KR20100036539A

KR20100036539A - 4 driving 4 steering mobile robot

Info

Publication number: KR20100036539A
Application number: KR1020080095806A
Authority: KR
Inventors: 이영진
Original assignee: 이영진
Priority date: 2008-09-30
Filing date: 2008-09-30
Publication date: 2010-04-08

Abstract

The present invention relates to a robot running in a factory or a field. In the related art, a robot is composed of an arcman steering method or a skid steering method and a suspension device according to this, and solves a limited problem in steering performance.

To this end, the traveling robot system according to the present invention includes: four wheel driving units comprising a robot that is a robot frame part and a wheel that constitutes the entire structure; Each of the four wheel driving units is characterized by consisting of a steering unit capable of independently steering.

Such a traveling robot system has advantages in limited working space and working environment because it is possible to turn in place or move sideways without turning radius when working in a factory or a field.

Driving Robot, Wheel Drive, Steering Drive, 4D (driving), 4S (Steering)

Description

4D 4S Driving Robot {4 Driving 4 Steering Mobile Robot}

The present invention relates to a traveling robot system for carrying a product or the like in a factory or a field, and more particularly, to a system for driving with four independent wheel drivers and four independent steering drives.

Existing factory or field driving systems are limited in turning capability with arc-man steering or skid steering, and have many limitations in driving in limited work spaces and environments.

Therefore, in order to solve the above problems, an object of the present invention is to invent a driving drive system capable of steering as well as independently driving four wheels based on electric propulsion.

The present invention provides a robot for carrying a product in a factory or a field, comprising: a traveling robot including four independent steering and four independent driving; A wheel drive motor assembly module including an electric motor, a speed reducer, an encoder, and an electric brake for implementing acceleration and deceleration and braking of the robot system; It provides a system consisting of a steering drive motor assembly module consisting of an electric motor, a reducer, an encoder, a limit switch for steering of the robot system.

As described above, the driving driving robot according to the present invention relates to a system for transporting a product to a factory or a field. In the related art, a driving problem is limited to the steering performance by consisting of an arcman steering and a skid steering system and a suspension device accordingly. Will be solved. The present invention can be used to maximize steering performance, such as in-situ turning and side driving in various environments, especially limited spaces and environments as well as factories.

FIG. 1 shows the appearance of the driving drive system. Referring to FIG. 1, there is a robot frame 1, four steering drives 10, and four wheel driving units 20 connected to an output link of the steering driver.

2 shows the configuration of the wheel drive unit of the driving drive system, which has a wheel 10, a rim 11 supporting the wheel, and a screw 12 connecting the wheel drive motor assembly and the rim.

The wheel drive motor assembly has a drive motor 20, an encoder 21 for checking the rotational position and speed of the motor, an electric brake 22 for braking and emergency stop, a reducer 23, And a cable 24 for transmitting the signal lines of the motor, encoder and brake to the outside.

There is a link 30 connecting the wheel drive motor assembly and the robo frame, and there is a screw connecting the link and the wheel drive motor assembly.

3 is a configuration of a steering drive unit of a driving drive system. Referring to this, there is a wheel 1, a steering drive motor 10, an encoder 11 sensing a rotational position and a speed of a steering drive motor, and a speed reducer. There is a 12 and a reducer output shaft 13, and there is a spur gear 14 for power transmission with the suspension and the link.

There is a suspension (20) consisting of a spring, a spur gear (21) for power transmission of a steering drive motor, a link (22) for connection with a wheel drive, and a screw for coupling the link with the wheel drive ( 23)

1 is an external view of a 4D 4S traveling robot system.

2 is a wheel driving part of the traveling robot system.

3 is a steering driver of the traveling robot system.

Claims

A robot for carrying goods in a factory or field comprises four independent steering and four independent driving;

A wheel drive motor assembly module including an electric motor, a speed reducer, an encoder, and an electric brake for implementing acceleration and deceleration and braking of the robot system;

And a steering drive motor assembly module comprising an electric motor, a reducer, an encoder, and a limit switch for steering the robot system.