AGV four-wheel independent steering and differential combination control mechanism

A four-wheel independent steering and control mechanism technology, applied in steering mechanisms, electric steering mechanisms, power steering mechanisms, etc., can solve the problems of inflexible differential steering, poor steering adaptability of special tires, etc., to improve the passability and structure. Ingenious, expensive effects

Pending Publication Date: 2019-03-01
TIANJIN UNIV OF SCI & TECH
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Problems solved by technology

[0007] The purpose of the present invention is to overcome the disadvantages of inflexible front wheel steering and differential steering and poor steering adaptability of special tires in the prior art, and provide a vehicle with reasonable design, stable operation, low manufacturing cost and flexible control of the steering of the carrying chassis. The AGV control mechanism can realize 360-degree rotation of the AGV in situ, translation at various angles and steering at any radius

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  • AGV four-wheel independent steering and differential combination control mechanism
  • AGV four-wheel independent steering and differential combination control mechanism
  • AGV four-wheel independent steering and differential combination control mechanism

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Embodiment Construction

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and through specific embodiments. The following embodiments are only descriptive, not restrictive, and cannot limit the protection scope of the present invention.

[0026] A control mechanism combining AGV four-wheel independent steering and differential speed, such as figure 1 As shown, it includes a chassis 12, a motor 11, a belt 10, a pulley 14, a steering gear 9, a steering gear arm 8, a fixing seat 13, a transmission shaft 6, a steering cup 2 and a wheel 1, and two Motors, the two motors are arranged symmetrically in mirror image; two fixing seats are fixed horizontally in mirror image symmetry on both sides of the front and back of the chassis, and a transmission shaft is respectively hinged in mirror image symmetry on the two fixing seats laterally to both sides, The drive shafts are hung with their own wheels through the steering cups hinged on their out...

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Abstract

The invention relates to an AGV four-wheel independent steering and differential combination control mechanism. A four-wheel independent steering and differential combination mode is adopted, throughmutual cooperation of two devices, the rotation angles of four wheels and the rotation speeds of the wheels on the two sides can be controlled at the same time, the 360-degree in-situ any-radius rotation turn-around action and slant motion are finished, an AGV can achieve in-situ 360-degree rotation, horizontal motion at each angle and steering at any radius, and compared with front wheel steeringand differential steering, the mechanism can finish the 360-degree in-situ any-radius rotation turn-around action and slant motion. Compared with an AGV using special tires (Mecanum wheels and universal wheels) for steering, the four-wheel independent steering and differential combination control mechanism can adopt common tires, the rotation directions of the four wheels and the differential quantity of the tires on the two sides are controlled so as to stably control the steering mode of a mobile platform, and abrasion of the tires can be reduced to the maximum limit. The AGV can be suitable for the complex ground under the condition that the flexible state is kept.

Description

technical field [0001] The invention belongs to the field of intelligent control, and relates to an AGV steering control technology, in particular to a control mechanism combining an AGV four-wheel independent steering and differential speed. Background technique [0002] AGV belongs to the category of wheeled mobile robots. It is the abbreviation of (Automated Guided Vehicle), which means "automatically guided transport vehicle". , a transport vehicle with safety protection and various transfer functions must constantly change its direction independently during the driving process. However, current AGVs mostly use front-wheel steering and differential steering or special tire steering. It is difficult to achieve AGV to flexibly control the steering of the carrier chassis by using front-wheel steering and differential steering. Even if special tires (Mecanum wheels and universal wheels) Wheel) steering AGV has strong limitations, and can only work on flat and high-friction ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04B62D11/04B60G13/00
CPCB62D5/0421B60G13/003B60G2500/10B62D11/04
Inventor 彭一准朱峰齐桂斌张世乾李迪
Owner TIANJIN UNIV OF SCI & TECH
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