Omnidirectional mini stacking AGV and control method thereof

Abstract

The embodiment of the invention mainly relates to the technical field of automatic guided vehicles, in particular to an omni-directional mini stacking AGV and a control method thereof. An omni-directional mini stacking AGV comprises a first electric wheel mechanism installed on a first pallet fork and comprising a first electric wheel, a second electric wheel mechanism installed on a second pallet fork and a second electric wheel mechanism installed on a second pallet fork, the second electric wheel mechanism is mounted on the second pallet fork, and the second electric wheel mechanism comprises a second electric wheel; the third electric wheel mechanism is mounted on the rear wheel mounting frame, and the third electric wheel mechanism comprises a third electric wheel; the driving wheel mechanism is mounted on the rear wheel mounting frame, and the driving wheel mechanism comprises a driving wheel. According to the omni-directional mini stacking AGV, the arrangement positions of the driving wheels are improved, so that the automatic guide vehicle can normally move in an omni-directional mode even if only one driving wheel is arranged, and the cost of the automatic guide vehicle is reduced on the premise that it is guaranteed that the automatic guide vehicle can normally move in the omni-directional mode.

Description

Technical Field

[0001] The embodiments of this specification mainly relate to the technical field of automatic guided vehicles, and specifically to an omnidirectional mini stacking AGV and a control method thereof. Background Art

[0002] As the level of intelligence in the field of logistics equipment technology continues to deepen, in order to improve handling efficiency and warehouse utilization and minimize the area occupied by transport vehicles, automated guided vehicles (AGVs) are widely used.

[0003] In the prior art, in order to enable the automatic guided vehicle to move in all directions, two main drive wheels are usually provided on the rear wheel mounting frame, and the two main drive wheels are symmetrically arranged on the left and right and both have driving and angle adjustment functions. However, the provision of two main drive wheels will make the automatic guided vehicle more expensive. However, if only one main drive wheel is provided and the other symmetrically arranged main drive wheel is changed to an electric wheel, the automatic guided vehicle will not be able to move in all directions. Summary of the invention

[0004] In view of the problems existing in the prior art, the embodiments of this specification propose an omnidirectional mini stacking AGV and a control method thereof.

[0005] In a first aspect, an embodiment of the present specification provides an omnidirectional mini stacking AGV, comprising: A first electric wheel mechanism is mounted on the first fork, and the first electric wheel mechanism includes a first electric wheel; A second electric wheel mechanism is mounted on the second fork, and the second electric wheel mechanism includes a second electric wheel; A third electric wheel mechanism is mounted on the rear wheel mounting frame, and the third electric wheel mechanism includes a third electric wheel; A driving wheel mechanism is mounted on the rear wheel mounting frame, and the driving wheel mechanism includes a driving wheel; A controller, electrically connected to the first electric wheel mechanism, the second electric wheel mechanism, the third electric wheel mechanism and the driving wheel mechanism; The first electric wheel and the second electric wheel are arranged on the same straight line along the width direction of the automatic guided vehicle, and the distance between the first electric wheel and the second electric wheel in the width direction of the automatic guided vehicle is L2; The third electric wheel and the second electric wheel are arranged on the same straight line along the length direction of the automatic guided vehicle, and the distance between the third electric wheel and the second electric wheel in the length direction of the automatic guided vehicle is L4; The distance between the driving wheel and the first electric wheel in the length direction of the automatic guided vehicle is L3, and L3 is smaller than L4.

[0006] Preferably, the difference between L4 and L3 is greater than or equal to 30 mm and less than or equal to 60 mm; The distance between the driving wheel and the third electric wheel in the width direction of the automatic guided vehicle is L1, and L1 is smaller than L2.

[0007] Preferably, the driving wheel mechanism further comprises: A driving wheel mounting frame connected to the driving wheel; The driving wheel rotation angle adjustment gear 1 is connected to the driving wheel mounting frame, and the driving wheel rotation angle adjustment gear 1 is rotationally connected to the rear wheel mounting frame; The driving wheel rotation angle adjustment gear 2 is meshed and connected with the driving wheel rotation angle adjustment gear 1; The driving wheel rotating motor has a housing connected to the rear wheel mounting frame, and a power output end of the driving wheel rotating motor is connected to the driving wheel rotating angle adjusting gear 2; The driving wheel driving motor has a housing connected to the driving wheel rotation angle adjustment gear, and a power output end of the driving wheel driving motor is connected to the driving wheel.

[0008] Preferably, the rear wheel mounting frame comprises: Motor docking plate; A position adjustment plate, wherein a first vertical side surface of the position adjustment plate is connected to the motor docking plate, a position adjustment rod is disposed on a second vertical side surface of the position adjustment plate, the second vertical side surface is disposed opposite to the first vertical side surface, the position adjustment rod is provided with a limiting connection hole one disposed along the width direction of the automatic guided vehicle, and the position adjustment rod is provided with a plurality of limiting connection holes one along the length direction of the automatic guided vehicle; The vertical support plate is provided with an adjustment hole for allowing the position adjustment rod to pass through and allow the position adjustment rod to move horizontally, and the vertical support plate is provided with a second limited position connection hole on the side of the adjustment hole; The position fixing member is used to connect and fix the position adjustment rod to the vertical support plate through the limiting connection hole 1 and the limiting connection hole 2.

[0009] Preferably, the position fixing member comprises: A limit block is clamped in a part of the adjustment hole, and the length of the limit block in the width direction of the automatic guided vehicle is set in various specifications; A first limit fixing plate is vertically connected to the limit block, and the first limit fixing plate is provided with a limit docking hole 1 which is connected to the limit connecting hole 1 through a connecting piece; The second limiting fixing plate is vertically connected to the limiting block, and the second limiting fixing plate is provided with a second limiting docking hole which is connected to the second limiting connecting hole through a connecting piece.

[0010] Preferably, the third electric wheel mechanism further includes: A third electric wheel mounting frame connected to the third electric wheel; The third electric wheel rotation angle adjustment gear 1 is connected to the third electric wheel mounting frame, and the third electric wheel rotation angle adjustment gear 1 is rotationally connected to the rear wheel mounting frame; The third electric wheel rotation angle adjustment gear 2 is meshed and connected with the third electric wheel rotation angle adjustment gear 1; The third electric wheel rotating motor has a housing connected to the rear wheel mounting frame, and a power output end of the third electric wheel rotating motor is connected to the third electric wheel rotating angle adjusting gear 2.

[0011] Preferably, the first electric wheel mechanism further comprises: The first electric wheel mounting sleeve has an outer peripheral wall of which is rotatably connected to the first fork, and the inner peripheral wall of the sleeve of the first electric wheel mounting sleeve is connected to the wheel axle of the first electric wheel, and the outer peripheral wall of the sleeve of the first electric wheel mounting sleeve is also provided with a gear ring 1; The first electric wheel rotation angle adjustment gear 1 is rotationally connected to the first fork, and the first electric wheel rotation angle adjustment gear 1 is meshingly connected to the gear ring 1; The first electric wheel rotation angle adjustment gear 2 is meshed and connected with the first electric wheel rotation angle adjustment gear 1, the first electric wheel rotation angle adjustment gear 2 is rotationally connected to the first fork through the rotation shaft 1, and the first electric wheel rotation angle adjustment gear 2 is connected to the first axial end of the rotation shaft 1; The first electric wheel rotation angle adjustment gear three is connected to the second axial end of the rotating shaft one; The first electric wheel rotation angle adjustment gear four is meshed and connected with the first electric wheel rotation angle adjustment gear three; The first electric wheel rotating motor has a housing connected to the first fork, and a power output end of the first electric wheel rotating motor is connected to the first electric wheel rotation angle adjusting gear four.

[0012] Preferably, the second electric wheel mechanism further comprises: The second electric wheel mounting sleeve has an outer peripheral wall thereof which is rotatably connected to the second cargo fork, an inner peripheral wall of the second electric wheel mounting sleeve is connected to the wheel axle of the second electric wheel, and a second gear ring is further provided on the outer peripheral wall of the second electric wheel mounting sleeve; The second electric wheel rotation angle adjustment gear 1 is rotationally connected to the second fork, and the second electric wheel rotation angle adjustment gear 1 is meshingly connected to the gear ring 2; The second electric wheel rotation angle adjustment gear 2 is meshed and connected with the second electric wheel rotation angle adjustment gear 1, the second electric wheel rotation angle adjustment gear 2 is rotationally connected to the second fork through the rotating shaft 2, and the second electric wheel rotation angle adjustment gear 2 is connected to the first axial end of the rotating shaft 2; The second electric wheel rotation angle adjustment gear 3 is connected to the second axial end of the rotating shaft 2; The second electric wheel rotation angle adjustment gear four is meshed and connected with the second electric wheel rotation angle adjustment gear three; The second electric wheel rotating motor has a housing connected to the second fork, and a power output end of the second electric wheel rotating motor is connected to the second electric wheel rotation angle adjusting gear four.

