CN107031392A - A kind of portable four wheel all-directional turns to the control method on robot chassis - Google Patents
A kind of portable four wheel all-directional turns to the control method on robot chassis Download PDFInfo
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- CN107031392A CN107031392A CN201710181499.4A CN201710181499A CN107031392A CN 107031392 A CN107031392 A CN 107031392A CN 201710181499 A CN201710181499 A CN 201710181499A CN 107031392 A CN107031392 A CN 107031392A
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- wheel
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- servo
- driver
- servomotor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Toys (AREA)
Abstract
Robot chassis control method is turned to the invention discloses portable four wheel all-directional of one kind, the robot chassis includes vehicle frame, wheel group and PLC control system, four bearing holes are symmetrically arranged with the vehicle frame to be used to install the wheel group, and every group of wheel group includes reduction box, steering spindle, servomotor, shaft coupling, damper, wheel hub motor；The servomotor is arranged on the casing, is connected by shaft coupling with worm screw, for driving worm screw to rotate, the rotational angle of final control steering spindle, is provided with below the steering spindle and damper is additionally provided between wheel hub motor, and wheel hub motor and steering spindle；The PLC control system includes PLC, servo-driver and analog input and output module.The present invention controls the deflection angle of four wheels by PLC, realizes the steering of wheel, and each wheel is individually controlled by PLC, each other according to the mathematical modeling of movement locus, and set track motion is realized in the coordinated movement of various economic factors.
Description
Technical field
The invention belongs to technical field of automatic control, and in particular to a kind of portable four wheel all-directional turns to robot bottom
The control method of disk.
Background technology
In recent years, the use of robot just starts one upsurge in China, and profound influence China's manufacturing, science and ground
Study carefully and service industry.The species of mobile robot is a lot, and there are movable type, leg formula, crawler type, great-jump-forward etc. in land mobile robot
It is several.Wherein, wheeled mobile robot with conveniently moving, accurate positioning, it is easy to control the advantages of, obtain mobile robot
It is widely applied.Mobile robot common are three-wheel, two kinds of structure types of four-wheel.Three-wheel type robot architecture is simple,
But stability is low, often run under lower-speed state.Four-wheeled mobile robot also has two-wheeled to turn to two-wheel drive, the wheel driving of four-wheel steering four
The structure such as dynamic.On the whole, four-wheel-type is complicated, but turns to flexibly, and with well steady in the case of high-speed cruising
It is qualitative.But two-wheeled is turned to, the min. turning radius of two-wheel drive structure receives limitation, and two driving wheels are in when turning and slided
Dynamic state, reduces the stability of robot.
The present invention have developed the chassis structure of a kind of four-wheel drive, four-wheel steering on the basis of various structures are analyzed, can
Four wheels is in the stability of pure rolling state, significantly robot in turning, and can realize that two-wheeled turns to two wheel drivings
The dynamic row that can not be realized, the function of cast, substantially increase the kinematic dexterity of robot.
The content of the invention
Goal of the invention：The invention aims to solve deficiency of the prior art, there is provided a kind of portable four-wheel is complete
Orientation turns to the control method on robot chassis, and the robot chassis can not only make robot realize straight trip, diagonal, and can be real
Existing row, the function of cast, the deficiency of cast and row can not be done by overcoming general robot, strengthen robot
Kinematic dexterity.
Technical scheme：A kind of portable four wheel all-directional of the present invention turns to the control method on robot chassis, bag
Include：
Normal straight is travelled：PLC does not send the angle position that control signal to servo-driver, i.e. servomotor is maintained at 0 °
Put；Speed control sends control signal by PLC and gives analog input and output module simultaneously, passes through analog input and output module
The magnitude of voltage of four output channel outputs controls the rotating speed of four wheel hub motors respectively；
Certain angle oblique line is travelled：PLC sends control angle signal to servo-driver, is watched by servo driver drives
Take motor and rotate certain angle；Speed control sends control signal by PLC and gives analog input and output module simultaneously, passes through
The magnitude of voltage of four output channel outputs of analog input and output module controls the rotating speed of four wheel hub motors respectively；
Turn or original place is rotated：By radius of turn size, according to mathematical modeling, by PLC program, four wheels are calculated
Deflection angle, corresponding servomotor is controlled by PLC control chips, the rotation of wheel is realized.
