Split-type differential drive device and omnibearing movable automatic guided vehicle thereof

Abstract

The invention discloses a split-type differential drive device and an omnibearing movable automatic guided vehicle thereof, belonging to the field of an automatic conveying device. The device is provided with an upper rotating disc which is fixed on a vehicle body and is assembled together with a lower rotating disc in a coaxial way by a thrust bearing; the upper rotating disc is provided with an angle sensor and an electromagnetic clutch; and the lower rotating disc is provided with a guide sensor, a vehicle controller and two sets of wheel type moving device, each of which comprises a motor driver, an motor brake, a servo motor, a rotary encoder, a speed reducer and a driving wheel. The device of the invention has the advantages of simple structure, high bearing capacity, accurate control, stable running and the like; and the method fully utilizes the characteristics of the device, is simple in control principle and good in path adaptability, and has higher stability, accuracy and rapidity.

Description

Technical field [0001] The invention relates to a separable differential drive device and an omnidirectional mobile automatic guided vehicle thereof, and belongs to the field of automated conveying equipment. Background technique [0002] The drive / steering device is the motion actuator of a wheeled electric vehicle. According to the degree of freedom of plane movement, the automatic guided vehicle (AGV for short) has a non-holonomic movement mode with limited lateral movement and a full range of movement that can realize all plane movements. Way. The omnidirectional mobile automatic guided vehicle can not only move forward and backward along the longitudinal direction of the vehicle body, rotate in situ around the center of the vehicle body, but also move left and right laterally along the vehicle body, and can move along the vehicle body while maintaining the same posture. It can move in any direction in the plane and has good maneuverability in limited working space. ...

AI Technical Summary

Problems solved by technology

This device can ensure the synchronization of the two-wheel steering control, but it has the following disadvantages: (1) it is difficult to accurately control the motion state of the driving wheel through the friction drive of the clutch type; (2) the device uses the casing of the motor and the reducer as the main Load-bearing structure, limited strength and stiffness are not suitable for heavy load conditions; (3) It is difficult to achieve precise locking between the upper turntable and the lower turntable at any angle by using the connection method of positioning pins and positioning pits; (4) The angle sensor needs The center position switch is used for centering calibration; (5) The structure of the drive wheel electromagnetic clutch in the device is relatively complicated

[0005] Since the Mecanum wheel and the spherical wheel can realize all plane movements, the omnidirectional mobile automatic guided vehicle using this wheel is not subject to non-holonomic constraints, and its motion control method is relatively simple. However, the mechanical structure of the omnidirectional wheel is complex and the manufacturing cost is high. , and it is difficult to be adaptive to the shape change of the running path

The automatic guided vehicle using conventional wheels cannot directly eliminate the lateral position deviation due to non-holonomic constraints. In the motion control, the longitudinal displacement of the car body needs to be used to indirectly eliminate the lateral position deviation. The motion control method is relatively complicated and requires a large amount of motion. space

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