The present invention relates to a mobile robot wheel module integrated with a sensor unit, comprising: a wheel; a drive shaft which can rotate in conjunction with the wheel; a drive motor which is connected to the drive shaft to transmit driving power; and a sensor unit which is mounted on the drive shaft to detect the rotational speed, rotation count, rotation direction of the wheel, and the position and torque according to the displacement of the wheel in order to control the drive motor. That is, the present invention can precisely control a drive motor through sensing information, such as the rotation speed, rotation direction, rotation count, and position detection based on the rotation amount of the wheel, from the sensor unit, and specifically, can effectively control a mobile robot according to human/environmental factors such as contact accidents, obstacles, uphill, and downhill during movement by directly measuring friction force generated between the ground and the tire of the wheel or torque, in a case in which heavy goods are loaded to control the motor.

    본 발명은 센서유닛 일체 이동형 로봇바퀴모듈에 관한 것으로서, 더욱 상세하게는 휠; 상기 휠과 동반 회전 가능하도록 구성되는 구동샤프트; 상기 구동샤프트에 연결되어 구동력을 전달하는 구동모터; 및 상기 구동샤프트에 장착되고, 상기 휠의 회전속도, 회전수, 회전방향, 상기 휠의 변위량에 따른 위치 및 토크를 검출하여 상기 구동모터를 제어하기 위한 센서유닛;을 포함하여 이루어진다. 즉 본 발명은 센서유닛을 휠의 회전속도, 회전방향, 회전수 및 휠의 회전량에 따른 위치검출 등의 센싱정보를 통해 구동모터의 정밀 제어가 가능하고, 특히 지면과 휠의 타이어 간에 발생하는 마찰력이나, 중량물이 탑재된 경우 토크를 직접 측정하여 모터를 제어함으로써 이동 중 접촉사고나 장애물, 오르막, 내리막 등과 같은 대인/대환경에 따라 이동형 로봇을 효과적으로 제어할 수 있는 센서유닛 일체 이동형 로봇바퀴모듈을 제안하고자 한다.


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    Titel :

    Mobile robot wheel module equipped with integrated sensor unit


    Weitere Titelangaben:

    센서유닛 일체 이동형 로봇바퀴모듈


    Beteiligte:
    HUR YONG SOO (Autor:in) / HAN CHUN SOO (Autor:in) / PARK SUNG SANG (Autor:in) / JUNG JI MIN (Autor:in)

    Erscheinungsdatum :

    2022-08-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60B VEHICLE WHEELS , Räder für Fahrzeuge



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