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Control method for movable type four-wheel all-dimensional steering robot chassis

A control method and robot technology, applied in power steering mechanism, electric steering mechanism, steering mechanism, etc., to achieve the effect of flexible steering and improved motion stability

Inactive Publication Date: 2017-08-11
IANGSU COLLEGE OF ENG & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Purpose of the invention: The purpose of the invention is to solve the deficiencies in the prior art and provide a control method for a mobile four-wheel omni-directional steering robot chassis. , The function of turning in place overcomes the shortcomings that ordinary robots cannot do turning in place and running sideways, and enhances the flexibility of the robot's movement

Method used

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  • Control method for movable type four-wheel all-dimensional steering robot chassis
  • Control method for movable type four-wheel all-dimensional steering robot chassis
  • Control method for movable type four-wheel all-dimensional steering robot chassis

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Embodiment Construction

[0030] Below in conjunction with specific embodiment and accompanying drawing, technical scheme of the present invention is described in further detail:

[0031] Such as Figure 1 to Figure 4 as well as Figure 8 A mobile four-wheel omni-directional steering robot chassis shown includes a vehicle frame 1, a wheel set and a PLC control system, and four bearing holes are symmetrically arranged on the vehicle frame 1 for installing the wheel set, and each set The wheel set includes a gearbox 2, a steering shaft 3, a servo motor 4, a coupling 5, a shock absorber 6, and a hub motor 7;

[0032] The reduction box 2 includes a box body 21, a worm wheel 22, a key 23, a worm screw 24, a bearing 25, an angle bearing 26, an induction block 27, and an induction switch 28. The worm wheel 22 is installed on the steering shaft 3, and the worm screw 24 is installed On the box 21 and meshed with the worm wheel 22, it is used to drive the worm wheel 22 to run. The key 23 is installed between t...

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Abstract

The invention discloses a control method for a movable type four-wheel all-dimensional steering robot chassis. The robot chassis comprises a vehicle frame, wheel groups and a programmable logic controller (PLC) control system, four bearing holes are symmetrically formed in the vehicle frame and are used for installation of the wheel groups, and each wheel group comprises a reduction box, a steering shaft, a servo motor, a coupling, a vibration damper and a hub motor; the servo motor is mounted on a box body, is connected with a worm through the coupling and is used for driving the worm to rotate, and finally the rotating angle of the steering shaft is controlled, the hub motor is arranged below the steering shaft, and the vibration damper is arranged between the hub motor and the steering shaft; and the PLC control system comprises a PLC, a servo driver and an analog quantity input and output module. According to the control method for the movable type four-wheel all-dimensional steering robot chassis, deflection angles of the four wheels are controlled through the PLC, steering of the wheels is achieved, moreover each wheel is controlled by the PLC independently, the wheels move mutually and coordinately according to a mathematical model of a movement track, and established track movement is achieved.

Description

technical field [0001] The invention belongs to the technical field of automation control, and in particular relates to a control method for a mobile four-wheel omni-directional steering robot chassis. Background technique [0002] In recent years, the use of robots is setting off an upsurge in my country, which has profoundly affected my country's manufacturing, scientific research and service industries. There are many types of mobile robots, and land mobile robots include mobile, legged, crawler, and jumping types. Among them, the wheeled mobile robot has been widely used due to its advantages of convenient movement, accurate positioning, and convenient control. Mobile robots commonly have three-wheeled and four-wheeled structures. The three-wheeled robot has a simple structure, but its stability is low, and it often runs at a low speed. Four-wheel robots also have structures such as two-wheel steering two-wheel drive, four-wheel steering four-wheel drive, etc. Genera...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60K17/356B62D5/04B62D7/14B60L15/38
CPCB60K17/356B60L15/38B62D5/0463B62D7/142
Inventor 丁锦宏
Owner IANGSU COLLEGE OF ENG & TECH
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