A kind of above-mentioned portable four wheel all-directional turns to robot chassis, including vehicle frame, wheel group and PLC controls system
Four bearing holes are symmetrically arranged with system, the vehicle frame to be used to install the wheel group, and every group of wheel group includes reduction box, turned to
Axle, servomotor, shaft coupling, damper, wheel hub motor；
The reduction box includes casing, worm gear, key, worm screw, bearing, angle bearing, sensor block, inductive switch, the snail
Wheel is arranged in steering spindle, and the worm screw is arranged on casing and engaged with worm gear, for driving worm gear to operate, and the key is installed
Between worm gear and steering spindle, it is ensured that worm gear and steering spindle run-in synchronism；The bearing is arranged on one end of worm screw, for supporting
Worm screw, the angle bearing, which is arranged on, to be also equipped with sensor block on the other end of worm screw, the worm gear and is rotated with worm gear,
The inductive switch being adapted to the sensor block is installed on the casing；
The servomotor is arranged on the casing, is connected by shaft coupling with worm screw, for driving worm screw to rotate,
It is provided with below the rotational angle of final control steering spindle, the steering spindle between wheel hub motor, and wheel hub motor and steering spindle also
Provided with damper；
The PLC control system includes PLC, servo-driver and analog input and output module, the PLC control chips
Electrically connected by servo-driver with the servomotor, the PLC passes through analog input and output module and wheel hub electricity
Mechatronics.
Further, the servomotor uses blow-up flow pattern motor, and motor model is selected by vehicle wheel rotation moment of torsion
Select.
Further, the PLC uses Mitsubishi FX3u types PLC.
Further, the servo-driver uses blow-up flow pattern driver, and each servomotor is provided with servo
Driver, the servo-driver of PLC to each servomotor sends pulse signal, and power amplification is carried out by servo-driver, control
The operation of servomotor processed.
Further, the analog input and output module uses the FX2n-4DA modules with four passages.
Further, each wheel hub motor carries out speed control by one of passage of analog input and output module
System.
Further, in addition to power supply, the power supply includes battery and inverter, by inverter by the electricity of battery
Source is converted into the voltage of alternating current 220V, is used for the PLC on control machine people chassis, servo-driver and its control circuit.
Further, the battery includes two groups, and one group is supplied to wheel hub motor to use, and another group to servo-driver
Use, and the accumulator capacity used to servo-driver is more than the accumulator capacity for being supplied to wheel hub motor to use, it is ensured that
It can still be turned to when wheel is not rotated, improve security.
Beneficial effect：The present invention makes robot turn to flexible, achievable general machine using four-wheel steering, four-wheel drive
Row, cast that people can not realize etc.；Robot is when turning to, and four wheels do PURE ROLLING, do not slide, carry
The kinetic stability of high robot, present invention is particularly suitable for the service trades such as dining room.
Brief description of the drawings
Fig. 1 is the structural front view on robot chassis of the present invention；
Fig. 2 is the structure top view on robot chassis of the present invention；
Fig. 3 is the structural front view of reduction box of the present invention；
Fig. 4 is the structure top view of reduction box of the present invention；
Fig. 5 is the rotation schematic diagram of wheel of the present invention；
Fig. 6 is tire of the present invention and ground friction principle schematic；
Fig. 7 is wheel steering angle schematic diagram calculation of the present invention；
Fig. 8 is PLC control system theory diagram of the present invention；
Fig. 9 is power module theory diagram of the present invention.
