KR101004957B1 - Robot system for 4 wheel driving and 4 wheel steering using motor - Google Patents

Abstract

This invention, using the surface magnet type synchronous motor (SPMSM) to facilitate the speed control, the steering angle of the inner tire to the steering angle of the inner tire greater than the steering angle of the outer tire when steering the front and rear wheels (Ackerman The present invention relates to a four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor to improve turning stability by using an angle,

The frame, which is the basic structure, and four driving modules mounted on four sides of the frame and serving as the driving, braking, steering, and suspension of the robot, and mounted on the frame and supply power to the entire system. It includes a power supply module for supplying, a controller module for driving a drive motor and a steering motor, and a computer module for generating driving information such as speed values and steering angles and controlling the entire system of the robot.

The drive module includes a drive motor for generating power for driving, which is composed of a Surface Permanent Magnet Synchronous Motor (SPMSM) for easy speed control, and a drive for increasing torque of the drive motor. A reducer, a braking device for braking the drive motor, a tire and wheel assembly for receiving rotational power from the drive motor, a drive arm provided in the drive motor, and the tire and wheel assembly Suspension system for damping the impact force transmitted through the drive arm from the Ackerman angle that gives the steering angle of the inner tire greater than the steering angle of the outer tire relative to the center of rotation during steering of the front and rear wheels By controlling the steering angle of the tire and wheel assembly through the drive arm, the current steering angle signal The steering angle is detected that the outside of the left and right 120 to comprise a steering apparatus for transmitting feedback to the controller module and a computer module.

Tires, wheels, drive arms, Ackerman steering angles, brakes, steering systems, drive motors,

Description

Robot system for 4 wheel driving and 4 wheel steering omnidirectional driving system {Robot system for 4 wheel driving and 4 wheel steering using motor}

The present invention relates to the field of robots, and more specifically, to facilitate speed control by using a Surface Permanent Magnet Synchronous Motor (SPMSM). The present invention relates to a four-wheel drive and a four-wheel steering omnidirectional traveling robot system using a motor that improves turning stability by using an Ackerman angle, which makes the steering angle larger than that of an outer tire.

In the omnidirectional traveling robot capable of traveling in all directions, unlike four wheels, the four wheels are controlled by each independent motor, and thus, the front and rear driving, side driving, diagonal driving, and in-situ rotation can be performed.

As a technique related to such an omnidirectional traveling robot system, a two-axis actuator mounted on an autonomous traveling traveling device is combined with a direct current motor as a driving motor and a servo motor as a direction switching motor, and the two axis actuators are respectively used by the two-axis actuator. The wheels are autonomously driven, which enables side driving and in-situ rotation by directional autonomous driving. Regardless of the type, the technology for enabling autonomous movement driving in the minimum space in which the target of the moving device can move is described in the "Autonomous Movement of Korean Patent Publication No. 10-0849413 (July 31, 2008). It is disclosed in the "travel direction moving device that can freely run the four-wheeled vehicle".

However, such a conventional omnidirectional traveling robot has a problem in that speed control is relatively difficult by applying a general DC motor as the driving motor 122.

In addition, the conventional omni-directional traveling robot, the spur gear 152a connected to the driving motor (DC motor) 122 inside the two-axis actuator 120 and the spur gear 152b connected to the driving motor shaft 104. There is a problem in that the deceleration of the driving motor occurs between the) and finally the wheel 102 is driven so that the driving motor and the following mechanism are exposed to the outside of the tire.

In addition, the conventional omni-directional traveling robot applies a servo motor as the direction switching motor 124, and sends a signal to the magnetic 136 existing inside the servo block 130 when the direction is changed to be located at the center. With the worm gear 154 connected to the direction change motor 124 in the two-axis actuator 120 in the state that the brake is released by pulling the brake disk 132 pressed by the spring 134 to the magnetic 136 side; By rotating the position control rotary shaft 162 through the spur gears 152c and 152d which are reduction gears, the direction of the individual tires can be changed, so that the steering angle is the same angle based on the left and right tires when steering. 8, the center of rotation of the outer tire and the inner tire is different, and if steering is continued in this state, the trajectories of the two tires are gradually narrowed and cross each other. As a result, the outer wheels are rolled out while the inner wheels slide inwards, respectively, thereby lowering the turning stability.

In addition, the conventional omni-directional traveling robot has a problem that the servo block 130 mounted on the upper end of the two-axis actuator 120 does not effectively prevent shaking and external shock.

An object of the present invention is to solve the conventional problems as described above, to facilitate the speed control using a surface magnet synchronous motor (SPMSM), the omni-directional of the four-wheel drive and four-wheel steering method using a motor To provide a traveling robot system.

