Trolley driven by double motors

Abstract

The utility model discloses a double-motor driving trolley, which relates to the technical field of trolleys and comprises a bearing plate, and the upper plate surface of the bearing plate is a placing surface; the driving mechanism comprises a left driving wheel set, a left driving motor, a right driving wheel set and a right driving motor; the left driving wheel set and the right driving wheel set are symmetrically arranged in the middles of the two sides of the bearing plate in the width direction. The left driving motor and the right driving motor are mounted on the lower plate surface of the bearing plate, are correspondingly connected and drive the left driving wheel set and the right driving wheel set to rotate; a front universal wheel and a rear universal wheel; front universal wheels are mounted in the middle of the front side of the lower plate surface of the bearing plate; the rear universal wheel is mounted in the middle of the rear side of the lower plate surface of the bearing plate; and the controller is electrically connected with the left driving motor and the right driving motor to control the left driving motor and the right driving motor to rotate and further control advancing and steering of the bearing plate. The two motors are independently controlled to drive the two wheel sets of the trolley to advance, and steering control is more flexible and accurate.

Description

Technical Field

[0001] The utility model relates to the technical field of trolleys, in particular to a dual-motor driven trolley. Background Art

[0002] In the field of automated control systems, small vehicles, as a fundamental mobile platform, are widely used in a variety of scenarios, including logistics and transportation, automated production lines, and service robots. Traditional methods for turning small vehicles typically include four-wheel steering, Mecanum wheel steering, and gyroscope steering. However, these methods have several drawbacks: For four-wheel steering, the addition of an additional steering mechanism can make maintenance and repair more complex and expensive. Four-wheel steering systems are typically more complex and costly than traditional two-wheel steering systems, and the additional steering mechanism increases the vehicle's weight, impacting efficiency and performance. For Mecanum wheel steering, the manufacturing process is more complex and costly than traditional wheels, and due to its unique design, wheels can wear unevenly, requiring more frequent maintenance. For gyroscope steering, gyroscopes are high-precision sensors with relatively high cost. Integrating gyroscopes requires complex control systems and algorithms, increasing the complexity of system design and implementation. Gyroscopes require regular calibration to maintain accuracy, which increases maintenance.

[0003] While some attempts have been made to improve the performance of the vehicle by improving control algorithms to address the aforementioned issues, these approaches often increase system complexity and cost, and have limited effectiveness. This utility model aims to provide a dual-motor-driven vehicle that achieves more flexible and precise steering control by independently controlling two motors to drive the vehicle's two wheels, thereby overcoming the limitations of existing technologies. Utility Model Content

[0004] In view of this, the present invention proposes a dual-motor driven trolley, which aims to solve the technical problems of the above-mentioned traditional trolleys, such as complex driving structure, high manufacturing and maintenance costs, inflexible steering and poor control accuracy.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] The present invention provides a dual-motor driven vehicle, comprising:

[0007] The upper surface of the load-bearing plate is used to place the goods to be transported, and its length direction is the front-to-back direction of the operation;

[0008] A drive mechanism comprising a left drive wheel assembly, a left drive motor, a right drive wheel assembly, and a right drive motor; the left drive wheel assembly and the right drive wheel assembly are symmetrically arranged on both sides of the width direction of the carrier plate and correspond to the middle part of the carrier plate in the front-to-back direction; the left drive motor and the right drive motor are both mounted on the lower plate surface of the carrier plate and are in one-to-one transmission connection to drive the left drive wheel assembly and the right drive wheel assembly to rotate;

[0009] Front universal wheel and rear universal wheel; the front universal wheel is mounted on the front side of the lower plate of the carrier plate and corresponds to the middle of the width direction of the carrier plate; the rear universal wheel is mounted on the rear side of the lower plate of the carrier plate and corresponds to the middle of the width direction of the carrier plate;

[0010] A controller is electrically connected to the left drive motor and the right drive motor to control their rotation, thereby controlling the travel and steering of the carrying plate.