[0013] In a second aspect, an embodiment of the present specification provides a control method for an omnidirectional mini stacking AGV, using the omnidirectional mini stacking AGV of the first aspect, and the control method comprises the following steps: S1. Select a preset driving path for the automatic guided vehicle; S2. Control the automatic guided vehicle to drive according to the preset driving path, and obtain the current driving state of the automatic guided vehicle according to the preset driving path. When the driving state enters the first driving state, enter S21, and the first driving state is to drive straight forward or backward; when the driving state enters the second driving state, enter S22, and the second driving state is to drive left or right; when the driving state enters the third driving state, enter S23, and the third driving state is to drive obliquely to the left front, left rear, right front, or right rear; when the driving state enters the fourth driving state, enter S24, and the fourth driving state is to rotate clockwise / counterclockwise on the spot; S21. adjusting the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel to a preset driving angle according to the preset driving path of the automatic guided vehicle in the first driving state; Controlling the automatic guided vehicle to travel according to a preset travel path of the automatic guided vehicle in the first travel state, and obtaining the real-time travel path of the automatic guided vehicle during the travel, while locking the preset travel angle of the first electric wheel, locking the preset travel angle of the second electric wheel, adjusting the real-time travel angle of the third electric wheel, and adjusting the real-time travel angle of the driving wheel so that the real-time travel path of the automatic guided vehicle is the same as the preset travel path of the automatic guided vehicle; S22. adjusting the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel to a preset driving angle according to the preset driving path of the automatic guided vehicle in the second driving state; Controlling the automatic guided vehicle to travel according to a preset travel path of the automatic guided vehicle in the second travel state, obtaining the real-time travel path of the automatic guided vehicle during the travel, and adjusting the real-time travel angle of the first electric wheel, locking the preset travel angle of the second electric wheel, locking the preset travel angle of the third electric wheel, and adjusting the real-time travel angle of the driving wheel so that the real-time travel path of the automatic guided vehicle is the same as the preset travel path of the automatic guided vehicle; S23. adjusting the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel to a preset driving angle according to the preset driving path of the automatic guided vehicle in the third driving state; Controlling the automatic guided vehicle to travel according to a preset travel path of the automatic guided vehicle in the third travel state, and locking a preset travel angle of the first electric wheel, a preset travel angle of the second electric wheel, a preset travel angle of the third electric wheel, and a preset travel angle of the driving wheel during travel; S24. adjusting the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel to a preset driving angle according to the preset driving path of the automatic guided vehicle in the fourth driving state; The automatic guided vehicle is controlled to rotate according to a preset driving path of the automatic guided vehicle in the fourth driving state, and during the rotation process, the preset driving angle of the first electric wheel is locked, the preset driving angle of the second electric wheel is locked, the preset driving angle of the third electric wheel is locked, and the preset driving angle of the driving wheel is locked.

[0014] Preferably, the control method further comprises the following steps: P11. Install the brake on the driving wheel mechanism; P12. When a brake signal is received, the brake is activated, and the first electric wheel is controlled to deflect by a first angle and the second electric wheel is controlled to deflect by a second angle; or, the first electric wheel is controlled to deflect by a first angle, the second electric wheel is controlled to deflect by a second angle and the third electric wheel is controlled to deflect by a third angle; or, P21. Install brakes on the driving wheel mechanism and the third electric wheel mechanism; P22. When a brake signal is received, the brake is activated, and the first electric wheel is controlled to deflect to a first angle and the second electric wheel is controlled to deflect to a second angle.

[0015] Beneficial Effects The omnidirectional mini stacking AGV of the embodiment of the present specification improves the setting position of the driving wheel (the distance L3 between the driving wheel and the first electric wheel in the length direction of the automatic guided vehicle is set to be smaller than the distance L4 between the third electric wheel and the second electric wheel in the length direction of the automatic guided vehicle), so that the automatic guided vehicle can move normally in all directions even if only one driving wheel is set. That is, the cost of the automatic guided vehicle is reduced while ensuring that the automatic guided vehicle can move normally in all directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the overall structure of the omnidirectional mini stacking AGV provided in the embodiments of this specification; Figure 2 A bottom view of the omnidirectional mini stacking AGV provided in the embodiment of this specification; Figure 3 A schematic diagram of the structure of the driving wheel mechanism and the third electric wheel mechanism provided in the embodiments of this specification; Figure 4 A schematic diagram of the structure of a first electric wheel mechanism provided in an embodiment of this specification; Figure 5 A schematic diagram of an automatic guided vehicle provided in an embodiment of the present specification, in which the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel are adjusted to a preset driving angle in a first driving state; Figure 6 A schematic diagram of the automatic guided vehicle provided in an embodiment of the present specification, in which the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel are adjusted to a preset driving angle in the second driving state; Figure 7 A schematic diagram of the automatic guided vehicle provided in an embodiment of the present specification, in which the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel are adjusted to a preset driving angle in the third driving state; Figure 8 A schematic diagram of the automatic guided vehicle provided in an embodiment of the present specification, in which the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel are adjusted to a preset driving angle in a fourth driving state; Fig. 9 A schematic diagram of a partial structure of a rear wheel mounting frame provided in an embodiment of this specification; Fig.10 A schematic diagram of a partial structure of a rear wheel mounting frame from another perspective provided in an embodiment of this specification; Fig.11 Another schematic diagram of the driving angles of the first electric wheel, the second electric wheel, the third electric wheel and the driving wheel of the automatic guided vehicle provided in the embodiment of this specification in the first driving state; Fig.12 A schematic diagram of the first electric wheel deflecting by a first angle and the second electric wheel deflecting by a second angle when the automatic guided vehicle provided in an embodiment of this specification brakes in a first driving state; Fig.13 A schematic diagram of the first electric wheel deflecting by a first angle and the second electric wheel deflecting by a second angle when the automatic guided vehicle provided in an embodiment of this specification brakes in a second driving state; Fig.14 A schematic diagram of the first electric wheel deflecting by a first angle, the second electric wheel deflecting by a second angle, and the third electric wheel deflecting by a third angle when the automated guided vehicle provided in an embodiment of this specification brakes in a second driving state. DETAILED DESCRIPTION

[0017] Embodiments of the present specification will be described in more detail below with reference to the accompanying drawings.

[0018] Embodiment 1: An omnidirectional mini stacking AGV, such as Figure 1 and Figure 2As shown, it includes: a first electric wheel mechanism 100, a second electric wheel mechanism 300, a third electric wheel mechanism 500, a driving wheel mechanism 700 and a controller.

[0019] The first electric wheel mechanism 100 is mounted on the first fork 200, and the first electric wheel mechanism 100 includes a first electric wheel 110. The second electric wheel mechanism 300 is mounted on the second fork 400, and the second electric wheel mechanism 300 includes a second electric wheel 310. The third electric wheel mechanism 500 is mounted on the rear wheel mounting frame 600, and the third electric wheel mechanism 500 includes a third electric wheel 510. The driving wheel mechanism 700 is mounted on the rear wheel mounting frame 600, and the driving wheel mechanism 700 includes a driving wheel 710.

[0020] The first electric wheel 110, the second electric wheel 310 and the third electric wheel 510 of this embodiment have the function of adjusting the driving angle, while the driving wheel 710 has not only the function of adjusting the driving angle but also the function of driving.

[0021] If the driving wheel 710 and the third electric wheel 510 are directly symmetrically arranged on the rear wheel mounting frame 600, the automatic guided vehicle cannot perform omnidirectional movement. The omnidirectional movement of the automatic guided vehicle includes moving straight forward or backward (assuming the first driving state), moving left or right (assuming the second driving state), moving diagonally to the left front or left rear or right front or right rear (assuming the third driving state), and rotating clockwise or counterclockwise on the spot (assuming the fourth driving state).