Another object of the present invention is to use the motor to improve the turning stability by using the Ackerman angle that gives the steering angle of the inner tire greater than the steering angle of the outer tire based on the center of rotation during steering of the front and rear wheels. To provide a four-wheel drive and four-wheel steering omni-directional traveling robot system.

As a means for achieving the above object, the configuration of the present invention, the frame is a basic structure, and the four drives are mounted on four sides of the frame and play the role of driving, braking, steering and suspension of the robot when driving. Module, a power module mounted on the frame and supplying power to the entire system, a controller module for driving the drive motor and the steering motor, and driving information such as speed values and steering angles, and generating the entire system of the robot. It includes a computer module to control,

The drive module includes a drive motor for generating power for driving, and a drive reducer for increasing torque of the drive motor, comprising a surface magnet type synchronous motor (SPMSM) for easy speed control; A braking device for braking the motor, a tire and wheel assembly for receiving rotational power from the drive motor, a drive arm installed in the drive motor, and a drive arm from the tire and wheel assembly. Suspension device for cushioning the impact force, and Ackerman angle that sets the steering angle of the inner tire greater than the steering angle of the outer tire based on the center of rotation during steering of the front and rear wheels, At the same time controlling the steering angle of the tire and wheel assembly, the current steering angle signal and steering angle are out of the left and right 120 degrees It comprises a steering device for detecting the feedback and transmitting feedback to the controller module and the computer module.

The configuration of the present invention is preferably such that the above drive reducer is of a planetary reducer type.

The configuration of the present invention is preferable if the braking device is made of an electronic brake.

The configuration of the present invention is preferably such that the suspension device comprises a shock absorber and a compression coil spring.

According to the configuration of the present invention, the steering apparatus includes a steering motor for generating power for steering, a steering reducer for increasing the torque of the steering motor primarily, and a torque of the steering motor secondary. A pinion gear and a steering gear for increasing, a steering encoder for feeding back an information signal about the steering angle to the computer module, and a limit switch for detecting an deviation of the steering angle from a predetermined value and transmitting it as an electrical signal to the controller module. Is preferred.

The configuration of the present invention is preferably such that the steering motor comprises an encoder-mounted servomotor equipped with a brake.

The configuration of the present invention is preferably such that the steering encoder is of an absolute rotary encoder type.

This invention, using the surface magnet type synchronous motor (SPMSM) to facilitate the speed control, the steering angle of the inner tire to the steering angle of the inner tire greater than the steering angle of the outer tire when steering the front and rear wheels (Ackerman angle) to improve swing stability.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, in order to describe in detail such that those skilled in the art can easily carry out the present invention, the most preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. do. Other objects, features, and operational advantages, including the purpose, operation, and effect of the present invention will become more apparent from the description of the preferred embodiments.

For reference, the embodiments disclosed herein are only presented by selecting the most preferred embodiment in order to help those skilled in the art from the various possible examples, the technical spirit of the present invention is not necessarily limited or limited only by this embodiment Rather, various changes, additions, and changes are possible within the scope without departing from the spirit of the present invention, as well as other equivalent embodiments.

1 is a perspective configuration diagram of a four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor according to an embodiment of the present invention.

As shown in FIG. 1, the four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor according to an embodiment of the present invention includes a frame 1 as a basic structure and the frame described above. Four driving modules (2), which are mounted at four places in (1) and play the role of driving, braking, steering, and suspension of the robot, and are mounted to the frame (1) described above. A power supply module 3 for supplying, a controller module 4 for driving the drive motor 21 and a steering motor 273, a computer for generating driving information such as speed values and steering angles and controlling the entire system of the robot Module 5.

2 is a block diagram of a driving module of a four-wheel drive and four-wheel steering omni-directional traveling robot system using a motor according to an embodiment of the present invention.

As shown in FIG. 2, the configuration of the drive module 2 of the omnidirectional traveling robot system of four-wheel drive and four-wheel steering using a motor according to an embodiment of the present invention generates power for driving. The drive motor 21 to be made, the drive reducer 22 for increasing the torque of the drive motor 21 described above, the braking device 23 for braking the drive motor 21 described above, and the drive motor described above. Tire and wheel assembly 24 for receiving rotational power from 21, drive arm 25 provided in the drive motor 21, and drive arm from the tire and wheel assembly 24 described above. A suspension device 26 for cushioning the impact force transmitted through 25 and a steering device 27 for controlling the steering angle of the tire and wheel assembly 24 through the drive arm 25. Is done.

