AGV walking and steering device and control method

Abstract

The application provides an AGV walking and steering device and a steering control method, relates to the field of AGV robots, and comprises a supporting disc, a walking mechanism and a steering mechanism. The walking mechanism comprises a walking frame, walking wheels and a first driving motor, the walking frame is rotationally connected to the supporting disc, and the first driving motor is fixedly connected to the walking frame. The steering mechanism comprises a first bevel gear, a second bevel gear and a second driving motor, the top of the supporting disc is provided as a mounting plane, the central axis of the rotating shaft of the first driving motor and the central axis of the rotating shaft of the second driving motor are both parallel to the mounting plane. The two driving motors corresponding to walking and steering are both arranged in a horizontal manner, the rotating shaft axes are parallel to the mounting plane of the supporting disc, the traditional vertical motor layout is abandoned, the space occupied in the vertical direction is greatly reduced, and therefore a lower chassis of a latent AGV can be adapted, and the problem that the height of a traditional rudder wheel is large and cannot be adapted to low working conditions is solved.

Description

Technical Field

[0001] This invention relates to the field of AGV robot technology, and in particular to an AGV walking and steering device and control method. Background Technology

[0002] Hidden AGVs are widely used in warehousing and logistics, intelligent manufacturing, cold chain, cleanrooms and other scenarios. The height of their chassis off the ground determines whether they can enter the bottom of narrow equipment, the gaps between low shelves and narrow passages, which is a key indicator that determines the scope of application of AGVs.

[0003] Patent application number 202421143672.3 discloses a servo steering wheel, relating to the power transmission field of AGV logistics vehicles. The slewing bearing includes an inner ring and an outer ring that are rotatably connected. A mounting plate is fixed above the inner ring, and a base plate is fixed below the outer ring. In the steering assembly, the upper ends of two connecting plates are fixed at intervals below the mounting plate. A steering gear is located between the two connecting plates. A fixing plate is located below the connecting plates. The steering gear meshes with the outer ring. The steering motor is connected to the steering reducer. The steering reducer is coaxially connected to the steering gear and fixed below the fixing plate. In the walking assembly, the reduction gearbox and the support plate are spaced apart at the lower end of the base plate. The walking wheel is located between the reduction gearbox and the support plate. The servo motor is fixed on the reduction gearbox. A planetary gear train meshes with the intermediate gear. The motor gear is fixed on the servo motor. The motor gear meshes with the intermediate gear. The walking wheel is fixed on the planetary gear train.

[0004] The existing AGV steering wheels have the following shortcomings: the steering motors of conventional steering wheel assemblies are mostly vertically arranged, with complex transmission structures, low space utilization, large height occupation, easy cable tangling, and difficulty in achieving fixed-point and fixed-angle rotation; at the same time, the vertical arrangement occupies a lot of space in the vertical direction, which cannot be adapted to the ultra-low-profile AGV chassis requirements.

[0005] Therefore, there is an urgent need for an AGV walking and steering device and control method that is lower in height and can achieve precise control and self-compensation of steering angle. Summary of the Invention

[0006] This invention provides an AGV walking and steering device and control method to solve the problems of low space utilization and large height occupation in the prior art.

[0007] This invention provides an AGV walking and steering device, including a support plate, a walking mechanism and a steering mechanism; The walking mechanism includes a walking frame, walking wheels and a first drive motor. The walking frame is rotatably connected to the support plate, the first drive motor is fixedly connected to the walking frame, and the walking wheels are connected to the end of the shaft of the first drive motor. The first drive motor is used to drive the walking wheels to rotate. The steering mechanism includes a first bevel gear, a second bevel gear, and a second drive motor. The first bevel gear is fixedly connected to the walking frame, the second drive motor is fixedly connected to the support plate, and the second bevel gear is fixedly connected to the end of the rotating shaft of the second drive motor. The first bevel gear meshes with the second bevel gear. The top of the support plate is set as a mounting plane, and the central axis of the shaft of the first drive motor and the central axis of the shaft of the second drive motor are both parallel to the mounting plane.