[0011] The left and right drive wheel assemblies of the present invention are located on the left and right sides of the load-bearing plate, and the left and right drive motors, front universal wheels, and rear universal wheels are all arranged on the lower surface of the load-bearing plate. The spatial layout does not interfere with the placement surface of the load-bearing plate, making the placement surface of the load-bearing plate more conducive to loading cargo. The front universal wheel, together with the left and right drive wheel assemblies, constitute a triangular support drive wheel combination structure 1, and the rear universal wheel, together with the left and right drive wheel assemblies, constitute a triangular support drive wheel combination structure 2. Both the triangular support drive wheel combination structure 1 and the triangular support drive wheel combination structure 2 are triangular support combination layouts of dual drive wheels plus a single universal wheel, making the overall steering drive of the trolley more flexible and improving the stability and flexibility of the trolley when traveling and turning. Furthermore, regardless of whether the cargo loading position on the placement surface is at the front, back, or center, or whether the trolley accelerates or decelerates during travel, smooth travel can be ensured. The utility model controls the left drive motor and the right drive motor, and thus can independently control the rotation speed and travel direction of the left drive wheel group and the right drive wheel group, which is conducive to achieving more flexible and precise steering control, and can achieve zero turning radius for on-the-spot turning and U-turn, while reducing the complexity and cost of the steering drive structure of the trolley, thereby reducing the manufacturing and maintenance costs of the trolley.

[0012] As a further improvement of the above technical solution, the driving mechanism also includes a left transmission rod and a right transmission rod; one end of the left transmission rod is transmission-connected to the left drive motor, and the other end is transmission-connected to the left drive wheel group; one end of the right transmission rod is transmission-connected to the right drive motor, and the other end is transmission-connected to the right drive wheel group.

[0013] As a further improvement of the above technical solution, the left drive wheel group includes multiple left drive wheels, and the multiple left drive wheels are coaxially arranged and are all coaxially connected to one end of the left transmission rod; the right drive wheel group includes multiple right drive wheels, and the multiple right drive wheels are coaxially arranged and are all coaxially connected to one end of the right transmission rod; the left transmission rod and the right transmission rod are coaxially arranged.

[0014] The beneficial effect of the above technical solution is that the coaxially arranged multiple left drive wheels and the coaxially arranged multiple right drive wheels can increase the friction with the ground, and can improve the stability of the vehicle's travel and steering drive.

[0015] As a further improvement of the above technical solution, the plurality of left drive wheels and the plurality of right drive wheels are rubber wheels.

[0016] As a further improvement of the above technical solution, the supporting plate includes a main supporting plate, convex plate one and convex plate two; the convex plate one and the convex plate two are symmetrically fixed at the front and rear ends of the main supporting plate and correspond to the middle part of the width direction of the main supporting plate; the front universal wheel is installed on the lower plate surface of the convex plate one; the rear universal wheel is installed on the lower plate surface of the convex plate two.

[0017] The beneficial effect of the above technical solution is that the front universal wheels, rear universal wheels, left drive wheel set and right drive wheel set are all arranged corresponding to the peripheral side of the main load-bearing plate, which can improve the stability of the trolley when loaded with goods.

[0018] As a further improvement of the above technical solution, the main bearing plate is a rectangular flat plate.

[0019] As a further improvement of the above technical solution, the left drive motor and the right drive motor are coaxially arranged in sequence along the width direction of the main bearing plate.

[0020] Through the above technical solution, it can be seen that compared with the prior art, the utility model discloses a dual-motor driven vehicle with the following advantages and beneficial effects:

[0021] 1. The dual-motor driven trolley of the utility model has a simple structure and low production cost; the load-bearing plate serves as the drive structure mounting plate and the cargo consignment plate, with a simplified structure, light weight and good flexibility. As a mobile platform, it can be widely used in logistics transportation, automated production lines, service robots and other scenarios.

