Cam shaft is stuck in described toroidal cavity, and make steamboat 7 with both sides axostylus axostyle for while axle rotation, the cam shaft on cam can be rotated at this toroidal cavity.Little wheel cap 4 is positioned at directly over little wheel seat 6, fastens with the annulus of little wheel seat 6 the first half.
Connecting rod 5 entirety is approximately rectangular, is convenient to be contained in the rectangular recess of little wheel seat 6, can horizontally rotate with little wheel seat 6.At least be provided with this frame of each frame to contact with the cam shaft of steamboat 7 both sides respectively in both sides, cam rotates, and can promote connecting rod and move up.; Be that three faces are provided with frame in the present embodiment, an opening.Connecting rod top is provided with cylinder oblique crank Z, as the axle that this integral level of universal wheel is rotated.The central authorities of connecting rod 5 Upper cylindrical oblique crank Z have hole, in the present embodiment this hole be slot (other shapes as polygonal hole such as triangle, hexagon, octagons, or other cross sections be non-circular hole also can).
Interlock dish 2 is substantially in disc, and coil 2 edges around interlock and be provided with flange upwards, in the present embodiment, this flanged ring is less than on the circular edge of half around interlock dish 2.The central axis that 2 bottoms are coiled in interlock is provided with cylinder, and the top of this cylinder is the rectangle post with the central openings mating shapes of connecting rod 5 Upper cylindrical oblique crank Z, and above-mentioned rectangle post inserts in slot, to realize the connection of interlock dish 2 and connecting rod 5.Interlock is coiled 2 center upper portion and is provided with spring fixed column.Compress Spring 3 lower end is enclosed within interlock and coils on the spring fixed column at 2 centers, and upper end is fixed on detection line plate 1.
Detection line plate 1 near steamboat one side be at least provided with three, left, center, right switch 11, all switches 11 are arranged on same semi arch, this semi arch radius and position corresponding with the flange of described interlock dish 2.As shown in Figure 2, switch 11a and switch 11b lays respectively at starting point and the destination county of semi arch to all switch 11 particular locations, and the 3rd switch is positioned at the midpoint of semi arch.Testing circuit plate 1, by detecting the closedown of each switch 11 and the situation of conducting, comprises the collection to its frequency and number of times and storage, realizes the monitoring to robot motion's state.Switch 11 described in the present embodiment is Photoelectric infrared switch, and certain other forms of switch is also fine, as mechanical switch etc.
When steamboat 7 rotates, the cam of steamboat 7 both sides followed by steamboat 7 and rotates, and promote connecting rod 5 and move upward, connecting rod 5 drives interlock dish 2 to move upward then, and the flange of interlock dish 2 moves in some or multiple switch 11, blocks the infrared signal of this switch.Subsequently, along with being rotated further of steamboat 7, cam walks around its apical position, and Compress Spring 3 promotes interlock dish 2 and moves downward, and the flange of interlock dish 2 escape to switch 11, and infrared signal recloses.So, interlock dish 2 pumps under the acting in conjunction of connecting rod 5 and Compress Spring 3, blocks and connects infrared signal, thus realizing closedown and the conducting of switch.
In the present embodiment, when steamboat 7 straight ahead, detection line plate 1 will be recorded to the continuous folding change of middle part switch.
When steamboat 7 turns to, the little wheel case of little wheel seat 6 the latter half eccentric semi-spherical shape synchronously turns to, thus drivening rod 5 synchronously turns to, and then drives interlock dish 2 synchronously to turn to.Such as, when steamboat 7 turn left to time, the flange of interlock dish 2 will rotate position between switch 11a and 11b of the left side.Along with moving up and down of interlock dish 2, flange can trigger the break-make of left side optoelectronic switch 11a and 11b, and the switch on the right is then in conducting state always.Turn right to time, in like manner, flange can trigger the right switch 11 break-make, left side switch is then in conducting state always.
Skid if one side drive wheel occurs in robot, such as left side drive wheel is absorbed in hole, and robot can with left side drive wheel position for the center of circle moves in a circle, now, the flange of interlock dish 2 can trigger left side and middle part switch 11 signal, and the power that robot two driving wheels export is the same, robot just can judge it is that left side drive wheel skids, thus makes corresponding actions, as strengthened left side power, change mode of motion, start program of getting rid of poverty, alarm etc.
In further improvement of the present invention scheme, when the travel route generation left or right deflection of robot, the raised brim of interlock dish 2 of the present invention can trigger the switch 11 on the left side or the right equally, this signal transmission is to control system, just can adjust travel route by guided robot, allow it linearly walk.
In another improvement project of the present invention, increase the quantity of optoelectronic switch, the angle that robot deflects can be detected.When optoelectronic switch number is increased to N, can detect that the angle that robot deflects will be accurate to 180/ (N-1) degree.Such as, the quantity of optoelectronic switch 11 is increased to 5, such robot often deflects miter angle, and detection line plate just can make measurement of correlation, and can by related data transmission to control module process further.
In addition, in the third improvement project of the present invention, by increasing steamboat 7 and the ratio of gear of connecting rod 5, speed gear is such as adopted to connect, the movement velocity of all right accurately robot measurement.
Fig. 4, Fig. 5 are front and the schematic bottom view of the clean robot using embodiment of the present invention universal wheel speed measuring device.As shown in the figure, embodiment of the present invention universal wheel speed measuring device is placed in clean robot circular base plate close to edge, and equal with the distance of two driving wheels.These two cleaning wheels symmetrical between driving wheel and universal wheel.