[0008] Furthermore, the walking frame and the support plate are rotatably connected by a cross roller bearing.

[0009] Furthermore, the first bevel gear is configured as an incomplete gear, and the transmission angle of the first bevel gear is set to 90°~100°.

[0010] Furthermore, a limiting pin is fixedly connected to the support plate, and a limiting groove is provided on the end face of the walking frame for the end of the limiting pin to extend into. The limiting groove is set as an arc-shaped groove, and the center of the limiting groove coincides with the rotation axis of the walking frame.

[0011] Furthermore, the support plate has an installation chamber for the traveling frame and the crossed roller bearing to be embedded in, the traveling frame has a connecting through hole for the traveling wheel to pass through, and the outer circle of the traveling wheel passes through the connecting through hole and extends into the installation chamber.

[0012] Furthermore, a positioning ring is fixedly connected to the end of the walking frame away from the crossed roller bearing, and a clearance hole is opened on the top of the support plate for the positioning ring to extend into. A sealing ring is fixedly connected in the clearance hole, and the sealing ring is sleeved on the positioning ring and has a clearance fit with the outer wall of the positioning ring.

[0013] Furthermore, a wheel frame is fixedly connected to the walking frame and located in the connecting through hole. The walking wheel is rotatably connected to the wheel frame. A transmission cavity is provided inside the walking wheel. An internal gear ring is fixedly connected inside the transmission cavity. A sun gear and planet gears are provided inside the transmission cavity and are rotatably connected to the wheel frame. The planet gears mesh with both the sun gear and the internal gear ring. The first drive motor outputs torque to the sun gear to drive the walking wheel to rotate.

[0014] Furthermore, it also includes an industrial control computer and sensors. The outer wall of the walking frame is provided with a sensing strip and a triggering part. The sensing strip includes multiple sensing slots formed on the walking frame. The sensing slots are distributed in an arc array, and the center of the arc array coincides with the rotation axis of the walking frame. The triggering part is disposed on the sensing strip. The sensor is fixedly connected to the support plate, and the sensing end of the sensor faces the sensing strip. The sensor senses the sensing slots and the triggering part it passes through. The sensor, the first drive motor, and the second drive motor are communicatively connected to the industrial control computer.

[0015] Furthermore, it also includes an encoder, which is fixedly connected to the shaft of the second drive motor to collect the angular displacement signal input to the shaft of the second drive motor, and the encoder is communicatively connected to the industrial control computer.

[0016] The present invention also provides a steering control method applied to the above-mentioned AGV walking and steering device, comprising: The initial position of the encoder is calibrated using the position of the trigger unit captured by the sensor as the reference, and the industrial control computer collects the actual rotation angle of the walking frame through sensing. The industrial control computer sends a control signal to the second drive motor according to the preset steering angle. The industrial control computer controls the second drive motor to stop after rotating to the preset position through the angular displacement signal fed back by the encoder. The industrial control computer determines the degree of steering deviation by comparing the preset steering angle with the actual rotation angle; When the steering deviation is within the first preset range, it is determined to be normal, and operation continues. When the steering deviation is within the second preset range, it is determined to be a slight deviation. The industrial control computer uses the current actual rotation angle as a reference to correct the encoder position offset. When the steering deviation reaches the third preset range, it is determined to be a serious deviation. The industrial control computer controls the first drive motor and the second drive motor to stop and triggers an alarm.

[0017] The beneficial effects of this invention are as follows: 1. Both drive motors for walking and steering are horizontally arranged, with the axis of rotation parallel to the mounting plane of the support plate. This abandons the traditional vertical motor layout, significantly reducing the vertical space occupied, thus allowing for the adaptation to lower-chassis, low-profile AGVs and solving the problem of traditional steering wheels being too tall for low-profile working conditions. Simultaneously, a cavity-type integrated structure is adopted, embedding the walking frame, bearings, and wheels into the mounting cavity of the support plate. The components are centrally arranged, resulting in a small overall size. The cavity also provides dust and collision protection, effectively protecting the internal core components and improving the device's environmental adaptability.