[0022] Now take the second driving state "traveling to the left or right" as an example, if the driving wheel 710 and the third electric wheel 510 are symmetrically arranged on the rear wheel mounting frame 600, then in the length direction of the automatic guided vehicle, one side of the driving wheel 710 has the first electric wheel 110 and the second electric wheel 310, and the other side has no electric wheel, so that the first fork 200 and the second fork 400 having the first electric wheel 110 and the second electric wheel 310 lag behind due to friction. In addition, since the automatic guided vehicle has only one driving wheel 710 (the driving force is relatively small), the automatic guided vehicle cannot move sideways normally, and finally the automatic guided vehicle cannot move in all directions.

[0023] To this end, the present embodiment improves the setting position of the driving wheel 710. Specifically, the first electric wheel 110 and the second electric wheel 310 are arranged on the same straight line along the width direction of the automatic guided vehicle, and the distance between the first electric wheel 110 and the second electric wheel 310 in the width direction of the automatic guided vehicle is L2. The third electric wheel 510 and the second electric wheel 310 are arranged on the same straight line along the length direction of the automatic guided vehicle, and the distance between the third electric wheel 510 and the second electric wheel 310 in the length direction of the automatic guided vehicle is L4. The distance between the driving wheel 710 and the first electric wheel 110 in the length direction of the automatic guided vehicle is L3, and L3 is smaller than L4.

[0024] When L3 is less than L4, then in the length direction of the automatic guided vehicle, there are the first electric wheel 110 and the second electric wheel 310 on one side of the driving wheel 710, and the third electric wheel 510 on the other side, so that both sides of the driving wheel 710 have electric wheels generating friction. In addition, it is only necessary to select the appropriate first electric wheel 110, the second electric wheel 310, and the third electric wheel 510 in advance, so that the friction generated by the first electric wheel 110 and the second electric wheel 310 is not much different from the friction generated by the third electric wheel 510, so that the automatic guided vehicle will not lag due to the friction of the electric wheels when it is sideways, and finally the automatic guided vehicle can normally sideways even if it has only one driving wheel 710. Among them, it is most appropriate that the difference between L4 and L3 is greater than or equal to 30 mm and less than or equal to 60 mm. For example, the difference between L4 and L3 can be 45 mm.

[0025] Further, take the first driving state "going straight forward or backward" as an example. The distance between the driving wheel 710 and the third electric wheel 510 in the width direction of the automatic guided vehicle is L1. Similarly, in order to make the electric wheels on the left and right sides of the automatic guided vehicle generate friction when the automatic guided vehicle is going straight, L1 is set smaller than L2, wherein the difference between L2 and L1 can be 20 mm. In addition, since the lengths of L1 and L2 are much smaller than the lengths of L3 and L4, the friction lag phenomenon of the automatic guided vehicle when going straight is not very obvious. At this time, it is only necessary to slightly adjust the driving angle direction of the automatic guided vehicle driving wheel 710 and the third electric wheel 510 to enable the automatic guided vehicle to go straight normally. Therefore, even if L1 is equal to L2 or L1 is slightly larger than L2, the automatic guided vehicle can go straight normally, but when L1 is set smaller than L2, the effect of the automatic guided vehicle going straight will be better.

[0026] In summary, the automatic guided vehicle of this embodiment improves the setting position of the driving wheel 710 (the distance L3 between the driving wheel and the first electric wheel in the length direction of the automatic guided vehicle is set to be smaller than the distance L4 between the third electric wheel and the second electric wheel in the length direction of the automatic guided vehicle), so that the automatic guided vehicle can move normally in all directions even if only one driving wheel 710 is set. That is, the cost of the automatic guided vehicle is reduced while ensuring that the automatic guided vehicle can move normally in all directions.

[0027] Further, such as Figure 4 As shown, the first electric wheel mechanism 100 also includes: a first electric wheel mounting sleeve 120, a first electric wheel rotation angle adjustment gear 1 130, a first electric wheel rotation angle adjustment gear 2 140, a first electric wheel rotation angle adjustment gear 3 150, a first electric wheel rotation angle adjustment gear 4 160 and a first electric wheel rotation motor 170.

[0028] The outer peripheral wall of the first electric wheel mounting sleeve 120 is rotatably connected to the first fork 200, and the inner peripheral wall of the first electric wheel mounting sleeve 120 is connected to the wheel axle of the first electric wheel 110, and the outer peripheral wall of the first electric wheel mounting sleeve 120 is also provided with a gear ring 121. The first electric wheel rotation angle adjustment gear 1 130 is rotatably connected to the first fork 200, and the first electric wheel rotation angle adjustment gear 1 130 is meshedly connected to the first electric wheel rotation angle adjustment gear 1 130. The first electric wheel rotation angle adjustment gear 2 140 is meshedly connected to the first electric wheel rotation angle adjustment gear 1 130, and the first electric wheel rotation angle adjustment gear 2 140 is rotatably connected to the first fork 200 through the rotation shaft 1, and the first electric wheel rotation angle adjustment gear 2 140 is connected to the first axial end of the rotation shaft 1. The first electric wheel rotation angle adjustment gear 3 150 is connected to the second axial end of the rotation shaft 1. The first electric wheel rotation angle adjustment gear 4 160 is meshedly connected to the first electric wheel rotation angle adjustment gear 3 150. The housing of the first electric wheel rotating motor 170 is connected to the first fork 200 , and the power output end of the first electric wheel rotating motor 170 is connected to the first electric wheel rotating angle adjusting gear four 160 .

[0029] Working principle: When the power output end of the first electric wheel rotation motor 170 rotates, it will drive the first electric wheel rotation angle adjustment gear four 160 to rotate synchronously; when the first electric wheel rotation angle adjustment gear four 160 rotates, it will drive the first electric wheel rotation angle adjustment gear three 150 to rotate synchronously; when the first electric wheel rotation angle adjustment gear three 150 rotates, it will drive the first electric wheel rotation angle adjustment gear two 140 to rotate synchronously through the rotating shaft one; when the first electric wheel rotation angle adjustment gear two 140 rotates, it will drive the first electric wheel rotation angle adjustment gear one 130 to rotate synchronously; when the first electric wheel rotation angle adjustment gear one 130 rotates, it will drive the first electric wheel mounting sleeve 120 to rotate through the gear ring one 121; when the first electric wheel mounting sleeve 120 rotates, it will drive the first electric wheel 110 to rotate synchronously on the horizontal plane, which is equivalent to adjusting the driving angle of the first electric wheel 110. When the driving angle of the first electric wheel 110 is adjusted, the driving angle of the first electric wheel 110 is locked by simply stopping the power output end of the first electric wheel rotation motor 170. At this time, the first electric wheel 110 will only roll forward / backward in the direction of the adjusted driving angle. When the driving angle of the first electric wheel 110 needs to be adjusted to another value, the power output end of the first electric wheel rotation motor 170 needs to be rotated clockwise or counterclockwise.

[0030] In the prior art, a gear is directly arranged on the top of the electric wheel, and the power output end of the electric wheel rotating motor is directly meshed and connected with the gear on the top of the electric wheel to rotate and adjust the driving angle of the electric wheel, and the gear is then rotatably connected with the fork through the bearing shaft and other components, so that the support stability of the entire electric wheel is poor. In this embodiment, the first electric wheel 110 is arranged in the first electric wheel mounting sleeve 120, and the first electric wheel mounting sleeve 120 is rotatably connected with the first fork 200, so that the support stability of the first electric wheel 110 is good. Since most of the outer peripheral wall of the first electric wheel mounting sleeve 120 needs to be rotatably connected with the first fork 200, a gear ring 121 that can drive the first electric wheel mounting sleeve 120 to rotate can only be arranged in a local area (for example, a lower position). Since the ring gear 121 and the power output end of the first electric wheel rotating motor 170 are staggered up and down, it is necessary to connect the power output end of the first electric wheel rotating motor 170 with the ring gear 121 through the first electric wheel rotation angle adjustment gear 3 150, the first electric wheel rotation angle adjustment gear 2 140, and the first electric wheel rotation angle adjustment gear 1 130, so that the first electric wheel rotating motor 170 can eventually drive the first electric wheel mounting sleeve 120 and the first electric wheel 110 to rotate.