Embodiment
Technical scheme is described in further detail with reference to specific embodiments and the drawings：
A kind of portable four wheel all-directionals steering robot chassis as shown in Fig. 1 to Fig. 4 and Fig. 8, including vehicle frame 1,
Four bearing holes are symmetrically arranged with wheel group and PLC control system, the vehicle frame 1 to be used to install the wheel group, every group of car
Wheel group includes reduction box 2, steering spindle 3, servomotor 4, shaft coupling 5, damper 6, wheel hub motor 7；
The reduction box 2 include casing 21, worm gear 22, key 23, worm screw 24, bearing 25, angle bearing 26, sensor block 27,
Inductive switch 28, the worm gear 22 is arranged in steering spindle 3, and the worm screw 24 is arranged on casing 21 and engaged with worm gear 22,
For driving worm gear 22 to operate, the key 23 is arranged between worm gear 22 and steering spindle 3, it is ensured that worm gear fortune synchronous with steering spindle
Turn；The bearing 25 is arranged on one end of worm screw 24, and for supporting worm screw 24, the angle bearing 26 is arranged on the another of worm screw 24
Be also equipped with sensor block 27 on one end, the worm gear 22 and rotated with worm gear 22, be provided with the casing 21 with it is described
The inductive switch 28 that sensor block 27 is adapted to.When sensor block 27 is in 28 front of inductive switch, inductive switch 28 sends electric signal,
By the electric signal, the initial position of steering spindle is determined.When rotating worm gear, it is 0 ° relative to the steering angle of vehicle frame to make wheel
When, sensor block is fixed on worm gear, makes sensor block in the front of inductive switch.Now the position of worm gear and steering spindle is first
Beginning position.The principle slowed down using worm and gear, except can obtain larger gearratio, reduce needed for servomotor power with
Outside, also one benefit is exactly that worm and gear can form self-locking, i.e., when servomotor does not rotate, worm gear is lockable,
Steering spindle is set to keep original rotational angle.
The servomotor 4 is arranged on the casing 21, is connected by shaft coupling 5 with worm screw 24, for driving snail
Bar 24 is rotated, and the rotational angle of final control steering spindle 3, servomotor uses blow-up flow pattern, and precision is high, can apply to accurate
The environment of speed and position is controlled, it is more accurate than other motors, the model of motor is selected by vehicle wheel rotation moment of torsion.Described turn
It is provided with to the lower section of axle 3 and damper 6 is additionally provided between wheel hub motor 7, and wheel hub motor 7 and steering spindle 3；The wheel hub motor 7 will
Motor and wheel combine together, enormously simplify the complexity of structure.Rolling movement is done by wheel hub motor in itself, made
Robot is moved, and wheel is done beat relative to vehicle frame by rotary shaft, realizes that turning of robot body etc. is moved, such as Fig. 5
It is shown.
The PLC control system includes PLC, servo-driver and analog input and output module, and the PLC passes through servo
Driver is electrically connected with the servomotor 4, and the PLC is electrically connected by analog input and output module with the wheel hub motor 7
Connect.
In the present invention, the servomotor progress wheel deflection that is moved through of robot realizes wheel rolling with wheel hub motor.
Servomotor and wheel hub motor are implemented to control by PLC.
The present invention at most can be with 8 servomotors from Mitsubishi FX3u type PLC, such PLC.Its control principle is：PLC to
The driver of each servomotor sends pulse signal, and power amplification is carried out by driver, controls the operation of servomotor.Its
In, servo-driver is blow-up flow pattern in the present invention, and voltage is 220V.
The rotation for the wheel hub motor selected in the present invention is directly proportional by DC voltage control, rotating speed to voltage swing.Machine
When people moves, by PLC according to movement locus, the rotating speed of each wheel is calculated, and calculate the magnitude of voltage pair of each wheel hub motor
The numerical value answered, by D/A module, by direct voltage output, supplies wheel hub motor.Wherein, D/A module converts numerical quantities for one kind
Into the element of analog quantity, its function is that the digital quantity for calculating PLC is automatically converted into corresponding voltage signal.The present invention
In, from model FX2n-4DA module, the module has four passages, and each passage controls a wheel hub motor, Ke Yiman
The requirement of the foot present invention.
The selection of wheel hub motor of the present invention：
It is not that point is contacted that wheel is contacted with ground, can be considered as a circular surface contact, as shown in Figure 6.Integration contact
The frictional force in face, obtains the torque at direction of rotation.
When wheel and ground are relatively rotated, torque arithmetic formula is：
In formula：Mf is total moment of friction；M is the quality born；G is acceleration of gravity；R is contact radius of circle；F is cunning
The coefficient of kinetic friction.
The damper is connected with vehicle frame and wheel hub motor, be meet needs in design requirement can be on non-flat forms road surface
Motion, carries out vibration damping.According to actual conditions, the spring that band is necessarily damped is employed, this damper is cheap, be easy to more
Change, and energy effective attenuation vibration performance is superior, meets use demand.