[0018] 2. A positioning ring and a sealing ring are installed at the connection between the support plate and the traveling frame to achieve gap sealing and prevent dust and moisture from entering the internal structure; the sealing structure does not interfere with the rotational movement of the traveling frame, and can also be used with sealing oil for lubrication, further extending the service life of the parts.

[0019] 3. By acquiring angle data through both sensors and encoders, and combining it with an industrial control computer to form a closed-loop control, the steering and positioning accuracy is high. The system can automatically compare the theoretical angle with the actual angle and distinguish between three working conditions: normal, slight deviation, and severe deviation. When there is a slight deviation, the encoder zero point offset is automatically corrected to achieve self-compensation. When there is a severe deviation, the machine is stopped immediately and an alarm is triggered to avoid the risk of malfunction. Attached Figure Description

[0020] Figure 1 This is a schematic cross-sectional view of the AGV walking and steering device according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the transmission relationship of the walking wheel of the present invention.

[0022] Figure 3 This is an exploded schematic diagram of the AGV walking and steering device of the present invention.

[0023] Figure 4 This is a schematic diagram showing the positional relationship between the toothed disc retaining ring and the sensor of the present invention.

[0024] Figure 5 yes Figure 4 Enlarged diagram of point A in the middle.

[0025] Figure label: 1. Support plate; 11. Sealed housing; 111. Mounting chamber; 112. Mounting through hole; 12. Sealed end cap; 121. Limiting pin; 122. Clearance hole; 13. Mounting plane; 14. Outer ring; 15. Roller groove; 2. Traveling frame; 21. Slewing support frame; 22. Gear plate fixing ring; 221. Sensing groove; 222. Trigger part; 223. Limiting groove; 224. Positioning ring; 23. Connecting through hole; 24. Sealing ring; 3. Traveling wheel; 31. Transmission cavity; 32. Internal gear ring; 4. First drive motor; 5. First bevel gear; 6. Second bevel gear; 7. Second drive motor; 71. Encoder; 8. Wheel frame; 81. Sun gear; 82. Planetary gear; 9. Sensor. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] The terms "first" and "second" in the specification and claims of this invention may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] The following is combined with Figures 1-5 This invention describes an AGV (Automated Guided Vehicle) walking and steering device, comprising a support plate 1, a walking mechanism, and a steering mechanism. The walking mechanism includes a walking frame 2, walking wheels 3, and a first drive motor 4. The walking frame 2 is rotatably connected to the support plate 1, the first drive motor 4 is fixedly connected to the walking frame 2, and the walking wheels 3 are connected to the end of the shaft of the first drive motor 4. The first drive motor 4 drives the walking wheels 3 to rotate. The steering mechanism includes a first bevel gear 5, a second bevel gear 6, and a second drive motor 7. The first bevel gear 5 is fixedly connected to the walking frame 2, the second drive motor 7 is fixedly connected to the support plate 1, and the second bevel gear 6 is fixedly connected to the end of the shaft of the second drive motor 7. The first bevel gear 5 and the second bevel gear 6 mesh with each other. The top of the support plate 1 is configured as a mounting plane 13, and the central axis of the shaft of the first drive motor 4 and the central axis of the shaft of the second drive motor 7 are both parallel to the mounting plane 13.