[0031] The second electric wheel mechanism 300 is the same as the first electric wheel mechanism 100, and also includes: a second electric wheel mounting sleeve, a second electric wheel rotation angle adjustment gear one, a second electric wheel rotation angle adjustment gear two, a second electric wheel rotation angle adjustment gear three, a second electric wheel rotation angle adjustment gear four and a second electric wheel rotation motor.

[0032] The outer peripheral wall of the second electric wheel mounting sleeve is rotatably connected to the second fork 400, and the inner peripheral wall of the second electric wheel mounting sleeve is connected to the axle of the second electric wheel 310, and the outer peripheral wall of the second electric wheel mounting sleeve is also provided with a gear ring 2. The second electric wheel rotation angle adjustment gear 1 is rotatably connected to the second fork 400, and the second electric wheel rotation angle adjustment gear 1 is meshed and connected with the gear ring 2. The second electric wheel rotation angle adjustment gear 2 is meshed and connected with the second electric wheel rotation angle adjustment gear 1, and the second electric wheel rotation angle adjustment gear 2 is rotatably connected to the second fork 400 through the rotating shaft 2, and the second electric wheel rotation angle adjustment gear 2 is connected to the first axial end of the rotating shaft 2. The second electric wheel rotation angle adjustment gear 3 is connected to the second axial end of the rotating shaft 2. The second electric wheel rotation angle adjustment gear 4 is meshed and connected with the second electric wheel rotation angle adjustment gear 3. The housing of the second electric wheel rotation motor is connected to the second fork 400, and the power output end of the second electric wheel rotation motor is connected to the second electric wheel rotation angle adjustment gear 4.

[0033] Working principle: When the power output end of the second electric wheel rotation motor rotates, it will drive the second electric wheel rotation angle adjustment gear 4 to rotate synchronously; when the second electric wheel rotation angle adjustment gear 4 rotates, it will drive the second electric wheel rotation angle adjustment gear 3 to rotate synchronously; when the second electric wheel rotation angle adjustment gear 3 rotates, it will drive the second electric wheel rotation angle adjustment gear 2 to rotate synchronously through the rotating shaft 2; when the second electric wheel rotation angle adjustment gear 2 rotates, it will drive the second electric wheel rotation angle adjustment gear 1 to rotate synchronously; when the second electric wheel rotation angle adjustment gear 1 rotates, it will drive the second electric wheel installation sleeve to rotate through the gear ring 2; when the second electric wheel installation sleeve rotates, it will drive the second electric wheel 310 to rotate synchronously on the horizontal plane, which is equivalent to adjusting the driving angle of the second electric wheel 310. When the driving angle rotation adjustment of the second electric wheel 310 is completed, it only needs to stop the power output end of the second electric wheel rotation motor, and the driving angle of the second electric wheel 310 will be locked. At this time, the second electric wheel 310 will only roll forward / backward in the direction of the adjusted driving angle. When the driving angle of the second electric wheel 310 needs to be adjusted to another value, it is only necessary to rotate the power output end of the second electric wheel rotating motor clockwise or counterclockwise.

[0034] In the prior art, a gear is directly set on the top of the electric wheel, and the power output end of the electric wheel rotating motor is directly meshed and connected with the gear on the top of the electric wheel to rotate and adjust the driving angle of the electric wheel, and the gear is then rotatably connected with the fork through the bearing shaft and other components, so that the support stability of the entire electric wheel is poor. In this embodiment, the second electric wheel is set in the second electric wheel mounting sleeve, and the second electric wheel mounting sleeve is rotatably connected with the second fork 400, so that the support stability of the second electric wheel 310 is good. Since most of the outer peripheral wall of the second electric wheel mounting sleeve needs to be rotatably connected with the second fork 400, the gear ring 2 that can drive the second electric wheel mounting sleeve to rotate can only be set in a local area (for example, the lower position). Since the ring gear 2 and the power output end of the second electric wheel rotating motor are staggered up and down, it is necessary to connect the power output end of the second electric wheel rotating motor with the ring gear 2 through the second electric wheel rotation angle adjustment gear 3, the second electric wheel rotation angle adjustment gear 2, and the second electric wheel rotation angle adjustment gear 1, so that the second electric wheel rotating motor can eventually drive the second electric wheel mounting sleeve and the second electric wheel 310 to rotate.

[0035] like Figure 3 As shown, the third electric wheel mechanism 500 also includes: a third electric wheel mounting frame 520, a third electric wheel rotation angle adjustment gear 1 530, a third electric wheel rotation angle adjustment gear 2 540 and a third electric wheel rotation motor 550. The third electric wheel mounting frame 520 is connected to the third electric wheel 510. The third electric wheel rotation angle adjustment gear 1 530 is connected to the third electric wheel mounting frame 520, and the third electric wheel rotation angle adjustment gear 1 530 is rotationally connected to the rear wheel mounting frame 600. The third electric wheel rotation angle adjustment gear 2 540 is meshedly connected to the third electric wheel rotation angle adjustment gear 1 530. The housing of the third electric wheel rotation motor 550 is connected to the rear wheel mounting frame 600, and the power output end of the third electric wheel rotation motor 550 is connected to the third electric wheel rotation angle adjustment gear 2 540.

[0036] Working principle: When the power output end of the third electric wheel rotating motor 550 rotates, it will drive the third electric wheel rotation angle adjustment gear 2 540 to rotate synchronously; when the third electric wheel rotation angle adjustment gear 2 540 rotates, it will drive the third electric wheel rotation angle adjustment gear 1 530 to rotate synchronously; when the third electric wheel rotation angle adjustment gear 1 530 rotates, it will drive the third electric wheel mounting frame 520 and the third electric wheel 510 to rotate synchronously on the horizontal plane, which is equivalent to adjusting the driving angle of the third electric wheel 510. When the driving angle of the third electric wheel 510 is adjusted, it is only necessary to stop the power output end of the third electric wheel rotating motor 550, and the driving angle of the third electric wheel 510 will be locked. At this time, the third electric wheel 510 will only roll forward / backward in the direction of the adjusted driving angle. When the driving angle of the third electric wheel 510 needs to be adjusted to other values, it is only necessary to rotate the power output end of the third electric wheel rotating motor 550 clockwise or counterclockwise.

[0037] like Figure 3 As shown, the driving wheel mechanism 700 also includes: a driving wheel mounting frame 720, a driving wheel rotation angle adjustment gear 1 730, a driving wheel rotation angle adjustment gear 2 740, a driving wheel rotation motor 750 and a driving wheel driving motor 760.

[0038] The driving wheel mounting frame 720 is connected to the driving wheel 710. The driving wheel rotation angle adjustment gear 1 730 is connected to the driving wheel mounting frame 720, and the driving wheel rotation angle adjustment gear 1 730 is rotationally connected to the rear wheel mounting frame 600. The driving wheel rotation angle adjustment gear 2 740 is meshed and connected to the driving wheel rotation angle adjustment gear 1 730. The housing of the driving wheel rotation motor 750 is connected to the rear wheel mounting frame 600, and the power output end of the driving wheel rotation motor 750 is connected to the driving wheel rotation angle adjustment gear 2 740. The housing of the driving wheel drive motor 760 is connected to the driving wheel rotation angle adjustment gear 1 730, and the power output end of the driving wheel drive motor 760 is connected to the driving wheel 710.

[0039] Working principle: When the power output end of the driving wheel rotation motor 750 rotates, it will drive the driving wheel rotation angle adjustment gear 2 740 to rotate synchronously; when the driving wheel rotation angle adjustment gear 2 740 rotates, it will drive the driving wheel rotation angle adjustment gear 1 730 to rotate synchronously; when the driving wheel rotation angle adjustment gear 1 730 rotates, it will drive the driving wheel mounting frame 720 and the driving wheel 710 to rotate synchronously on the horizontal plane, which is equivalent to adjusting the driving angle of the driving wheel 710. When the driving angle of the driving wheel 710 is adjusted, it only needs to stop the power output end of the driving wheel rotation motor 750, and the driving angle of the driving wheel 710 will be locked. At this time, the driving wheel 710 will only roll forward / backward in the direction of the adjusted driving angle. When the driving angle of the driving wheel 710 needs to be adjusted to other values, it only needs to rotate the power output end of the driving wheel rotation motor 750 clockwise or counterclockwise.