As the drive motor 21, a surface permanent magnet synchronous motor (SPMSM), which is easy to control speed, is applied. The drive motor 21 can operate up to a rated revolutions per minute (1,500 rpm). The shaft has a structure in which a resolver, which is a sensor capable of receiving a position signal, is installed. The surface magnet type synchronous motor (SPMSM) has a structure in which a permanent magnet is attached to the rotor surface and is a kind of AC motor.

The drive reducer 22 is formed of a planetary reducer type, and increases the torque output of the drive motor 21 and reduces the speed so that the tire and wheel assembly 24 is driven.

The braking device 23 is formed of an electronic brake, and is directly installed on the shaft of the driving motor 21 and configured to immediately brake the driving motor 21 when a driving emergency stop occurs.

The suspension device 26 is composed of a shock absorber and a compression coil spring.

The steering apparatus 27 includes a steering motor 273 for generating power for steering, a steering reducer 274 for primarily increasing torque of the steering motor 273, and the steering motor. A pinion gear 275 and a steering gear 276 for secondaryly increasing the torque of 273, a steering encoder 277 for feeding back an information signal for the steering angle to the computer module 5, and a steering angle of one; It includes a limit switch 288 for detecting the deviation of the stationary abnormality and transmits it to the controller module 4 as an electrical signal.

The steering motor 273 includes an encoder built-in servo motor equipped with a brake.

The steering encoder 277 is formed of an absolute rotary encoder type.

The drive motor 21 and the following mechanism are formed in the in-wheel type structure that is mounted inside the tire.

The operation of the omnidirectional traveling robot system of the four-wheel drive and four-wheel steering method using the motor according to the embodiment of the present invention by the above configuration is as follows.

The power module 3 consists of a 240V and 24V power supply and a DC / DC converter to supply 24V power to the computer module 5, the controller module 4 and other additional devices, and drive motors in the drive module 2 21 and steering motor 273 are provided with a 240V power source.

When power is supplied from the power module 3 and the operation of the computer module 5 starts, the computer module 5 generates driving information (speed value and steering angle based on the center of the robot) and sends it to the controller module 4. The drive controller and the steering controller in the controller module 4 control the drive driver and the steering driver so that the drive motor 21 and the steering motor 273 in the drive module 2 are independently rotated to finally drive the computer module 5. The robot will be driven along this route. The controller module 2 controls the driving speed such as acceleration, deceleration, constant speed maintenance, etc. of the robot using the driving motor 21, and performs position control using the steering motor 273.

In addition to the normal driving mode, the robot can be operated in various driving paths by being driven in the side driving mode, the diagonal driving mode, the two-wheel steering mode, the four-wheel steering mode, the in-place steering mode, and the like.

In normal driving mode, as shown in FIG. 3A, the four wheels are aligned in the forward direction at the same angle, and then the tire and the wheel assembly 24 are driven in the forward or reverse direction.

In the side driving mode, the four wheels are laterally aligned at the same angle as shown in FIG. 3B, and the tire and wheel assembly 24 is driven in the forward or reverse direction.

In the oblique running mode, as shown in FIG. 3C, the four wheels are aligned diagonally at the same angle, and then the tire and wheel assembly 24 is driven in the forward or reverse direction.

In the two-wheel steering mode, as shown in FIG. 3D, steering the front wheel at the Ackermann angle while driving can be performed in the same manner as in a general passenger car.

The four-wheel steering mode, as shown in Fig. 3E, steers the rear wheels in the opposite direction to the front wheels during driving so that the rotation radius is reduced than in the two-wheel steering mode.

In situ steering mode, as shown in Figure 3f, by steering the four wheels at an angle (57.3 degrees) and then driven to rotate about the center of the robot.

The driving of the robot is independently performed by four driving motors 21. At this time, the output of the driving motor 21 is input to the driving reduction gear 22 of the planetary reduction gear type to The torque is increased and the speed is decreased. The computer module 5 is configured to receive feedback of a speed signal input from a resolver installed on a shaft of the drive motor 21 to control the traveling speed of the robot. The drive motor 21 is rated at 1500 revolutions per minute (1,500 rpm). It can work until.

In addition, the braking is performed by the braking device 23 when the robot is running, and the braking device 23 is directly connected to the shaft of the driving motor 21 so that when the speed of the traveling robot is 0 or an emergency stop occurs while driving. An electronic brake capable of immediately braking the drive motor 21 is provided. Deceleration, not braking, while the robot is running is achieved through the drive motor 21.

In addition, the cushioning of the robot while running is made by the suspension device 26. The shock absorber and the compression coil spring, which are components of the suspension device 26, absorb the impact force generated on the road surface and provide the buffering force when passing the speed bumps. It increases the running stability of the robot and improves the turning stability of the robot during steering.