[0030] Specifically, such as Figure 1As shown, two independent drive mechanisms are set up for the walking mechanism and the steering mechanism, which are driven by the first drive motor 4 and the second drive motor 7 respectively, realizing separate control of the AGV's walking and steering actions. The axes of the first drive motor 4 and the second drive motor 7 are parallel to the mounting plane 13 of the support plate 1, optimizing the overall structural layout, reducing the overall height of the device, and adapting to the AGV's limited installation space. When the first drive motor 4 is running, it directly drives the walking wheel 3 to rotate, providing the AGV with the power to move. When turning is required, the second drive motor 7 drives the second bevel gear 6 to rotate, which drives the walking frame 2 to rotate around the support plate 1 through the meshing first bevel gear 5. The walking wheel 3 deflects synchronously with the walking frame 2, completing the AGV's steering action. The flat structure design occupies little space, has strong versatility, and can be adapted to various AGV models.

[0031] Furthermore, the traveling frame 2 and the support plate 1 are rotatably connected by a cross roller bearing.

[0032] Specifically, crossed roller bearings are selected instead of ordinary bearings to improve the rotational support strength, rotational accuracy, and load-bearing capacity of the traveling frame 2, while reducing rotational clearance. When the traveling frame 2 performs turning and rotational movements, the crossed roller bearings bear radial force, axial force, and overturning moment, ensuring that the traveling frame 2 rotates smoothly around the support plate 1.

[0033] Furthermore, the first bevel gear 5 is configured as an incomplete gear, and the transmission angle of the first bevel gear 5 is set to 90°~100°. Specifically, such as Figure 3 , Figure 4 As shown, by setting the first bevel gear 5 as an incomplete gear, the size of the device is further reduced. At the same time, the maximum rotation angle of the walking frame 2 is limited to avoid excessive steering angle causing the AGV wheel body to deflect beyond the limit and lose control of the driving, while also simplifying the transmission structure.

[0034] Furthermore, a limiting pin 121 is fixedly connected to the support plate 1, and a limiting groove 223 is provided on the end face of the walking frame 2 for the end of the limiting pin 121 to extend into. The limiting groove 223 is set as an arc-shaped groove, and the center of the limiting groove 223 coincides with the rotation axis of the walking frame 2.

[0035] Specifically, such as Figure 1 , Figure 4 As shown, the end of the limiting pin 121 extends into the limiting groove 223, and the center of the limiting groove 223 coincides with the rotation axis of the traveling frame 2. When the traveling frame 2 rotates, the limiting pin 121 moves within the arc-shaped limiting groove 223; when the traveling frame 2 rotates to its limit angle, the limiting pin 121 abuts against the groove wall of the limiting groove 223, locking the traveling frame 2 and terminating the steering action. This, combined with the incomplete bevel gear, forms a double mechanical limit, further precisely constraining the rotation range of the traveling frame 2 and preventing over-angle steering after gear failure.

[0036] Furthermore, the support plate 1 has an installation chamber 111 for the traveling frame 2 and the cross roller bearing to be embedded, and the traveling frame 2 has a connecting through hole 23 for the traveling wheel 3 to pass through. The outer circle of the traveling wheel 3 passes through the connecting through hole 23 and extends into the installation chamber 111.

[0037] Specifically, such as Figure 1 As shown, the cavity structure houses all components, creating an integrated layout and reducing the external volume of the device. Simultaneously, the top of the traveling wheel 3 passes through the mounting hole 112, further reducing the overall height of the device. The device boasts high integration and a compact shape, adapting to the compact installation space of AGVs. The cavity structure provides dust and collision protection, safeguarding internal bearings, wheels, and other core components, thus enhancing the device's environmental adaptability.

[0038] Furthermore, a positioning ring 224 is fixedly connected to the end of the walking frame 2 away from the crossed roller bearing. A clearance hole 122 is opened on the top of the support plate 1 for the positioning ring 224 to extend into. A sealing ring 24 is fixedly connected in the clearance hole 122. The sealing ring 24 is sleeved on the positioning ring 224 and has a clearance fit with the outer wall of the positioning ring 224.