[0022] 2. The rotation angle and speed of the left drive motor and the right drive motor of the utility model are controlled by the controller, and the left drive motor is directly connected to the left drive wheel set coaxially, and the right drive motor is directly connected to the right drive wheel set coaxially, which simplifies the control logic and improves the accuracy of steering and travel control; the controller can realize the trolley turning along any turning radius by collaboratively controlling the rotation angle and speed of the left drive motor and the right drive motor, so that the dual-motor driven trolley can be suitable for handling operations in smaller spaces or channels. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 A three-dimensional schematic diagram of the overall structure of a dual-motor driven trolley in the utility model;

[0025] Figure 2 Bottom view of the structure of a dual-motor driven trolley in the utility model;

[0026] Figure 3 A side view of the structure of a dual-motor driven trolley in the utility model;

[0027] Figure 4 A front view of the structure of a dual-motor driven trolley in the utility model;

[0028] Figure 5 Schematic diagram of equivalent analysis of the in-situ turning motion of a dual-motor driven trolley in this utility model;

[0029] Figure 6 A schematic diagram of the control process of the in-situ steering motion of a dual-motor driven trolley in the utility model;

[0030] Figure 7 Schematic diagram of equivalent analysis of steering motion of a dual-motor driven trolley with the steering center O located between the left driving wheel set and the right driving wheel set;

[0031] Figure 8 A schematic diagram of the steering motion control process of a dual-motor driven trolley in the utility model, wherein the steering center O is located between the left driving wheel set and the right driving wheel set;

[0032] Figure 9 Schematic diagram of equivalent analysis of steering motion of a dual-motor driven trolley in the utility model, in which the steering center O is located outside the relative direction of the left driving wheel group and the right driving wheel group;

[0033] Figure 10 A schematic diagram of a steering motion control process of a dual-motor driven trolley in which the steering center O is located outside the relative direction of the left driving wheel group and the right driving wheel group;

[0034] Figure 11 The utility model is a schematic diagram of an equivalent analysis of the steering motion of a dual-motor driven vehicle with the left driving wheel set or the right driving wheel set as the steering center O;

[0035] Figure 12 The utility model is a schematic diagram of a steering motion control process of a dual-motor driven vehicle with the left driving wheel set or the right driving wheel set as the steering center O;

[0036] In the figure: 1. Carrying plate; 11. Main carrying plate; 111. Placement surface; 12. Convex plate 1; 13. Convex plate 2; 2. Driving mechanism; 21. Left driving wheel assembly; 211. Left driving wheel; 22. Left driving motor; 23. Right driving wheel assembly; 231. Right driving wheel; 24. Right driving motor; 25. Left transmission rod; 26. Right transmission rod; 3. Front universal wheel; 4. Rear universal wheel. DETAILED DESCRIPTION

[0037] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0040] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0041] According to the embodiment of the present utility model, Figures 1 to 4 As shown, a dual-motor driven vehicle includes:

[0042] The upper surface of the carrying plate 1 is a placement surface 111 for placing goods to be transported, and its length direction is the front-to-back direction of movement;

[0043] The drive mechanism 2 includes a left drive wheel assembly 21, a left drive motor 22, a right drive wheel assembly 23, and a right drive motor 24. The left drive wheel assembly 21 and the right drive wheel assembly 23 are symmetrically arranged on both sides of the carrier plate 1 in the width direction and correspond to the middle part of the carrier plate 1 in the front-to-back direction. The housings of the left drive motor 22 and the right drive motor 24 are fixedly mounted on the lower surface of the carrier plate 1, and their rotating shafts are connected in a one-to-one transmission manner to drive the left drive wheel assembly 21 and the right drive wheel assembly 23 to rotate.

[0044] Front universal wheel 3 and rear universal wheel 4; the front universal wheel 3 is installed on the front side of the lower plate of the carrier plate 1 and corresponds to the middle of the width direction of the carrier plate 1; the rear universal wheel 4 is installed on the rear side of the lower plate of the carrier plate 1 and corresponds to the middle of the width direction of the carrier plate 1;

[0045] The controller is electrically connected to the left drive motor 22 and the right drive motor 24 to control their rotation, thereby controlling the travel and steering of the supporting plate 1 .