The wheel hub motor is connected with damper, and its great advantage will exactly be rotated and power is all integrated, and simplifies
The mechanical part of drive system.When selecting wheel hub motor, robot translational speed is set as 1.5m/s (the normal steps with people
Scanning frequency degree is suitable), the quality settings of mobile robot are 100Kg.
When robot is moved on smooth-riding surface, rolled, air, the resistance etc. accelerated.Driving force and running resistance
Between equilibrium equation be:
FT=Ff+Fw+Fi+Fj
In formula：FT is mobile robot driving force；Ff is the rolling resistance that wheels of mobile robot is subject to；Fw is moving machine
The air drag that device people is subject to；Fi is the gradient resistance that mobile robot is subject to；Fj is the acceleration resistance that mobile robot is subject to.
The rolling resistance Ff calculation formula that wheel is subject to are：
Ff=m × g × f
In formula：M is the quality of mobile robot；G is acceleration of gravity；F is wheel and the coefficient of rolling friction on ground.
It is possible to move on non-paved road in view of mobile robot, so selection maximum 0.037, each car
Take turns load-bearing 25Kg.
Substitution is calculated：
Ff=25 × 9.8 × 0.037
Air drag Fw calculation formula：
Fw=Cd*A*V2/21.15
In formula：Fw is the air drag being subject to；Cd is coefficient of air resistance；V is mobile robot speed；A is windward side
Product.
According to moment of torsion formula：
M=F × l
In formula：M is torque；F is active force；L is radial vector.
According to moment of torsion and the formula of dynamic rate：
P=T*n/9550
In formula：N=V/ (2*3.14*r).
Thus formula can calculate the torque of wheel hub motor.
Selection of Motor is being obtained according to after, the coefficient of one 1.5 or so is being multiplied by according to actual conditions, according to wheel hub motor
Manufacturer's parameter, selection meets desired wheel hub motor.
The mutually coordinated method of angle beat and rolling speed between four wheels：
During motion, four wheels must be mutually coordinated in deflection angle and two aspects of rolling speed, ability
Robot is set to be run according to required track.When robot turns, carried out by the way of front and back wheel is reversely deflected.So can be with
Reach the degree of cast.
As shown in fig. 7, the radius of turn of robot is defined as：The trace radius at the center of outside deflecting roller.In Fig. 7, L
For wheelbase, W is wheel base, and a1 is outside front vehicle wheel deflection angle, and a2 is inner side front vehicle wheel deflection angle, and a3 is outside rear car
Wheel angle degree, a4 is inner side rear wheel deflection angle.N1 is outside front truck wheel speed, and n2 is inner side front truck wheel speed, and n3 is
Outside rear car wheel speed, n4 is inner side rear car wheel speed.
Each vehicle turning radius is directly proportional to the rotating speed of each wheel.
According to trigonometric function relation, the relation between correlative can be derived.
(1) each wheel steering angle is calculated：
If the radius of turn R1 and deflection angle a1 of preceding outboard wheels is known conditions.
By trigonometric function relation, the deflection angle of other three wheels is obtained：
WhenWhen, robot does cast motion.
(2) rotating speed of each wheel is calculated
If the rotating speed n1 for outside front vehicle wheel of turning is known conditions.
Because vehicle wheel rotational speed is directly proportional with the radius of turn of corresponding wheel, the rotating speed of other three wheels is obtained：
Power supply needed for the control system of mobile robot must be mounted in robot interior, random device people movement.This hair
In bright, as shown in figure 9, from source of the battery as power supply, by inverter, by the Power convert of battery into exchange
220V voltage, is used for the PLC of control machine people, servo-driver and its control circuit.
Battery uses lithium battery power supply.Lithium battery energy density is high, and lightweight, service life is long, the low nothing of self-discharge rate
Memory effect.The present invention is equipped with two Battery packs, and one group is supplied to wheel hub motor to use, and capacity is 20A.h, and another group is driven to servo
Dynamic device is used, and the capacity that servo-driver is used is some larger, is 40A.h.When wheel hub motor not enough power supply, it is ensured that still adjustable
Vehicle wheel direction, can be moved it.