[0039] Specifically, such as Figure 1 , Figure 3 As shown, the sealing ring 24 and the positioning ring 224 work together to seal the gap at the top of the support plate 1 and support the rotation of the traveling frame 2, thereby improving the stability of the traveling frame 2's rotation. In some optional embodiments, sealing oil can be filled into the gap between the sealing ring 24 and the positioning ring 224 to improve the sealing effect while lubricating, preventing dust and moisture from entering the internal cavity, and ensuring that the rotation of the crossed roller bearings on the traveling frame 2 is not interfered with by the sealing structure.

[0040] In one specific embodiment, such as Figure 1 , Figure 3 As shown, the support plate 1 includes a sealed housing 11 and a sealed end cap 12. The mounting chamber 111 is disposed inside the sealed housing 11. The sealed end cap 12 is bolted to the upper port of the sealed housing 11. A clearance hole 122 is opened on the sealed end cap 12. An installation through hole 112 is opened at the bottom of the sealed housing 11. The clearance hole 122 and the installation through hole 112 are respectively connected to the mounting chamber 111.

[0041] The traveling frame 2 includes a slewing support frame 21 and a gear plate retaining ring 22. The gear plate retaining ring 22 is fixedly connected to the upper part of the slewing support frame 21 by bolts. The first bevel gear 5 and the gear plate retaining ring 22 are integrally formed. A limiting pin 121 is inserted and fixed to the sealing end cover 12, and a limiting groove 223 is formed on the upper end face of the gear plate retaining ring 22. The outer ring 14 of the crossed roller bearing is sleeved on the outside of the slewing support frame 21 and fixedly connected to the bottom of the mounting chamber 111 by bolts. Roller grooves 15 are formed on both the outside of the slewing support frame 21 and the inside of the outer ring 14 of the crossed roller bearing. The two roller grooves 15 are arranged opposite each other, and the rollers are arranged crosswise in the roller grooves 15 to form a crossed roller bearing. The positioning ring 224 is located on the top of the gear plate fixing ring 22 and is integrally formed with the gear plate fixing ring 22. The positioning ring 224 extends into the relief hole 122 on the sealing end cover 12. The sealing ring 24 is installed between the sealing end cover 12 and the positioning ring 224. The positioning ring 224 and the relief hole 122 on the sealing end cover 12 are interference fit, and the sealing ring 24 and the outer side of the positioning ring 224 are clearance fit.

[0042] Furthermore, a wheel frame 8 located in the connecting through hole 23 is fixedly connected to the walking frame 2. The walking wheel 3 is rotatably connected to the wheel frame 8. A transmission cavity 31 is provided in the walking wheel 3. An internal gear ring 32 is fixedly connected in the transmission cavity 31. A sun gear 81 and a planet gear 82 are provided in the transmission cavity 31 and are rotatably connected to the wheel frame 8. The planet gear 82 meshes with both the sun gear 81 and the internal gear ring 32. The first drive motor 4 drives the walking wheel 3 to rotate by outputting torque to the sun gear 81.

[0043] In one specific embodiment, such as Figure 1 , Figure 2 As shown, the wheel frame 8 is fixedly connected to the bottom of the slewing support frame 21 by bolts. The traveling wheel 3 is sleeved on the outside of the wheel frame 8 and rotatably connected to the outside of the wheel frame 8 by roller bearings. Inside the transmission cavity 31, one or more planetary gears 82 are rotatably connected to one side of the wheel frame 8 by needle roller bearings, and a sun gear 81 is rotatably connected to the other side of the wheel frame 8 by roller bearings. The sun gear 81 is coaxial with the internal gear ring 32, and the planetary gears 82 mesh with both the sun gear 81 and the internal gear ring 32, thereby transmitting the torque of the sun gear 81 to the traveling wheel 3. The first drive motor 4 drives the sun gear 81 to rotate through gear transmission. The first drive motor 4 can also be configured to directly drive the sun gear 81 to rotate. The first drive motor 4 drives the sun gear 81 to rotate, and the sun gear 81 drives the planetary gears 82 to revolve and rotate. The planetary gears 82 cooperate with the fixed internal gear ring 32 to complete the deceleration and torque increase, ultimately driving the traveling wheel 3 to rotate at low speed and high torque, realizing the AGV movement.