[0046] In this embodiment, the left and right drive wheel assemblies 21 and 23 are located on the left and right sides of the carrier plate 1. The left and right drive motors 22 and 24, as well as the front and rear universal wheels 3 and 4, are all arranged on the lower surface of the carrier plate 1. Their spatial layout does not interfere with the placement surface 111 of the carrier plate 1, making the placement surface 111 of the carrier plate 1 more convenient for loading cargo. The front universal wheel 3, together with the left and right drive wheel assemblies 21 and 23, forms a triangular support drive wheel assembly structure 1. The rear universal wheel 4, together with the left and right drive wheel assemblies 21 and 23, forms a triangular support drive wheel assembly structure 2. Both triangular support drive wheel assembly structures 1 and 2 are triangular support assembly structures with two drive wheels and a single universal wheel. This makes the overall steering of the trolley more flexible, improving its stability and maneuverability during travel and cornering. Furthermore, regardless of whether the cargo is loaded forward, backward, or in the center of the placement surface 111, or whether the trolley accelerates or decelerates during travel, smooth travel is ensured. The present invention controls the left drive motor 22 and the right drive motor 24, thereby independently controlling the rotation speed and travel direction of the left drive wheel group 21 and the right drive wheel group 23, thereby facilitating more flexible and precise steering control, and achieving a zero turning radius for on-the-spot steering and U-turns, while reducing the complexity and cost of the trolley's steering drive structure, thereby reducing the trolley's manufacturing and maintenance costs.

[0047] In some embodiments, the drive mechanism 2 also includes a left transmission rod 25 and a right transmission rod 26; one end of the left transmission rod 25 is transmission-connected to the left drive motor 22, and the other end is transmission-connected to the left drive wheel group 21; one end of the right transmission rod 26 is transmission-connected to the right drive motor 24, and the other end is transmission-connected to the right drive wheel group 23.

[0048] In some embodiments, the left drive wheel group 21 includes multiple left drive wheels 211, which are coaxially arranged and all coaxially connected to one end of the left transmission rod 25; the right drive wheel group 23 includes multiple right drive wheels 231, which are coaxially arranged and all coaxially connected to one end of the right transmission rod 26; the left transmission rod 25 and the right transmission rod 26 are coaxially arranged.

[0049] The coaxially arranged multiple left drive wheels 211 and the coaxially arranged multiple right drive wheels 231 can increase the friction with the ground and improve the stability of the vehicle's travel and steering drive.

[0050] In some embodiments, the plurality of left driving wheels 211 and the plurality of right driving wheels 231 are rubber wheels.

[0051] In some embodiments, the supporting plate 1 includes a main supporting plate 11, a convex plate 12 and a convex plate 2 13; the convex plate 12 and the convex plate 2 13 are symmetrically fixed at the front and rear ends of the main supporting plate 11 and correspond to the middle part of the width direction of the main supporting plate 11; the front universal wheel 3 is installed on the lower plate surface of the convex plate 12; the rear universal wheel 4 is installed on the lower plate surface of the convex plate 2 13.

[0052] The front universal wheel 3, the rear universal wheel 4, the left driving wheel set 21 and the right driving wheel set 23 are all arranged around the main load-bearing plate 11 to improve the stability of the trolley when loaded with goods.

[0053] In some embodiments, the main supporting plate 11 is a rectangular flat plate.

[0054] In some embodiments, the left drive motor 22 and the right drive motor 24 are coaxially arranged in sequence along the width direction of the main carrier plate 11 ; the left drive motor 22 and the right drive motor 24 both correspond to the middle of the length direction of the main carrier plate 11 .