[0040] In addition, when the power output end of the driving wheel driving motor 760 rotates, it can provide driving force for the driving wheel 710 to roll. The driving wheel driving motor 760 is arranged on the driving wheel rotation angle adjustment gear 1 730, and can rotate on the horizontal plane together with the driving wheel rotation angle adjustment gear 1 730, that is, the driving wheel mechanism 700 provides driving force to the driving wheel 710 and adjusts the driving angle of the driving wheel 710 without affecting each other.

[0041] The controller is electrically connected to the first electric wheel rotating motor 170 of the first electric wheel mechanism 100, the second electric wheel rotating motor of the second electric wheel mechanism 300, the third electric wheel rotating motor 550 of the third electric wheel mechanism 500, and the driving wheel rotating motor 750 and the driving wheel driving motor 760 of the driving wheel mechanism 700.

[0042] The controller can adjust the driving angle direction of the first electric wheel 110 by controlling the rotation of the power output end of the first electric wheel rotating motor 170, can adjust the driving angle direction of the second electric wheel 310 by controlling the rotation of the power output end of the second electric wheel rotating motor, can adjust the driving angle direction of the third electric wheel 510 by controlling the rotation of the power output end of the third electric wheel rotating motor 550, can adjust the driving angle direction of the driving wheel 710 by controlling the rotation of the power output end of the driving wheel rotating motor 750, and can also provide driving force to the driving wheel 710 by controlling the start and stop of the driving wheel drive motor 760.

[0043] Further, such as Fig. 9 and Fig.10 As shown, the rear wheel mounting frame 600 includes: a motor docking plate 610 , a position adjustment plate 620 , a vertical support plate 630 and a position fixing member 640 .

[0044] For different AGVs, if the difference between L4 and L3 and the difference between L2 and L1 are the same, then the omnidirectional movement effect of some AGVs may not be very good. Therefore, in this embodiment, the rear wheel mounting frame 600 is improved so that the difference between L4 and L3 and the difference between L2 and L1 can be adaptively adjusted according to the demand, so that the AGV has the best omnidirectional movement effect.

[0045] Specifically, the first vertical side of the position adjustment plate 620 is connected to the motor docking plate 610, the second vertical side of the position adjustment plate 620 is provided with a position adjustment rod 621, the second vertical side is arranged opposite to the first vertical side, the position adjustment rod 621 is provided with a limit connection hole 1 622 arranged along the width direction of the automatic guided vehicle, and the position adjustment rod 621 is provided with a plurality of limit connection holes 1 622 along the length direction of the automatic guided vehicle. The vertical support plate 630 is provided with an adjustment hole 631 that allows the position adjustment rod 621 to pass through and allows the position adjustment rod 621 to move horizontally, and the vertical support plate 630 is provided with a limit connection hole 2 632 on the side of the adjustment hole 631. The position fixing member 640 is used to connect and fix the position adjustment rod 621 to the vertical support plate 630 through the limit connection hole 1 622 and the limit connection hole 2 632.

[0046] The position fixing member 640 includes: a limit block 641, a first limit fixing plate 642 and a second limit fixing plate 643. The limit block 641 is clamped in the partial adjustment hole 631, and the length of the limit block 641 in the width direction of the automatic guided vehicle is set to a variety of specifications. The first limit fixing plate 642 is vertically connected to the limit block 641, and the first limit fixing plate 642 is provided with a limit docking hole 1 that is connected to the limit connection hole 1 622 through a connector. The second limit fixing plate 643 is vertically connected to the limit block 641, and the second limit fixing plate 643 is provided with a limit docking hole 2 that is connected to the limit connection hole 2 632 through a connector.

[0047] The motor docking plate 610 is horizontally arranged, and the position adjustment plate 620 is also horizontally arranged and integrally connected with the motor docking plate 610. Two symmetrically arranged position adjustment rods 621 are provided on the position adjustment plate 620, and the position adjustment rods 621 are in the shape of a rectangular parallelepiped. The position adjustment rods 621 are provided with a limiting connection hole 1 622 every 5 mm in the length direction thereof.

[0048] The adjustment hole 631 is also in a rectangular parallelepiped shape, and the height of the adjustment hole 631 is the same as the thickness of the position adjustment rod 621. The number of the adjustment holes 631 in this embodiment is the same as the number of the position adjustment rod 621, which is also two. Each adjustment hole 631 is provided with a second limiting connection hole 632 on its left and right sides.

[0049] The limit block 641 is also in the shape of a cuboid, and the length of the limit block 641 in the width direction of the automatic guided vehicle can be 20 mm, 15 mm, or 10 mm. Fig.10 For perspective, when the length of the adjustment hole 631 on the left side of the position adjustment rod 621 (in the width direction of the automatic guided vehicle) is 20 mm, the position fixing member 640 with a limit block 641 of 20 mm in length can be selected to connect and fix the vertical support plate 630 with the position adjustment rod 621; when the length of the adjustment hole 631 on the left side of the position adjustment rod 621 is 15 mm, the position fixing member 640 with a limit block 641 of 15 mm in length can be selected to connect and fix the vertical support plate 630 with the position adjustment rod 621; when the length of the adjustment hole 631 on the left side of the position adjustment rod 621 is 10 mm, the position fixing member 640 with a limit block 641 of 10 mm in length can be selected to connect and fix the vertical support plate 630 with the position adjustment rod 621. Of course, the limit block 641 of the position fixing member 640 can also be inserted into the space where the adjustment hole 631 is located on the right side of the position adjustment rod 621 to connect the vertical support plate 630 with the position adjustment rod 621.

[0050] Working principle: First, determine the most appropriate difference between L2 and L1 and the difference between L4 and L3 of a certain automatic guided vehicle through multiple tests (no further tests are required for subsequent automatic guided vehicles of the same model). Then adjust the specific installation position of the driving wheel 710 according to the determined difference: for example, first select a position fixing member 640 whose limit block 641 is 15 mm in length in the width direction of the automatic guided vehicle, then insert the limit block 641 of the position fixing member 640 into the adjustment hole 631 and make the limit block 641 butt against a vertical side of the adjustment hole 631. At this time, the second limit docking hole 63 on the second limit fixing plate 643 is aligned with the second limit connection hole 632 on the vertical support plate 630, and then the second limit fixing plate 643 is connected and fixed to the vertical support plate 630 by bolts and nuts. Then adjust the length of the position adjustment rod 621 inserted into the adjustment hole 631 so that the limit docking hole 1 on the first limit fixing plate 642 is aligned with the limit connecting hole 1 622 at the required position on the position adjustment rod 621, and finally connect and fix the first limit fixing plate 642 and the position adjustment rod 621 with bolts and nuts.

[0051] In summary, the omnidirectional mini stacking AGV of this embodiment can adjust the specific installation position of the driving wheel 710 through the motor docking plate 610, the position adjustment plate 620, the vertical support plate 630 and the position fixing part 640 on the rear wheel mounting frame 600, so that the difference between L4 and L3 and the difference between L2 and L1 are the optimal values ​​for the omnidirectional movement of the automatic guided vehicle, ultimately making the omnidirectional movement effect of the automatic guided vehicle optimal.

[0052] Embodiment 2: A control method for an omnidirectional mini stacking AGV, using the omnidirectional mini stacking AGV in Example 1, the control method comprises the following steps: S1. Select a preset driving path for the automatic guided vehicle.

[0053] The controller of the automatic guided vehicle has stored multiple preset driving routes in advance based on the different starting points and destinations.

[0054] For example, the preset driving path A (from starting point a to destination b) is: first go straight forward for 15 meters, then go 3 meters to the left, then go straight forward for 10 meters, then go diagonally to the left for 2 meters, then go straight forward for 8 meters, and finally turn 60 degrees clockwise on the spot.

[0055] Preset driving route B (from starting point a to destination c): first go straight forward for 15 meters, then go to the right for 5 meters, then go diagonally to the right and back for 3 meters, then go to the right for 6 meters, and finally go straight forward for 20 meters.

[0056] Preset driving route C (from starting point d to destination e): first go straight back for 10 meters, then go diagonally to the right for 4 meters, then go to the right for 6 meters, and finally go straight forward for 5 meters.

[0057] This step selects a preset driving route according to the current actual starting point and destination, for example, the preset driving route A is selected in this embodiment.

[0058] S2. Control the automatic guided vehicle to drive according to a preset driving path, and obtain the current driving state of the automatic guided vehicle according to the preset driving path. When the driving state enters the first driving state, enter S21, and the first driving state is driving straight forward or backward; when the driving state enters the second driving state, enter S22, and the second driving state is driving to the left or to the right; when the driving state enters the third driving state, enter S23, and the third driving state is driving obliquely to the left front or to the left rear or to the right front or to the right rear; when the driving state enters the fourth driving state, enter S24, and the fourth driving state is rotating clockwise or counterclockwise on the spot.