[0044] Furthermore, it also includes an industrial control computer and a sensor 9. The outer wall of the walking frame 2 is provided with a sensing strip and a trigger part 222. The sensing strip includes multiple sensing slots 221 opened on the walking frame 2. The sensing slots 221 are distributed in an arc array. The center of the arc array coincides with the rotation axis of the walking frame 2. The trigger part 222 is provided on the sensing strip. The sensor 9 is fixedly connected to the support plate 1. The sensing end of the sensor 9 faces the sensing strip. The sensor 9 senses the sensing slots 221 and the trigger part 222 that it passes through. Sensor 9, first drive motor 4, and second drive motor 7 are connected to the industrial control computer for communication.

[0045] In one specific embodiment, such as Figure 4 , Figure 5 As shown, a sensor 9 is fixedly connected to the side wall of the sealed housing 11. The sensor 9 is a laser rangefinder. The sensing strip includes multiple sensing grooves 221 arranged in an arc array on the side wall of the toothed disc fixing ring 22. The sensing end of the sensor 9 extends into the sealed housing 11 and is positioned opposite to the side wall of the toothed disc fixing ring 22 where the sensing strip is located. The side wall of the toothed disc fixing ring 22 is an arc surface. The width and spacing of each sensing groove 221 are the same, and the center of the arc array coincides with the rotation axis of the traveling frame 2. One of the sensing grooves 221 can be selected as a trigger part 222. The depth of the trigger part 222 is set to be greater than or less than the other sensing grooves 221. The depth of the sensing groove 221 is defined as the distance from the bottom surface of the sensing groove 221 to the port of the sensing groove 221. During the rotation of the toothed disc retaining ring 22, the distance between the arc surface where the side wall of the toothed disc retaining ring 22 is located and the sensing end of the sensor 9 remains unchanged. When the sensing end of the laser rangefinder passes through the sensing groove 221 or the trigger part 222, the change in distance is detected. The actual angle of rotation of the toothed disc retaining ring 22 driving the walking wheel 3 can be collected with the trigger part 222 as a reference.

[0046] Furthermore, it also includes an encoder 71, which is fixedly connected to the shaft of the second drive motor 7 to acquire the angular displacement signal input from the shaft of the second drive motor 7. The encoder 71 is communicatively connected to the industrial control computer. Specifically, such as Figure 1 As shown, encoder 71 is connected to the shaft of the second drive motor 7 to accurately acquire the input angular displacement signal of the second drive motor 7. When the second drive motor 7 is running, encoder 71 acquires the shaft angular displacement data in real time and uploads it to the industrial control computer. The industrial control computer combines the actual angle data of the traveling wheel 3 acquired by sensor 9 to comprehensively determine the steering position.

[0047] Furthermore, the present invention also discloses a steering control method applied to the above-mentioned AGV walking and steering device, specifically including the following steps: S1: The initial position of encoder 71 is calibrated based on the position captured by sensor 9 of trigger part 222. The industrial control computer collects the actual rotation angle of walking frame 2 through sensor 9. Specifically, sensor 9 is a laser rangefinder sensor with an LED indicator. Before using the AGV walking and steering device, zero-position calibration is performed to establish a reference. The second drive motor 7 drives the walking frame 2 to rotate slowly through the meshing of the second bevel gear 6 and the first bevel gear 5, while sensor 9 is in real-time detection mode. When sensor 9 detects the trigger 222, it outputs a switch signal to the industrial control computer, and the LED indicator lights up. After capturing the switch signal, the industrial control computer calibrates the position value of encoder 71 as the initial position.

