Omnidirectional automated guided vehicle

Abstract

The present invention relates to an omnidirectional automated guided vehicle. The omnidirectional automated guided vehicle includes a vehicle body frame and a drive assembly; the drive assembly includes a spindle, two drive motors, and two drive wheels coupled to the same drive axle; each of the drive motors drives one of the drive wheels; the spindle is vertically coupled to a central portion ofthe drive axle; the drive assembly is rotatably mounted to the vehicle body frame through the spindle. The omnidirectional automated guided vehicle realizes steering through the differential speed ofthe motors, and further realizes closed-loop control through encoder feedback; the control logic is simple, and the mechanism is stable and reliable; and forward, backward, traverse, and spinning travel postures can be realized as needed.

Description

technical field [0001] The invention relates to the field of intelligent logistics transportation, in particular to an omnidirectional automatic guided vehicle controlled by differential speed. Background technique [0002] AGV is the abbreviation of Automated Guided Vehicle, which means "automatic guided vehicle". Traditional AGVs only satisfy the forward and backward functions. In recent years, with the increasingly complex working conditions and technological innovations, some AGVs that can move in all directions have appeared. The driving structure of the omnidirectional AGV on the market is generally divided into two types: [0003] 1. The Mecanum wheel developed by the Swedish Mecanum Company is used. The outer ring of each wheel is surrounded by a number of small rollers at 45°. Each large wheel is driven independently, and the small rollers are passively stressed. The pairs of wheels are used in combination. , Through the positive and negative rotation of the wheel...

AI Technical Summary

Problems solved by technology

However, it is precisely because of the characteristics of its own structure that its disadvantages are very large. Because the small rollers are small and use the combined force method to walk, it is determined that this kind of wheel wears very seriously, has low load-bearing, requires high ground flatness, and is expensive. expensive

[0004] 2. Driven by double rudder wheels, each rudder wheel is divided into a steering device and a traveling device, which are controlled independently. Due to volume limitations, it is necessary to integrate the design of the travel reduction box and the travel wheel. The structure is complex, resulting in very expensive steering wheel prices and short delivery times. Longer and compared with the traditional differential control, the threshold of the dual steering wheel structure control algorithm is higher

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