[0055] According to another embodiment of the present invention, a turning control method for a dual-motor driven vehicle includes the following turning control modes:

[0056] Mode 1: The controller controls the rotation speed and rotational angular displacement (i.e., the number of rotations) of the left drive motor 22 and the right drive motor 24, thereby driving the left drive wheel assembly 21 and the right drive wheel assembly 23 to move the same distance in opposite directions at the same speed, so that the steering center of the vehicle corresponds to the axial midpoint of the left drive wheel assembly 21 and the right drive wheel assembly 23, thereby achieving on-site steering of the vehicle;

[0057] Mode 2: The controller controls the rotation of the left drive motor 22 and the right drive motor 24, thereby controlling the left drive wheel set 21 and the right drive wheel set 23 to move in opposite directions or in the same direction at different speeds, so as to control the vehicle to make a turning movement with a turning radius r; the turning radius r is the distance from the axial midpoint of the left drive wheel set 21 and the right drive wheel set 23 to the steering center of the vehicle.

[0058] In some embodiments, in mode 1, the rotating shaft of the left drive motor 22 is coaxially fixedly connected to one end of the left transmission rod 25, and the other end of the left transmission rod 25 is coaxially fixedly connected to the axle of the left drive wheel assembly 21; the rotating shaft of the right drive motor 24 is coaxially fixedly connected to one end of the right transmission rod 26, and the other end of the right transmission rod 26 is coaxially fixedly connected to the axle of the right drive wheel assembly 23;

[0059] The radius of the left drive wheel assembly 21 and the right drive wheel assembly 23 are both set to R, and the distance between them is set to L; the left drive motor 22 and the right drive motor 24 are both motors with encoders; the controller is a PID controller; the number of pulse signals required for the left drive motor 22 and the right drive motor 24 to rotate one circle is N;

[0060] The relationship between the desired angle α of the vehicle's rotation and the number of pulse signals required by the left drive motor 22 and the right drive motor 24 is: Based on the desired angle α, the target number of pulse signals T can be determined. The PID controller then sends a target number of pulse signals T to the left drive motor 22 and the right drive motor 24, causing the left drive wheel assembly 21 and the right drive wheel assembly 23 to move in opposite directions at the same speed, thereby achieving rotation of the vehicle to the desired angle α. In other words, the number of pulse signals T sent by the PID controller corresponds to the number of revolutions of the left drive wheel assembly 21 and the right drive wheel assembly 23. The speed and position of the left drive wheel assembly 21 and the right drive wheel assembly 23 can then be controlled by the number of pulse signals T and the pulse signal frequency sent by the PID controller.

[0061] For specific turning control methods, see Figure 5 , Figure 5 The equivalent analysis diagram of the cart's in-situ turning motion is given. The rotation of the left drive motor 22, the left transmission rod 25, and the left drive wheel assembly 21 is always synchronized; the right drive motor 24, the right transmission rod 26, and the right drive wheel assembly 23 are always synchronized. The relationship between the number of pulse signals required for each unit rotation distance of the left drive wheel assembly 21 and the right drive wheel assembly 23 is: Further deduction is made so that when the trolley rotates to the desired angle α, the left driving wheel group 21 and the right driving wheel group 23 always rotate at the same speed V; when the trolley rotates, the midpoint of the line connecting the rotation center points of the left driving wheel group 21 and the right driving wheel group 23 is the center point of the trolley's turning circle. According to the calculation method of arc length and radius, it can be deduced that when the trolley rotates to the desired angle α, the distance traveled by the left driving wheel group 21 and the right driving wheel group 23 is Therefore, the relationship between the required number of target pulse signals and the desired angle α of the car's rotation is T = |X|·Y, that is,

[0062] For details, see Figure 6 , the controller can be adjusted according to the desired angle α and To determine the number of pulse signals required to control the rotation of the left drive motor 22 and the right drive motor 24, thereby achieving precise on-the-spot steering control.