[0048] As the traveling frame 2 rotates around its own axis of rotation during the steering motion, multiple sensing slots 221 arranged in an arc array on the outer wall of the traveling frame 2 sequentially sweep across the sensor 9. The sensor 9 continuously identifies the pulse signals generated by the passing of the sensing slots 221 and uploads the pulse signals to the industrial control computer in real time. Based on the number of sensing slots 221 received per unit time, the spacing of the array of sensing slots 221, and geometric relationships, the industrial control computer calculates the current actual rotation angle of the traveling frame 2 in real time, dynamically collecting angle data throughout the entire process.

[0049] S2: The industrial control computer sends a control signal to the second drive motor 7 according to the preset steering angle. The industrial control computer controls the second drive motor 7 to stop after rotating to the preset position through the angular displacement signal fed back by the encoder 71.

[0050] Specifically, the operator or the host system inputs a preset steering angle, i.e., the target deflection angle of the AGV, into the industrial control computer. After parsing the instruction, the industrial control computer outputs a running control signal to the second drive motor 7, driving the second drive motor 7 to start working. The second drive motor 7 drives the second bevel gear 6 at the end of the shaft to rotate, which drives the first bevel gear 5 and the fixed walking frame 2 to rotate synchronously through gear meshing, performing the steering action. The encoder 71 is coaxially mounted on the shaft of the second drive motor 7. During the rotation of the motor, the encoder 71 continuously collects the angular displacement, number of rotations, and real-time steering angle data of the shaft, and transmits them back to the industrial control computer in real time. The industrial control computer continuously compares the steering angle data fed back by the encoder 71 with the preset steering angle; when the value fed back by the encoder 71 reaches the target value corresponding to the preset angle, the industrial control computer immediately cuts off the power supply / drive signal of the second drive motor 7, controls the motor to stop running, and the walking frame 2 and the walking wheels 3 stop at the set theoretical steering position.

[0051] S3. The industrial control computer determines the degree of steering deviation by comparing the preset steering angle with the actual rotation angle; Throughout step S2, the industrial control computer collects the actual steering angle of the walking frame 2 and the walking wheel 3 in real time through the sensor 9. When the walking frame 2 stops, the industrial control computer records the actual steering position of the walking wheel 3. The industrial control computer automatically calculates the deviation between the theoretical steering position and the actual steering position. The industrial control computer sets three different threshold ranges based on the deviation between the theoretical and actual turning positions: a first preset range, a second preset range, and a third preset range. The industrial control computer compares the calculated deviation values ​​with each preset range to classify the deviation level. First preset range: a qualified range with minimal deviation, which will not affect normal operation at all; Second preset range: a slight deviation range where the deviation exceeds the acceptable range but does not significantly affect normal operation; The third preset range: the severely exceeded range where deviations significantly exceed the standard and there is a risk of operational risks.

[0052] Step S4: The industrial control computer outputs different control signals according to the level of deviation value; When the steering deviation is within the first preset range, it is determined to be normal, and operation continues. When the steering deviation is within the second preset range, it is determined to be a slight deviation. The industrial control computer uses the current actual rotation angle as a reference to correct the position offset of the encoder 71. When the steering deviation reaches the third preset range, it is determined to be a serious deviation. The industrial control computer controls the first drive motor 4 and the second drive motor 7 to stop and triggers an alarm.

[0053] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An AGV walking and steering device, characterized in that: Includes support plate, traveling mechanism and steering mechanism; The walking mechanism includes a walking frame, walking wheels and a first drive motor. The walking frame is rotatably connected to the support plate, the first drive motor is fixedly connected to the walking frame, and the walking wheels are connected to the end of the shaft of the first drive motor. The first drive motor is used to drive the walking wheels to rotate. The steering mechanism includes a first bevel gear, a second bevel gear, and a second drive motor. The first bevel gear is fixedly connected to the walking frame, the second drive motor is fixedly connected to the support plate, and the second bevel gear is fixedly connected to the end of the rotating shaft of the second drive motor. The first bevel gear meshes with the second bevel gear. The top of the support plate is set as a mounting plane, and the central axis of the shaft of the first drive motor and the central axis of the shaft of the second drive motor are both parallel to the mounting plane.

