Transport cart with omnibearing movement function

Abstract

The invention discloses a transport cart with an omnibearing movement function. The transport cart with the omnibearing movement function comprises a cart body platform, dual differential driving units, a goods platform, a control cabinet, an acceleration sensor, a battery power set and a wireless communication module. An embedded controller and a servo motor driver are arranged in the control cabinet. The four dual differential driving units are movably connected with the cart body platform. Both the control cabinet and the battery power set are fixedly connected into the cart body platform. An ultrasonic sensor, the acceleration sensor and the wireless communication module are fixed to the cart body platform. Numerical values measured by the acceleration sensor are transmitted to the embedded controller through the wireless communication module, and the servo motor driver drives the dual differential driving units according to the control quantity worked out by the embedded controller so as to achieve omnibearing movement of the cart body platform. According to the transport cart with the omnibearing movement function, through the coordinated control of the four dual differential driving units, the control performance of the system is improved, and the moving speed of the cart body platform is made more stable.

Description

technical field [0001] The invention relates to a transport vehicle, in particular to a transport vehicle with omnidirectional movement, which can be widely used in transportation environments such as ports, cargo warehouses, and factory material transportation. Background technique [0002] With the development of society and economy, in the fields of medical care, logistics, facility agriculture, aerospace and other fields, in order to reduce the intensity of human work and improve efficiency and reliability, a large number of auxiliary, autonomous transport vehicles and robots are needed. The mobile mechanism of the platform vehicle, which is the foundation of the transport vehicle, has attracted much attention. In addition, how to save costs and improve the efficiency of cargo transshipment has become a key issue facing people. Generally, the omnidirectional sports car uses four mecanum wheels to realize the omnidirectional movement function of the car body. Since the ...

AI Technical Summary

Problems solved by technology

Since the two wheels of the orthogonal wheel touch the ground alternately during the movement, the pressure on each wheel changes greatly during the movement, which affects the friction force in contact with the ground and the rotation speed of the wheel. Can not guarantee the stability of the speed of the car body movement

In addition, there is a gap between the rollers of the mecanum wheel, which is prone to vibration or slipping, resulting in serious energy loss, resulting in unstable movement of the car body, and the accuracy of the position cannot be guaranteed. Moreover, this kind of wheel has high requirements for processing and design. , resulting in high cost of use

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