[0063] In some embodiments, in mode 2, when the car is controlled to make a turning motion with a turning radius r and r is less than L, the PID controller controls the left driving wheel set 21 to move at a desired speed V1 and the right driving wheel set 23 to move at a desired speed V2 in opposite directions;

[0064] Specifically, a uniform circular motion around a point between the left driving wheel set 21 and the right driving wheel set 23 of the vehicle is taken as an example.

[0065] For analysis of the car's steering mode, see Figure 7 The car performs uniform circular motion around the steering center O. Assume that the steering center O is close to the left driving wheel group 21. Assume that the speed of the left driving wheel group 21 is V1 and the speed of the right driving wheel group 23 is V2. The distance between the steering center O and the left driving wheel group 21 is r1, the straight-line distance between the steering center O and the right driving wheel group 23 is r2, and the distance between the left driving wheel group 21 and the right driving wheel group 23 is L. Since the left driving wheel group 21 and the right driving wheel group 23 are installed on the same supporting plate 1 and both perform uniform circular motion, the time from the starting point to the end point of the motion process is the same. Assume that the motion time from the starting point to the end point of the left driving wheel group 21 is t1, and the motion time from the starting point to the end point of the right driving wheel group 23 is t2, then:

[0066]

[0067] r2=L-r1

[0068] Obviously, t1 is equal to t2, so the following relationship can be obtained:

[0069]

[0070] Therefore, if you want to control the car to perform uniform circular motion around a point on the outside of the left driving wheel set 21 and the right driving wheel set 23 in the opposite direction as the steering center O, it can be determined according to the relationship, see Figure 8 The controller can be used to control the left driving wheel set 21 to move at a desired speed V1 and the right driving wheel set 23 to move at a desired speed V2 in the same direction at a differential speed.

[0071] In some embodiments, in mode 2, when the car is controlled to make a turning motion with a turning radius r and r is greater than L, the PID controller controls the left driving wheel set 21 to move at a desired speed V1 and the right driving wheel set 23 to move at a desired speed V2 in the same direction with a differential speed;

[0072] Specifically, a uniform circular motion is performed around a point on the outside of the left driving wheel set 21 and the right driving wheel set 23 of the vehicle as an example.

[0073] For analysis of the car's steering mode, see Figure 9The trolley performs uniform circular motion around the steering center O. Assume that the steering center O is close to the side of the right driving wheel group 23. Assume that the speed of the right driving wheel group 23 is V1 and the speed of the left driving wheel group 21 is V2. The distance between the steering center O and the right driving wheel group 23 is r1. The straight-line distance between the steering center O and the left driving wheel group 21 is r2. The distance between the left driving wheel group 21 and the right driving wheel group 23 is L. Since the left driving wheel group 21 and the right driving wheel group 23 are installed on the same supporting plate 1 and both perform uniform circular motion, the time from the starting point to the end point of the motion process is the same. Assume that the motion time of the right driving wheel group 23 from the starting point to the end point is t1, and the motion time of the left driving wheel group 21 from the starting point to the end point is t2, then:

[0074]

[0075] r2=r1+L

[0076] Obviously, t1 is equal to t2, so the following relationship can be obtained:

[0077]

[0078] Therefore, if you want to control the car to perform uniform circular motion around a point on the outside of the left driving wheel set 21 and the right driving wheel set 23 in the opposite direction as the steering center O, it can be determined according to the relationship, see Figure 10 The controller can be used to control the left driving wheel set 21 to move at a desired speed V1 and the right driving wheel set 23 to move at a desired speed V2 in the same direction at a differential speed.

[0079] In some embodiments, in mode 2, when the car is controlled to make a turning motion with a turning radius r and r is equal to L, the PID controller is used to control only the left driving wheel set 21 or the right driving wheel set 23 to rotate;

[0080] The relationship between the desired angle α of the trolley's rotation and the number of pulse signals required by the left drive motor 22 or the right drive motor 24 is: The PID controller sends only a number T of pulse signals to the left drive motor 22 or the right drive motor 24 to enable only the left drive wheel set 21 or the right drive wheel set 23 to move, thereby achieving the rotation of the trolley to the desired angle α.

