A transport vehicle with omnidirectional motion

Abstract

The invention discloses a transport vehicle with omnidirectional movement, which comprises a vehicle body platform, a double differential drive unit, a cargo platform, a control box, an acceleration sensor, a battery power pack and a wireless communication module; the control box is equipped with an embedded controller and servo motor driver; the four double differential drive units are connected to the car body platform; the control box and the battery power pack are fixedly connected inside the car body platform, and the ultrasonic sensor, acceleration sensor and wireless communication module are fixed on the car body On the platform; the acceleration sensor transmits the measured value to the embedded controller through the wireless communication module, and the control amount calculated by the embedded controller drives the double differential drive unit through the servo motor driver to realize the omnidirectional movement of the vehicle body platform. The present invention increases the control performance of the system and makes the moving speed of the vehicle body platform more stable through the coordinated control among the four double differential units.

Description

technical field [0001] The invention relates to a transport vehicle, in particular to a transport vehicle with omnidirectional movement, which can be widely used in transportation environments such as ports, cargo warehouses, and factory material transportation. Background technique [0002] With the development of society and economy, in the fields of medical care, logistics, facility agriculture, aerospace and other fields, in order to reduce the intensity of human work and improve efficiency and reliability, a large number of auxiliary, autonomous transport vehicles and robots are needed. The mobile mechanism of the platform vehicle, which is the foundation of the transport vehicle, has attracted much attention. In addition, how to save costs and improve the efficiency of cargo transshipment has become a key issue facing people. Generally, the omnidirectional sports car uses four mecanum wheels to realize the omnidirectional movement function of the car body. Since the ...

AI Technical Summary

Problems solved by technology

Since the two wheels of the orthogonal wheel touch the ground alternately during the movement, the pressure on each wheel changes greatly during the movement, which affects the friction force in contact with the ground and the rotation speed of the wheel. Can not guarantee the stability of the speed of the car body movement

In addition, there is a gap between the rollers of the mecanum wheel, which is prone to vibration or slipping, resulting in serious energy loss, resulting in unstable movement of the car body, and the accuracy of the position cannot be guaranteed. Moreover, this kind of wheel has high requirements for processing and design. , resulting in high cost of use

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