[0059] This step controls the automatic guided vehicle to travel according to the preset travel path A.

[0060] First drive straight forward for 15 meters: this is equivalent to entering the first driving state, therefore, enter S21.

[0061] S21. Adjust the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 to a preset driving angle according to the preset driving path of the automatic guided vehicle in the first driving state. Figure 5As shown, the preset driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all completely forward, that is, the directions of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all parallel to the length direction of the automatic guided vehicle.

[0062] The automatic guided vehicle is controlled to travel according to the preset travel path of the automatic guided vehicle in the first travel state (i.e., traveling straight forward 15 meters), and the real-time travel path of the automatic guided vehicle is obtained during the travel, and at the same time, the preset travel angle of the first electric wheel 110 is locked, the preset travel angle of the second electric wheel 310 is locked, the real-time travel angle of the third electric wheel 510 is adjusted, and the real-time travel angle of the driving wheel 710 is adjusted so that the real-time travel path of the automatic guided vehicle is the same as the preset travel path of the automatic guided vehicle. That is, in the process of the automatic guided vehicle traveling straight forward 15 meters, the travel angles of the first electric wheel 110 and the second electric wheel 310 are locked unchanged according to the preset travel angles, and the travel angles of the third electric wheel 510 and the driving wheel 710 are automatically fine-tuned according to the real-time travel path of the automatic guided vehicle, so that the real-time travel path of the automatic guided vehicle is as consistent as possible with the preset travel path.

[0063] Then go 3 meters to the left: this is equivalent to entering the second driving state, therefore, entering S22.

[0064] S22. Adjust the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 to a preset driving angle according to the preset driving path of the automatic guided vehicle in the second driving state. Figure 6 As shown, the preset driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all completely to the left, that is, the directions of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all perpendicular to the length direction of the automatic guided vehicle.

[0065] The automatic guided vehicle is controlled to travel according to the preset travel path of the automatic guided vehicle in the second travel state (i.e., traveling 3 meters to the left), and the real-time travel path of the automatic guided vehicle is obtained during the travel, and the real-time travel angle of the first electric wheel 110 is adjusted, the preset travel angle of the second electric wheel 310 is locked, the preset travel angle of the third electric wheel 510 is locked, and the real-time travel angle of the driving wheel 710 is adjusted so that the real-time travel path of the automatic guided vehicle is the same as the preset travel path of the automatic guided vehicle. That is, in the process of the automatic guided vehicle traveling 3 meters to the left, the travel angles of the second electric wheel 310 and the third electric wheel 510 are locked and unchanged according to the preset travel angles, and the travel angles of the first electric wheel 110 and the driving wheel 710 are automatically fine-tuned according to the real-time travel path of the automatic guided vehicle, so that the real-time travel path of the automatic guided vehicle is as consistent as possible with the preset travel path.

[0066] Then go straight forward for 10 meters: this is equivalent to entering the first driving state again, therefore, enter S21.

[0067] S21. Adjust the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 to a preset driving angle according to the preset driving path of the automatic guided vehicle in the first driving state. Figure 5 As shown, the preset driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all completely forward, that is, the directions of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all parallel to the length direction of the automatic guided vehicle.

[0068] The automatic guided vehicle is controlled to travel according to the preset travel path of the automatic guided vehicle in the first travel state (i.e., traveling straight forward 10 meters), and the real-time travel path of the automatic guided vehicle is obtained during the travel, and at the same time, the preset travel angle of the first electric wheel 110 is locked, the preset travel angle of the second electric wheel 310 is locked, the real-time travel angle of the third electric wheel 510 is adjusted, and the real-time travel angle of the driving wheel 710 is adjusted so that the real-time travel path of the automatic guided vehicle is the same as the preset travel path of the automatic guided vehicle. That is, in the process of the automatic guided vehicle traveling straight forward 10 meters, the travel angles of the first electric wheel 110 and the second electric wheel 310 are locked unchanged according to the preset travel angles, and the travel angles of the third electric wheel 510 and the driving wheel 710 are automatically fine-tuned according to the real-time travel path of the automatic guided vehicle, so that the real-time travel path of the automatic guided vehicle is as consistent as possible with the preset travel path.

[0069] Then move diagonally forward to the left for 2 meters: this is equivalent to entering the third driving state, therefore, entering S23.

[0070] S23. According to the preset driving path of the automatic guided vehicle in the third driving state, the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are adjusted to the preset driving angle. Figure 7 As shown, the preset driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all set to be completely tilted to the left front (the specific tilt angle is the same as the tilt angle of the road, assumed to be 45 degrees), that is, the angle between the orientation of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 and the length direction of the automatic guided vehicle is 45 degrees.

[0071] The automatic guided vehicle is controlled to travel according to the preset travel path of the automatic guided vehicle in the third travel state (i.e., 2 meters diagonally moving forward to the left), and during the travel, the preset travel angle of the first electric wheel 110 is locked, the preset travel angle of the second electric wheel 310 is locked, the preset travel angle of the third electric wheel 510 is locked, and the preset travel angle of the driving wheel 710 is locked. That is, during the process of the automatic guided vehicle moving 2 meters diagonally forward to the left, the travel angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510, and the driving wheel 710 are locked and unchanged according to the preset travel angles.

[0072] Then go straight forward for 8 meters: it is equivalent to entering the first driving state again, so enter S21.

[0073] S21. Adjust the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 to a preset driving angle according to the preset driving path of the automatic guided vehicle in the first driving state. Figure 5 As shown, the preset driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all completely forward, that is, the directions of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all parallel to the length direction of the automatic guided vehicle.

[0074] The automatic guided vehicle is controlled to travel according to the preset travel path of the automatic guided vehicle in the first travel state (i.e., traveling straight forward for 8 meters), and the real-time travel path of the automatic guided vehicle is obtained during the travel, and at the same time, the preset travel angle of the first electric wheel 110 is locked, the preset travel angle of the second electric wheel 310 is locked, the real-time travel angle of the third electric wheel 510 is adjusted, and the real-time travel angle of the driving wheel 710 is adjusted so that the real-time travel path of the automatic guided vehicle is the same as the preset travel path of the automatic guided vehicle. That is, in the process of the automatic guided vehicle traveling straight forward for 8 meters, the travel angles of the first electric wheel 110 and the second electric wheel 310 are locked unchanged according to the preset travel angles, and the travel angles of the third electric wheel 510 and the driving wheel 710 are automatically fine-tuned according to the real-time travel path of the automatic guided vehicle, so that the real-time travel path of the automatic guided vehicle is as consistent as possible with the preset travel path.

[0075] Finally, turn 60 degrees clockwise on the spot: this is equivalent to entering the fourth driving state, therefore, entering S24.

[0076] S24. Adjust the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 to a preset driving angle according to the preset driving path of the automatic guided vehicle in the fourth driving state. Figure 8 As shown, the preset driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are all tilted and the central axes of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 intersect at the same center of a circle.

[0077] The automatic guided vehicle is controlled to rotate according to the preset driving path of the automatic guided vehicle in the fourth driving state (i.e., rotating 60 degrees clockwise on the spot), and during the rotation process, the preset driving angle of the first electric wheel 110 is locked, the preset driving angle of the second electric wheel 310 is locked, the preset driving angle of the third electric wheel 510 is locked, and the preset driving angle of the driving wheel 710 is locked. That is, during the process of the automatic guided vehicle rotating 60 degrees clockwise on the spot, the driving angles of the first electric wheel 110, the second electric wheel 310, the third electric wheel 510 and the driving wheel 710 are locked according to the preset driving angles and remain unchanged.

[0078] In summary, the automatic guided vehicle control method of this embodiment can enable the automatic guided vehicle to move straight, sideways, diagonally, or rotate on the spot (i.e., omnidirectional movement) efficiently and accurately, and ultimately enable the automatic guided vehicle to complete the preset driving path efficiently and accurately.