Because AC servo motor needs 220V AC powers, meanwhile, inverter needs to export pure sine wave.So inversion
Device selection Sol FPC-2000B.This inverter has two 220V exchange accessory power outlets and a USB outputs, by a 220V
Socket is load supplying plus power socket.
A kind of above-mentioned portable four wheel all-directional turns to the control method on robot chassis, including：
Normal straight is travelled：PLC does not send the angle position that control signal to servo-driver, i.e. servomotor is maintained at 0 °
Put；Speed control sends control signal by PLC and gives analog input and output module simultaneously, passes through analog input and output module
The magnitude of voltage of four output channel outputs controls the rotating speed of four wheel hub motors respectively；
Certain angle oblique line is travelled：PLC sends control angle signal to servo-driver, is watched by servo driver drives
Take motor and rotate certain angle；Speed control sends control signal by PLC and gives analog input and output module simultaneously, passes through
The magnitude of voltage of four output channel outputs of analog input and output module controls the rotating speed of four wheel hub motors respectively；
Turn or original place is rotated：By radius of turn size, according to mathematical modeling, by PLC program, four wheels are calculated
Deflection angle, corresponding servomotor is controlled by PLC control chips, the rotation of wheel is realized.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent variations and the modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of portable four wheel all-directional turns to the control method on robot chassis, it is characterised in that：Including：
Normal straight is travelled：PLC does not send the angle position that control signal is maintained at 0 ° to servo-driver, i.e. servomotor；
Speed control sends control signal by PLC and gives analog input and output module simultaneously, passes through analog input and output module four
The magnitude of voltage of individual output channel output controls the rotating speed of four wheel hub motors respectively；
Certain angle oblique line is travelled：PLC sends control angle signal to servo-driver, passes through servo driver drives servo electricity
Machine rotates certain angle；Speed control sends control signal by PLC and gives analog input and output module simultaneously, passes through simulation
The magnitude of voltage of four output channel outputs of amount input/output module controls the rotating speed of four wheel hub motors respectively；
Turn or original place is rotated：By radius of turn size, according to mathematical modeling, by PLC program, the inclined of four wheels is calculated
Gyration, corresponding servomotor is controlled by PLC, realizes the rotation of wheel.
2. a kind of portable four wheel all-directional according to claim 1 turns to the control method on robot chassis, its feature
It is：Described robot chassis includes being symmetrically arranged with vehicle frame (1), wheel group and PLC control system, the vehicle frame (1)
Four bearing holes are used to install the wheel group, and every group of wheel group includes reduction box (2), steering spindle (3), servomotor (4), connection
Axle device (5), damper (6), wheel hub motor (7)；
The reduction box (2) include casing (21), worm gear (22), key (23), worm screw (24), bearing (25), angle bearing (26),
Sensor block (27), inductive switch (28), the worm gear (22) are arranged in steering spindle (3), and the worm screw (24) is arranged on casing
(21) engaged on and with worm gear (22), for driving worm gear (22) to operate, the key (23) is arranged on worm gear (22) and steering spindle
(3) between, it is ensured that worm gear and steering spindle run-in synchronism；The bearing (25) is arranged on one end of worm screw (24), for supporting snail
Bar (24), the angle bearing (26) is arranged on the other end of worm screw (24), the worm gear (22) and is also equipped with sensor block
(27) and with worm gear (22) rotate, the inductive switch being adapted to the sensor block (27) is installed on the casing (21)
(28)；
The servomotor (4) is arranged on the casing (21), is connected by shaft coupling (5) with worm screw (24), for driving
Dynamic worm screw (24) rotates, and finally controls to be provided with wheel hub motor (7) below the rotational angle of steering spindle (3), the steering spindle (3),
And damper (6) is additionally provided between wheel hub motor (7) and steering spindle (3)；
The PLC control system includes PLC, servo-driver and analog input and output module, and the PLC passes through servo-drive
Device is connected with the servomotor (4), and the PLC is connected by analog input and output module with the wheel hub motor (7)
Connect.
3. a kind of portable four wheel all-directional according to claim 2 turns to the control method on robot chassis, its feature
It is：The servomotor (4) uses blow-up flow pattern motor, and motor model is selected by vehicle wheel rotation moment of torsion.