In addition, steering of the robot when steering is performed independently of each steering motor 273 of the four steering devices 27, and at this time, the output of the steering motor 273 is the primary in the steering reducer 274, which is a harmonic drive type. Decelerate, and secondly decelerate in the combination of pinion gear 275 and steering gear 276 to further increase torque of steering motor 273 and decrease speed. For steering angle control, an absolute rotary encoder type steering encoder 277 is installed on the opposite side of the steering motor 273 to receive a steering angle signal, and the steering angle may be up to 90 degrees left and right. In addition, the limit switch 178 is installed at the left and right 120 degree angles to sense that the steering angle is outside the right and left 120 degrees to prevent the malfunction of the steering motor 273.

In addition, the direction change when the robot is driven is a steering reducer 274 which is a harmonic drive type connected to the output shaft of the steering motor 273 in a state in which the brake is released by applying power to the brake existing in the steering motor 273. ), And the second reduction in the combination of the pinion gear (275) and the steering gear (276) to increase the torque of the steering motor (13) and to reduce the speed of the drive arm ( 25) to rotate the individual tires.

The steering angle of the robot is controlled to maintain the steering angle by using a steering angle signal fed back from an absolute rotary encoder type steering encoder 17 provided on the opposite side of the steering motor 273, and the limit switch 18. The steering angle is controlled so that the steering angle does not deviate from 120 degrees at a time by using a signal input from the input. In addition, the steering angle of the inner tire is set to an Ackerman angle that gives the steering angle of the inner tire greater than the steering angle of the outer tire based on the center of rotation during steering of the front and rear wheels, so that the center of rotation of the outer tire and the inner tire is the same. The trajectory drawn by the left and right tires is made parallel to the center of rotation so that the steering stability is improved. And, the trajectory of all the tires are drawn concentrically around the center of rotation during steering of the robot, in this case the difference in the driving speed so that the angular speed of each tire is equal to make a smooth turning.

1 is a perspective configuration diagram of a four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor according to an embodiment of the present invention.

2 is a block diagram of a driving module of a four-wheel drive and four-wheel steering omni-directional traveling robot system using a motor according to an embodiment of the present invention.

3A to 3F are views illustrating driving and steering modes of an omnidirectional traveling robot system of four-wheel driving and four-wheel steering using a motor according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

1 frame 2 drive module

3: power module 4: controller module

5: computer module

Claims (7)

Frame 1, which is a basic structure, and four driving modules 2 mounted on four sides of the frame and serving as driving, braking, steering, and suspension of the robot, and mounted to the frame. A power supply module (3) for supplying power to the entire system, a controller module (4) for driving a drive motor and a steering motor, and a computer that generates driving information such as speed values and steering angles and controls the entire system of the robot. It comprises a module (5), The drive module 2 includes a drive motor 21 configured to generate a power for driving by being composed of a surface permanent magnet synchronous motor (SPMSM), which is easy to control the speed. A drive reducer 22 for increasing torque, a braking device 23 for braking the drive motor, a tire and wheel assembly 24 for receiving rotational power from the drive motor, and the drive described above. A drive arm 25 installed in the motor, a suspension device 26 for cushioning the impact force transmitted from the tire and wheel assembly through the drive arm, and an inner tire based on the center of rotation during steering of the front and rear wheels. The Ackerman angle, which makes the steering angle larger than the steering angle of the outer tire, is set to control the steering angle of the tire and wheel assembly through the driving arm, Comprised, including the steering apparatus (27) for detecting the transmitted feedback to the controller module and a computer module that material the steering angle signal and the steering angle is outside the left and right 120 degrees, The steering apparatus 27 includes a steering motor 273 for generating power for steering, a steering reducer 274 for primarily increasing the torque of the steering motor, and a torque of the steering motor. Pinion gear 275 and steering gear 276 for secondary augmentation, steering encoder 277 for feeding back an information signal for steering angle to the computer module, and an electrical signal by detecting that the steering angle is out of a predetermined value. A four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor, characterized in that it comprises a limit switch (288) for transmitting to the controller module. The method of claim 1, The drive reducer is a four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor, characterized in that the planetary reducer type. The method of claim 1, The braking device is a four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor, characterized in that the electronic brake. The method of claim 1, The suspension device is a four-wheel drive and four-wheel steering omnidirectional traveling robot system using a motor, characterized in that the shock absorber and the compression coil spring. delete The method of claim 1, The steering motor is a four-wheel drive and four-wheel steering omni-directional traveling robot system using a motor, characterized in that consisting of a servo motor equipped with an encoder equipped with a brake. The method of claim 1, The steering encoder is a four-wheel drive and four-wheel steering omni-directional traveling robot system using a motor, characterized in that the absolute rotary encoder type.

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