[0081] Specifically, when the right driving wheel assembly 23 is used as a fixed point, the distance traveled by the left driving wheel assembly 21 when it rotates to the desired angle α is denoted as X. According to the arc length calculation formula, the relationship between X and α can be obtained as follows:

[0082] X=αL

[0083] The relationship between the desired angle α and the number of pulse signals T required by the left drive motor 22 when rotating to the desired angle α is:

[0084]

[0085] See also Figure 12 , a PID controller is used to send a pulse signal number T to the left drive motor 22, thereby driving the left drive wheel group 21 to rotate and move to the desired angle α.

[0086] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0087] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A dual-motor driven vehicle, characterized in that: include: A load-bearing plate (1), wherein the upper plate surface of the load-bearing plate (1) is a placement surface (111) for placing goods to be transported, and the length direction thereof is the front-to-back direction of movement; A driving mechanism (2), the driving mechanism (2) comprising a left driving wheel group (21), a left driving motor (22), a right driving wheel group (23) and a right driving motor (24); the left driving wheel group (21) and the right driving wheel group (23) are symmetrically arranged on both sides of the width direction of the carrier plate (1) and correspond to the middle part of the front-back direction of the carrier plate (1); the left driving motor (22) and the right driving motor (24) are both installed on the lower plate surface of the carrier plate (1) and are connected in a one-to-one transmission manner to drive the left driving wheel group (21) and the right driving wheel group (23) to rotate; A front universal wheel (3) and a rear universal wheel (4); the front universal wheel (3) is mounted on the front side of the lower plate of the carrier plate (1) and corresponds to the middle of the width direction of the carrier plate (1); the rear universal wheel (4) is mounted on the rear side of the lower plate of the carrier plate (1) and corresponds to the middle of the width direction of the carrier plate (1); A controller is electrically connected to the left drive motor (22) and the right drive motor (24) to control their rotation, thereby controlling the travel and steering of the carrier plate (1).

2. A dual-motor driven vehicle according to claim 1, characterized in that: The driving mechanism (2) further comprises a left transmission rod (25) and a right transmission rod (26); one end of the left transmission rod (25) is transmission-connected to the left driving motor (22), and the other end is transmission-connected to the left driving wheel set (21); one end of the right transmission rod (26) is transmission-connected to the right driving motor (24), and the other end is transmission-connected to the right driving wheel set (23).

3. A dual-motor driven vehicle according to claim 2, characterized in that: The left driving wheel group (21) includes a plurality of left driving wheels (211), the plurality of left driving wheels (211) are coaxially arranged and are all coaxially connected to one end of the left transmission rod (25); the right driving wheel group (23) includes a plurality of right driving wheels (231), the plurality of right driving wheels (231) are coaxially arranged and are all coaxially connected to one end of the right transmission rod (26); the left transmission rod (25) and the right transmission rod (26) are coaxially arranged.

4. A dual-motor driven vehicle according to claim 3, characterized in that: The plurality of left driving wheels (211) and the plurality of right driving wheels (231) are all rubber wheels.

5. The dual-motor driven vehicle according to claim 1, characterized in that: The bearing plate (1) comprises a main bearing plate (11), a convex plate 1 (12) and a convex plate 2 (13); the convex plate 1 (12) and the convex plate 2 (13) are symmetrically fixed at the front and rear ends of the main bearing plate (11) and correspond to the middle part of the width direction of the main bearing plate (11); the front universal wheel (3) is installed on the lower plate surface of the convex plate 1 (12); and the rear universal wheel (4) is installed on the lower plate surface of the convex plate 2 (13).

6. A dual-motor driven vehicle according to claim 5, characterized in that: The main bearing plate (11) is a rectangular flat plate.

7. The dual-motor driven vehicle according to claim 5, characterized in that: The left drive motor (22) and the right drive motor (24) are coaxially arranged in sequence along the width direction of the main bearing plate (11).

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