2. The AGV walking and steering device according to claim 1, characterized in that: The walking frame and the support plate are rotatably connected by crossed roller bearings.

3. The AGV walking and steering device according to claim 1, characterized in that: The first bevel gear is configured as an incomplete gear, and the transmission angle of the first bevel gear is set to 90°~100°.

4. The AGV walking and steering device according to claim 3, characterized in that: A limiting pin is fixedly connected to the support plate, and a limiting groove is provided on the end face of the walking frame for the end of the limiting pin to extend into. The limiting groove is set as an arc-shaped groove, and the center of the limiting groove coincides with the rotation axis of the walking frame.

5. The AGV walking and steering device according to claim 1, characterized in that: The support plate has an installation chamber for the traveling frame and the crossed roller bearing to be embedded in. The traveling frame has a connecting through hole for the traveling wheel to pass through. The outer circle of the traveling wheel passes through the connecting through hole and extends into the installation chamber.

6. The AGV walking and steering device according to claim 5, characterized in that: A positioning ring is fixedly connected to the end of the walking frame away from the crossed roller bearing. A clearance hole is opened on the top of the support plate for the positioning ring to extend into. A sealing ring is fixedly connected in the clearance hole. The sealing ring is sleeved on the positioning ring and has a clearance fit with the outer wall of the positioning ring.

7. The AGV walking and steering device according to claim 5, characterized in that: A wheel frame is fixedly connected to the walking frame and located in the connecting through hole. The walking wheel is rotatably connected to the wheel frame. A transmission cavity is provided inside the walking wheel. An internal gear ring is fixedly connected inside the transmission cavity. A sun gear and planet gears are provided inside the transmission cavity and are rotatably connected to the wheel frame. The planet gears mesh with both the sun gear and the internal gear ring. The first drive motor outputs torque to the sun gear to drive the walking wheel to rotate.

8. The AGV walking and steering device according to any one of claims 1-7, characterized in that: It also includes an industrial control computer and sensors. The outer wall of the walking frame is provided with a sensing strip and a triggering part. The sensing strip includes multiple sensing slots formed on the walking frame. The sensing slots are distributed in an arc array. The center of the arc array coincides with the rotation axis of the walking frame. The triggering part is provided on the sensing strip. The sensor is fixedly connected to the support plate. The sensing end of the sensor faces the sensing strip. The sensor senses the sensing slots and the triggering part it passes through. The sensor, the first drive motor, and the second drive motor are communicatively connected to the industrial control computer.

9. The AGV walking and steering device according to claim 8, characterized in that: It also includes an encoder, which is fixedly connected to the shaft of the second drive motor to collect the angular displacement signal input to the shaft of the second drive motor, and the encoder is communicatively connected to the industrial control computer.

10. A steering control method, characterized in that, The AGV walking and steering device according to claim 9 includes: The initial position of the encoder is calibrated using the position of the trigger unit captured by the sensor as the reference, and the industrial control computer collects the actual rotation angle of the walking frame through sensing. The industrial control computer sends a control signal to the second drive motor according to the preset steering angle. The industrial control computer controls the second drive motor to stop after rotating to the preset position through the angular displacement signal fed back by the encoder. The industrial control computer determines the degree of steering deviation by comparing the preset steering angle with the actual rotation angle; When the steering deviation is within the first preset range, it is determined to be normal, and operation continues. When the steering deviation is within the second preset range, it is determined to be a slight deviation. The industrial control computer uses the current actual rotation angle as a reference to correct the encoder position offset. When the steering deviation reaches the third preset range, it is determined to be a serious deviation. The industrial control computer controls the first drive motor and the second drive motor to stop and triggers an alarm.

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