Compared with prior art, universal wheel speed measuring device described in the embodiment of the present invention can detect clean robot driving wheel more accurately and skid, the generation of the situation of an especially driving wheel skidding.Meanwhile, whether to clean robot track route be the detection of straight line, reduce the production cost of the clean robot using this device if gyroscope can be replaced to realize.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a universal wheel speed measuring device, is characterized in that, comprising: detection line plate (1), interlock dish (2), steamboat (7) and gear train;
Wherein, described steamboat (7) both sides are arranged with cam respectively, interlock dish (2) edge is provided with flange upwards, detection line plate (1) is arranged on interlock dish (2) top, detection line plate (1) is upper is provided with at least three switches (11) with described interlock dish (2) flange correspondence position, is connected between interlock dish (2) with steamboat (7) by gear train;
In steamboat (7) rolling process, moved up and down by described cam driven interlock dish (2), make the flange on interlock dish (2) trigger portion switch (11) folding on described detection line plate (1); Steamboat (7) horizontally rotates in process, drives interlock dish (2) level of synchronization to rotate, make the flange on interlock dish (2) trigger other position switchs (11) folding by described gear train; Detection line plate (1) detector switch (11) folding frequency and change in location.
2. universal wheel speed measuring device according to claim 1, is characterized in that, the upper set switch (11) of described detection line plate (1) is Photoelectric infrared switch, one of touch-switch, fine motion mechanical switch three kinds.
3. universal wheel speed measuring device according to claim 1, it is characterized in that, the upper set switch (11) of described detection line plate (1) is arranged on same semi arch, wherein, two switches are positioned at starting point and the destination county of semi arch, and rest switch is positioned on the Along ent of semi arch.
4. universal wheel speed measuring device according to claim 1, is characterized in that, the cam of described steamboat (7) both sides comprises the axostylus axostyle coaxial with steamboat (7) and cam shaft.
5. universal wheel speed measuring device according to claim 4, is characterized in that, described gear train comprises: Compress Spring (3), little wheel cap (4), connecting rod (5) and little wheel seat (6);
Wherein, described little wheel seat (6) is provided with the rectangular recess for holding steamboat (7), described steamboat (7) is placed in little wheel seat (6) rectangular recess from bottom, the axostylus axostyle of steamboat (7) is rotatable to be fixed on the sidewall of this rectangular recess, and little wheel cap (4) covers in little wheel seat (6) top;
Connecting rod (5) lower containment is inner at little wheel seat (6), connecting rod (5) entirety is horizontally rotated with little wheel seat (6), and connecting rod (5) both sides, bottom are provided with frame and contact with the cam shaft of steamboat (7) both sides and connect;
Interlock dish (2) is connected with above-mentioned connecting rod (5) top, interlock dish (2) can be horizontally rotated with connecting rod (5), interlock dish (2) center is provided with spring fixed column, Compress Spring (3) one end is enclosed within the spring fixed column at interlock dish (2) center, and the other end is fixedly connected with detection line plate (1) bottom.
6. universal wheel speed measuring device according to claim 5, it is characterized in that, described little wheel seat (6) is divided into upper and lower two parts, the first half is an annulus, the latter half is the little wheel case of eccentric semi-spherical shape that central authorities are provided with rectangular recess, annulus is enclosed within outside the circular port on eccentric semi-spherical shape steamboat cover top, and the little wheel case of eccentric semi-spherical shape can rotate freely in annulus.
7. universal wheel speed measuring device according to claim 5, it is characterized in that, described connecting rod (5) bottom is rectangle and is placed in described little wheel seat (6) rectangular recess, at least be provided with this frame of each frame to contact with the cam shaft of steamboat (7) both sides respectively in both sides, cam rotates, and can promote connecting rod (5) and move up.
8. universal wheel speed measuring device according to claim 1, is characterized in that, described connecting rod (5) top is provided with the cylinder that central authorities have slot;
The top of described interlock dish (2) lower cylindrical is the rectangle post matched with connecting rod (5) Upper cylindrical shape center rectangle hole dimension, this rectangle post inserts in above-mentioned slot, and interlock dish (2) center upper portion is provided with spring fixed column.
9. universal wheel speed measuring device according to claim 6, is characterized in that, described little wheel cap (4) is positioned at directly over little wheel seat (6), fastens with the annulus of little wheel seat (6) the first half.
10. universal wheel speed measuring device according to claim 5, it is characterized in that, described Compress Spring (3) one end is enclosed within the spring fixed column at interlock dish (2) center, and the other end is connected with the center of circle of the semicircular arc track at upper switch (11) place of detection line plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510013410.4A CN104567861A (en) | 2015-01-12 | 2015-01-12 | Universal wheel speed measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510013410.4A CN104567861A (en) | 2015-01-12 | 2015-01-12 | Universal wheel speed measurement device |
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| Publication Number | Publication Date |
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| CN104567861A true CN104567861A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510013410.4A Pending CN104567861A (en) | 2015-01-12 | 2015-01-12 | Universal wheel speed measurement device |
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| CN (1) | CN104567861A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105235464A (en) * | 2015-11-20 | 2016-01-13 | 北方工业大学 | Universal follow-up buffering vibration damper of wheeled mobile robot |
| CN106419744A (en) * | 2016-12-07 | 2017-02-22 | 厦门视贝智能电器有限公司 | Velocity-measuring mechanical wheel |
| CN106441274A (en) * | 2016-09-22 | 2017-02-22 | 钦州布鲁威机器人科技有限公司 | Universal wheel motion state detection device of floor sweeping robot |
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| CN106441274A (en) * | 2016-09-22 | 2017-02-22 | 钦州布鲁威机器人科技有限公司 | Universal wheel motion state detection device of floor sweeping robot |
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Application publication date: 20150429 |
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