[0079] Furthermore, when the road of a preset driving path is wide throughout the entire journey or a certain section of the road, the automatic guided vehicle can also choose to be in the first driving state all the time. Assuming that the road section a and road section b (road section b and road section a are set at a certain angle) of a preset driving path are both wide, then the automatic guided vehicle can adopt the first driving state on both road section a and road section b. However, when the automatic guided vehicle enters road section b from road section a, it is necessary to adjust the driving angles of the driving wheel 710 and the third electric wheel 510 to appropriate values.

[0080] like Fig.11 As shown, it is assumed that the angle between the central axis of the driving wheel 710 and the central axis of the first electric wheel 110 is β, and the angle between the central axis of the second electric wheel 310 and the central axis of the first electric wheel 110 is α. It is further assumed that the distance from the intersection of the central axis of the driving wheel 710 with the central axis of the third electric wheel 510 and the central axis of the first electric wheel 110 to the extension line of the driving wheel 710 in the length direction of the automatic guided vehicle is X.

[0081] Then, when the angle value of β is determined, the value of X can be calculated by formula (1), and then the angle value of α can be calculated by the value of X and formula (2).

[0082] (1) (2) That is to say, when the automatic guided vehicle enters section b from section a, it only needs to determine the driving angle of the driving wheel 710 to automatically determine the angle value of β, and then automatically determine the angle value of α, and finally automatically determine the driving angle of the third electric wheel 510. The straight deflection starting position, the straight deflection ending position and the angle value of β can be set in advance when setting the preset driving path, or can be calculated in real time according to the navigation information.

[0083] The omnidirectional mini stacking AGV in this embodiment will tilt and deflect when braking suddenly. Even if brakes are installed on all four wheels, the tilt and deflection problem will still occur. In addition, since the omnidirectional mini stacking AGV in this embodiment is small in size, the two electric wheels on the fork arm are not suitable for installing brakes. Therefore, the control method of this embodiment also includes the following steps: P11. Installing a brake on the driving wheel mechanism 700; P12. When a brake signal is received, the brake is activated, and the first electric wheel 110 is controlled to deflect to a first angle and the second electric wheel 310 is controlled to deflect to a second angle. The first angle is in the range of 10° to 20°, and the second angle is in the range of 10° to 20°. The first angle of the first electric wheel 110 and the second angle of the second electric wheel 310 are the same in magnitude and opposite in direction, similar to an "eight" shape. Fig.12 As shown, Fig.12 Schematic diagram of the first electric wheel deflecting by a first angle (angle value q1) and the second electric wheel deflecting by a second angle (angle value q2) when the automatic guided vehicle brakes in the first driving state (i.e., the straight driving state). Fig.13 As shown, Fig.13 It is a schematic diagram of the first electric wheel deflecting by a first angle (angle value is q3) and the second electric wheel deflecting by a second angle (angle value is q4) when the automatic guided vehicle brakes in the second driving state (i.e., the lateral driving state).

[0084] Alternatively, the first electric wheel 110 is controlled to deflect at a first angle, the second electric wheel 310 is controlled to deflect at a second angle, and the third electric wheel 510 is controlled to deflect at a third angle. The first angle is in the range of 10° to 20°, the second angle is in the range of 10° to 20°, and the third angle is in the range of 10° to 20°. The first angle deflected by the first electric wheel 110 is the same as the second angle deflected by the second electric wheel 310, but in opposite directions. The third angle deflected by the third electric wheel 510 is the same as the second angle deflected by the second electric wheel 310, but in opposite directions. Fig.14 As shown, Fig.14 This is a schematic diagram showing that when the automatic guided vehicle brakes in the second driving state (i.e., the lateral state), the first electric wheel is deflected by a first angle (angle value is q5), the second electric wheel is deflected by a second angle (angle value is q6), and the third electric wheel is deflected by a third angle (angle value is q7).

[0085] or, P21. Install brakes on the driving wheel mechanism 700 and the third electric wheel mechanism 500.

[0086] P22. When a brake signal is received, the brake is activated, and the first electric wheel 110 is controlled to deflect by a first angle and the second electric wheel 310 is controlled to deflect by a second angle. The first angle is in the range of 10° to 20°, and the second angle is in the range of 10° to 20°. The first angle deflected by the first electric wheel 110 and the second angle deflected by the second electric wheel 310 are of the same magnitude and opposite in direction.

[0087] In this embodiment, it is only necessary to install a brake on the driving wheel mechanism 700 or on the driving wheel mechanism 700 and the third electric wheel mechanism 500. When the automatic guided vehicle needs to brake, the first electric wheel 110, the second electric wheel 310 or the first electric wheel 110, the second electric wheel 310, and the third electric wheel 510 are controlled to deflect at the same time. After the electric wheels are deflected, a stable static friction force can be generated, so that the automatic guided vehicle will not tilt or deflect during emergency braking.

[0088] Although some embodiments of the present specification are shown in the drawings, it should be understood that the present specification can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. Instead, these embodiments are provided for a more thorough and complete understanding of the present specification. It should be understood that the drawings and embodiments of the present specification are only for exemplary purposes and are not intended to limit the scope of protection of the present specification.

Claims

1. An omnidirectional mini stacking AGV, characterized in that: include: A first electric wheel mechanism (100) is mounted on the first fork (200), wherein the first electric wheel mechanism (100) comprises a first electric wheel (110); A second electric wheel mechanism (300) is mounted on the second cargo fork (400), wherein the second electric wheel mechanism (300) comprises a second electric wheel (310); A third electric wheel mechanism (500) is mounted on the rear wheel mounting frame (600), wherein the third electric wheel mechanism (500) comprises a third electric wheel (510); A driving wheel mechanism (700) is mounted on the rear wheel mounting frame (600), wherein the driving wheel mechanism (700) comprises a driving wheel (710); a controller electrically connected to the first electric wheel mechanism (100), the second electric wheel mechanism (300), the third electric wheel mechanism (500), and the driving wheel mechanism (700); The first electric wheel (110) and the second electric wheel (310) are arranged on the same straight line along the width direction of the automatic guided vehicle, and the distance between the first electric wheel (110) and the second electric wheel (310) in the width direction of the automatic guided vehicle is L2; The third electric wheel (510) and the second electric wheel (310) are arranged on the same straight line along the length direction of the automatic guided vehicle, and the distance between the third electric wheel (510) and the second electric wheel (310) in the length direction of the automatic guided vehicle is L4; The distance between the driving wheel (710) and the first electric wheel (110) in the length direction of the automatic guided vehicle is L3, and L3 is smaller than L4.

2. The omnidirectional mini stacking AGV according to claim 1, characterized in that: The difference between L4 and L3 is greater than or equal to 30 mm and less than or equal to 60 mm; The distance between the driving wheel (710) and the third electric wheel (510) in the width direction of the automatic guided vehicle is L1, and L1 is smaller than L2.

3. The omnidirectional mini stacking AGV according to claim 1, characterized in that: The driving wheel mechanism (700) further comprises: A driving wheel mounting frame (720) connected to the driving wheel (710); A driving wheel rotation angle adjustment gear (730) is connected to the driving wheel mounting frame (720), and the driving wheel rotation angle adjustment gear (730) is rotationally connected to the rear wheel mounting frame (600); The driving wheel rotation angle adjustment gear 2 (740) is meshedly connected with the driving wheel rotation angle adjustment gear 1 (730); A driving wheel rotating motor (750), a housing of which is connected to the rear wheel mounting frame (600), and a power output end of the driving wheel rotating motor (750) is connected to the driving wheel rotating angle adjustment gear 2 (740); A driving wheel driving motor (760) has a housing connected to the driving wheel rotation angle adjustment gear 1 (730), and a power output end of the driving wheel driving motor (760) is connected to the driving wheel (710).

4. The omnidirectional mini stacking AGV according to claim 3, characterized in that: The rear wheel mounting frame (600) comprises: Motor docking plate (610); A position adjustment plate (620), wherein a first vertical side surface is connected to the motor docking plate (610), a second vertical side surface of the position adjustment plate (620) is provided with a position adjustment rod (621), the second vertical side surface is arranged opposite to the first vertical side surface, the position adjustment rod (621) is provided with a limiting connection hole (622) arranged along the width direction of the automatic guided vehicle, and the position adjustment rod (621) is provided with a plurality of limiting connection holes (622) along the length direction of the automatic guided vehicle; The vertical support plate (630) is provided with an adjustment hole (631) that allows the position adjustment rod (621) to pass through and allows the position adjustment rod (621) to move horizontally, and the vertical support plate (630) is provided with a second limiting connection hole (632) on the side of the adjustment hole (631); The position fixing member (640) is used to connect and fix the position adjustment rod (621) to the vertical support plate (630) through the first limiting connection hole (622) and the second limiting connection hole (632).