4. a kind of portable four wheel all-directional according to claim 2 turns to the control method on robot chassis, its feature
It is：The PLC uses Mitsubishi FX3u types PLC.
5. a kind of portable four wheel all-directional according to claim 2 turns to the control method on robot chassis, its feature
It is：The servo-driver uses blow-up flow pattern driver, and each servomotor is provided with servo-driver, PLC to
The servo-driver of each servomotor sends pulse signal, and power amplification is carried out by servo-driver, control servomotor
Operation.
6. a kind of portable four wheel all-directional according to claim 2 turns to the control method on robot chassis, its feature
It is：The analog input and output module uses the FX2n-4DA modules with four passages.
7. a kind of portable four wheel all-directional according to claim 2 turns to the control method on robot chassis, its feature
It is：Each servomotor (4) is provided with servo-driver, each wheel hub motor by analog input and output module its
In passage carry out speed control.
8. a kind of portable four wheel all-directional according to claim 2 turns to the control method on robot chassis, its feature
It is：Also include power supply, the power supply includes battery and inverter, by inverter by the Power convert of battery into exchange
220V voltage, is used for the PLC of control machine people, servo-driver and its control circuit.
9. a kind of portable four wheel all-directional according to claim 8 turns to the control method on robot chassis, its feature
It is：The battery includes two groups, and one group is supplied to wheel hub motor to use, and another group uses to servo-driver, and is watched
Take the accumulator capacity that driver uses and be more than the accumulator capacity for being supplied to wheel hub motor to use, it is ensured that when wheel is not rotated
It can still turn to, improve security.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181499.4A CN107031392A (en) | 2017-03-24 | 2017-03-24 | A kind of portable four wheel all-directional turns to the control method on robot chassis |
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| CN201710181499.4A CN107031392A (en) | 2017-03-24 | 2017-03-24 | A kind of portable four wheel all-directional turns to the control method on robot chassis |
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| CN108214450A (en) * | 2018-03-29 | 2018-06-29 | 西北农林科技大学 | A kind of chassis structure of greenhouse robot |
| CN108313257A (en) * | 2018-03-31 | 2018-07-24 | 丹阳昊天飞行器技术有限公司 | A kind of hub motor type anchoring vehicle |
| CN108372502A (en) * | 2018-01-08 | 2018-08-07 | 浙江立石机器人技术有限公司 | A kind of robot movement-control system and control method |
| CN109229235A (en) * | 2018-11-09 | 2019-01-18 | 北京理工大学 | A kind of driving steering unit, modular vehicle and modularization transportation system |
| CN109532442A (en) * | 2019-01-04 | 2019-03-29 | 山东阿图机器人科技有限公司 | The working method of full wheel power and full wheel revolution driving lightweight mobile chassis system |
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| CN110435784A (en) * | 2019-07-04 | 2019-11-12 | 湖北商贸学院 | A kind of robot of full landform mobile platform and its composition |
| CN110450622A (en) * | 2019-08-15 | 2019-11-15 | 纳恩博（北京）科技有限公司 | Independent steering drive system and dispensing machine people |
| CN110450622B (en) * | 2019-08-15 | 2024-05-07 | 纳恩博（北京）科技有限公司 | Independent steering driving system and dispensing robot |
| WO2021098383A1 (en) * | 2019-11-23 | 2021-05-27 | 同济大学 | Smart car vehicle-in-the-loop test system |
| CN112478021A (en) * | 2020-11-26 | 2021-03-12 | 湖北文理学院 | Mobile robot chassis |
| CN112729204A (en) * | 2020-11-27 | 2021-04-30 | 沪东中华造船(集团)有限公司 | Movable device for installing digital measuring equipment on water-fire processing platform |
| CN113016357A (en) * | 2021-03-18 | 2021-06-25 | 南昌工学院 | All-terrain picking robot |
| CN113561177A (en) * | 2021-07-22 | 2021-10-29 | 山东新一代信息产业技术研究院有限公司 | Four-wheel-drive four-rotation robot rotation method, equipment and medium |
| CN113635780B (en) * | 2021-08-17 | 2023-09-08 | 长春工业大学 | Driving energy-saving and stability-controlling chassis integrated control method for four-wheel drive electric automobile |
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Application publication date: 20170811 |