AGV steering mechanism

Abstract

The invention discloses an AGV steering mechanism which comprises a pair of coaxial steering wheels. The pair of steering wheels is connected through a steering connecting mechanism driven by a single motor and synchronously moves in the same direction. The connecting part of the steering connecting mechanism and the two steering wheels can conduct autorotation, and under the condition of non steering, two parallel autorotation shafts and the center points of the two steering wheels are in the same plane. According to the AGV steering mechanism, the design is exquisite, and the structure is simple and compact; by arranging the linkage steering connecting mechanism, a three-way connector and a two-way connector, the situation that the single motor drives the two steering wheels to synchronously rotate in the same direction can be effectively realized; relative to a differential speed steering structure, only one motor is needed, and power source is reduced; and driving wheels and the steering wheels are separated, and the two steering wheel are in linkage, so that the situation of slipping is not liable to occur, even if the situation of slipping of the steering wheel on one side occurs, steering can also be achieved under the effect of the overall structure, and the stability of operation is relatively better.

Description

technical field [0001] The invention relates to a steering mechanism, in particular to an AGV steering mechanism. Background technique [0002] Automated Guided Vehicle (AGV for short), refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, with safety protection and various transfer functions, in industrial applications A truck that does not require a driver uses a rechargeable battery as its power source. Generally, the computer can be used to control its travel route and behavior, or use the electromagnetic track (electromagnetic path-following system) to set up its travel route. The electromagnetic track is pasted on the floor, and the unmanned van follows the path brought by the electromagnetic track Messages move and act. [0003] Most of the existing AGVs use differential drive devices to drive and turn, mainly using the differential ratio of the rotational speeds...

AI Technical Summary

Problems solved by technology

[0004] This kind of structure generally requires two motors to realize the steering, and the number of power sources is large. Moreover, when one steering wheel slips, the accuracy of the steering cannot be guaranteed, or even the steering cannot be realized, which reduces the stability of the AGV operation.

[0005] In addition, if the differential steering structure is adopted, the controller cannot be completely accurate, and the wheels will slip during the movement of the vehicle, which will cause the wear of the wheels.

[0006] This kind of fixed structure causes the body of the AGV to vibrate greatly when it encounters bumps during operation, and the service life is short

[0007] Moreover, the differential steering is greatly affected by the path correction method, and the current mainstream path correction method is the fuzzy PID control adjustment. Because the sensor equipment produces a certain control lag, the adjustment of the PID control integral term also has obvious hysteresis. , the cumulative amount of deviation increases, and the error cannot be converged to an acceptable range in a short time

[0008] Aiming at the problem that the driving deviation in the path correction is difficult to converge in a short time, some scholars have applied a correction method of fuzzy control PID. , and finally realize the control by clearing the fuzzy data. In practice, the fuzzy PID control strategy is very complicated, and many functions can be solved by traditional PID control. The application of fuzzy processing needs to collect a large number of parameters, which wastes time and cost.

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