5. The omnidirectional mini stacking AGV according to claim 4, characterized in that: The position fixing member (640) comprises: A limit block (641) is clamped in a portion of the adjustment hole (631), and the length of the limit block (641) in the width direction of the automatic guided vehicle is set to have multiple specifications; A first limiting fixing plate (642) is vertically connected to the limiting block (641), and the first limiting fixing plate (642) is provided with a limiting docking hole 1 which is connected to the limiting connecting hole 1 (622) via a connecting piece; The second limiting fixing plate (643) is vertically connected to the limiting block (641), and the second limiting fixing plate (643) is provided with a second limiting docking hole which is connected to the second limiting connecting hole (632) via a connecting piece.

6. The omnidirectional mini stacking AGV according to claim 1, characterized in that: The third electric wheel mechanism (500) further comprises: A third electric wheel mounting frame (520) connected to the third electric wheel (510); A third electric wheel rotation angle adjustment gear 1 (530) is connected to the third electric wheel mounting frame (520), and the third electric wheel rotation angle adjustment gear 1 (530) is rotationally connected to the rear wheel mounting frame (600); A third electric wheel rotation angle adjustment gear 2 (540) meshingly connected with the third electric wheel rotation angle adjustment gear 1 (530); The third electric wheel rotating motor (550) has a housing connected to the rear wheel mounting frame (600), and a power output end of the third electric wheel rotating motor (550) is connected to the third electric wheel rotating angle adjusting gear 2 (540).

7. The omnidirectional mini stacking AGV according to claim 1, characterized in that: The first electric wheel mechanism (100) further comprises: A first electric wheel mounting sleeve (120), the outer peripheral wall of which is rotatably connected to the first cargo fork (200), the inner peripheral wall of which is connected to the wheel axle of the first electric wheel (110), and the outer peripheral wall of which is also provided with a gear ring 1 (121); The first electric wheel rotation angle adjustment gear 1 (130) is rotationally connected to the first fork (200), and the first electric wheel rotation angle adjustment gear 1 (130) is meshingly connected to the gear ring 1 (121); The first electric wheel rotation angle adjustment gear 2 (140) is meshedly connected with the first electric wheel rotation angle adjustment gear 1 (130), the first electric wheel rotation angle adjustment gear 2 (140) is rotationally connected with the first fork (200) via the rotation shaft 1, and the first electric wheel rotation angle adjustment gear 2 (140) is connected to the first axial end of the rotation shaft 1; A first electric wheel rotation angle adjustment gear three (150) connected to the second axial end of the rotating shaft one; The first electric wheel rotation angle adjustment gear four (160) is meshedly connected with the first electric wheel rotation angle adjustment gear three (150); A first electric wheel rotating motor (170) has a housing connected to the first cargo fork (200), and a power output end of the first electric wheel rotating motor (170) is connected to the first electric wheel rotating angle adjusting gear four (160).

8. The omnidirectional mini stacking AGV according to claim 1, characterized in that: The second electric wheel mechanism (300) further comprises: A second electric wheel mounting sleeve, the outer peripheral wall of which is rotatably connected to the second cargo fork (400), the inner peripheral wall of which is connected to the wheel axle of the second electric wheel (310), and the outer peripheral wall of which is also provided with a second gear ring; The second electric wheel rotation angle adjustment gear 1 is rotationally connected to the second cargo fork (400), and the second electric wheel rotation angle adjustment gear 1 is meshingly connected to the second gear ring; The second electric wheel rotation angle adjustment gear 2 is meshed and connected with the second electric wheel rotation angle adjustment gear 1, the second electric wheel rotation angle adjustment gear 2 is rotationally connected to the second fork (400) via a rotation shaft 2, and the second electric wheel rotation angle adjustment gear 2 is connected to a first axial end of the rotation shaft 2; The second electric wheel rotation angle adjustment gear 3 is connected to the second axial end of the rotating shaft 2; The second electric wheel rotation angle adjustment gear four is meshed and connected with the second electric wheel rotation angle adjustment gear three; The second electric wheel rotating motor has a housing connected to the second fork (400), and a power output end of the second electric wheel rotating motor is connected to the second electric wheel rotating angle adjusting gear four.

9. A control method for an omnidirectional mini stacking AGV, using the omnidirectional mini stacking AGV according to any one of claims 1 to 8, characterized in that: The control method comprises the following steps: S1. Select a preset driving path for the automatic guided vehicle; S2. Control the automatic guided vehicle to travel according to a preset travel path, and obtain the current travel state of the automatic guided vehicle according to the preset travel path. When the travel state enters the first travel state, enter S21, and the first travel state is to travel straight forward or backward; when the travel state enters the second travel state, enter S22, and the second travel state is to travel to the left or to the right; when the travel state enters the third travel state, enter S23, and the third travel state is to travel obliquely to the left front, to the left rear, to the right front, or to the right rear; when the travel state enters the fourth travel state, enter S24, and the fourth travel state is to rotate clockwise / counterclockwise on the spot; S21. adjusting the first electric wheel (110), the second electric wheel (310), the third electric wheel (510), and the driving wheel (710) to a preset driving angle according to a preset driving path of the automatic guided vehicle in the first driving state; Controlling the driving of the automatic guided vehicle according to a preset driving path of the automatic guided vehicle in a first driving state, acquiring the real-time driving path of the automatic guided vehicle during the driving process, locking the preset driving angle of the first electric wheel (110), locking the preset driving angle of the second electric wheel (310), adjusting the real-time driving angle of the third electric wheel (510), and adjusting the real-time driving angle of the driving wheel (710) so that the real-time driving path of the automatic guided vehicle is the same as the preset driving path of the automatic guided vehicle; S22. adjusting the first electric wheel (110), the second electric wheel (310), the third electric wheel (510), and the driving wheel (710) to a preset driving angle according to a preset driving path of the automatic guided vehicle in the second driving state; Controlling the driving of the automatic guided vehicle according to a preset driving path of the automatic guided vehicle in the second driving state, acquiring the real-time driving path of the automatic guided vehicle during the driving process, and adjusting the real-time driving angle of the first electric wheel (110), locking the preset driving angle of the second electric wheel (310), locking the preset driving angle of the third electric wheel (510), and adjusting the real-time driving angle of the driving wheel (710) so that the real-time driving path of the automatic guided vehicle is the same as the preset driving path of the automatic guided vehicle; S23. adjusting the first electric wheel (110), the second electric wheel (310), the third electric wheel (510), and the driving wheel (710) to a preset driving angle according to a preset driving path of the automatic guided vehicle in the third driving state; Controlling the automatic guided vehicle to travel according to a preset travel path of the automatic guided vehicle in a third travel state, and during the travel process, locking a preset travel angle of the first electric wheel (110), locking a preset travel angle of the second electric wheel (310), locking a preset travel angle of the third electric wheel (510), and locking a preset travel angle of the driving wheel (710); S24. adjusting the first electric wheel (110), the second electric wheel (310), the third electric wheel (510), and the driving wheel (710) to a preset driving angle according to a preset driving path of the automatic guided vehicle in the fourth driving state; The automatic guided vehicle is controlled to rotate according to a preset driving path of the automatic guided vehicle in a fourth driving state, and during the rotation process, a preset driving angle of the first electric wheel (110) is locked, a preset driving angle of the second electric wheel (310) is locked, a preset driving angle of the third electric wheel (510) is locked, and a preset driving angle of the driving wheel (710) is locked.

10. The control method according to claim 9, characterized in that: The control method further comprises the following steps: P11. Install a brake on the driving wheel mechanism (700); P12. When a brake signal is received, the brake is activated, and the first electric wheel (110) is controlled to deflect to a first angle and the second electric wheel (310) is controlled to deflect to a second angle; or, the first electric wheel (110) is controlled to deflect to a first angle, the second electric wheel (310) is controlled to deflect to a second angle and the third electric wheel (510) is controlled to deflect to a third angle; or, P21. Installing a brake on the driving wheel mechanism (700) and the third electric wheel mechanism (500); P22. When a brake signal is received, the brake is activated, and at the same time, the first electric wheel (110) is controlled to deflect to a first angle and the second electric wheel (310) is controlled to deflect to a second angle.

Images