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AGV的行走机构 AGV's Running Mechanism

1.AGV两轮差速的行走机构

行走驱动车轮对称布置在前后中线上,从动轮布置在以两行走轮支点连线为底边的等腰三角形顶点处。小车靠两侧行走驱动轮差速转向因此不必设置舵轮。该小车机构简单、工作可靠、成本低。在自动运行状态下小车能做前进、后退行驶并能垂直转弯机动性好。和带舵轮的四轮行走机构小车相比该车由于省去了舵轮不仅可以省去两台驾驶马达还能节省空间小车可以做的更小些。近年来这种机构的小车得到广泛应用。为了提高行驶时车体横向稳定性可将两轮差速的四轮行走机构做如下改进将支承轮由原来的两个增加到四个分别布置在小车底盘的四个角处。
这种行走机构简单,工作可靠,成本低。在自动运行状态下小车能做前进、后退行驶并能垂直转弯,机动性好。  

1. AGV Two-wheel Differential Walking Mechanism

The traveling driving wheels are symmetrically arranged on the front and rear centerlines, and the driven wheels are arranged at the vertices of an isosceles triangle whose base is the line connecting the fulcrums of the two traveling wheels. The trolley runs on both sides and the driving wheels are differentially steered, so there is no need to set a steering wheel. The trolley has simple mechanism, reliable work and low cost. In the automatic running state, the trolley can move forward and backward, and can turn vertically, with good maneuverability. Compared with the four-wheel traveling mechanism car with steering wheel, this car not only saves two driving motors but also saves space because the steering wheel is omitted. The car can be made smaller. In recent years, the trolley of this mechanism has been widely used. In order to improve the lateral stability of the vehicle body during driving, the following improvements can be made to the four-wheel running mechanism with two-wheel differential speed.

The walking mechanism is simple, reliable in operation and low in cost. In the automatic running state, the trolley can move forward, backward and turn vertically, with good maneuverability.


2.AGV三轮行走机构

三轮行走机构的AGV搬运机器人三个车轮分别布置在等腰三角形的三个顶点上前轮既是舵轮又是行走驱动轮后面两个车轮是无动力支承轮。

三轮行走机构的AGV小车结构简单、控制容易、工作可靠、造价低。该车手动时可前进、后退和转弯自动运行时只能单向行驶转弯时后轮中点轨迹偏离导引线轮迹呈曳物线。

2. AGV Three-wheel Walking Mechanism

The three wheels of the AGV handling robot of the three-wheeled walking mechanism are respectively arranged on the three vertices of the isosceles triangle.

The AGV trolley of the three-wheeled walking mechanism has simple structure, easy control, reliable operation and low cost. When the car is manual, it can move forward, backward, and turn automatically. When it runs automatically, it can only run in one direction. When turning, the mid-point track of the rear wheel deviates from the guide line.


3.AGV带舵轮的四轮行走机构

带舵轮的四轮行走机构是在三轮行走机构基础上演变过来的,它相当于把两个三轮车合并在一起两支承轮对称地布置在小车前后的中线上前后车轮分别对称布置在以两支承轮支点为底边的等腰三角形顶点处。前后车轮既是舵轮又是行走驱动轮。这种AGV小车在自动运行状态下可全方位行驶转弯时前后车轮均能跟踪导引线轨迹机动性比三轮车好适用于狭窄通道作业环境。

3. AGV four-wheel traveling mechanism with steering wheel

The four-wheel traveling mechanism with steering wheel is evolved on the basis of the three-wheel traveling mechanism. It is equivalent to merging two tricycles together. The two supporting wheels are symmetrically arranged on the center line of the front and rear of the trolley. The fulcrum of the wheel is the vertex of the isosceles triangle of the base. The front and rear wheels are both steering wheels and walking drive wheels. This AGV car can travel in all directions under the automatic running state, and the front and rear wheels can track the trajectory of the guide wire.


4.AGV其它形式的行走机构
近年来国外不断研究出新的行走机构,其中最有代表性的属瑞典麦卡纳姆公司的行走机构,该行走机构设计新颖、机构紧凑四个驱动车轮以铰接形式分别布置在底盘的四个角上。运行时分别控制四个车轮的转向和转速利用速度矢量合成原理实现驾驶。后来日本三井公司与麦卡纳姆公司合作在原基础上做了改进推出了三井麦卡纳姆车轮系统,其性能比原来又有所提高,这种智能搬运AGV小车可实现全方位行驶。

4. AGV other forms of walking mechanism

In recent years, new traveling mechanisms have been continuously researched abroad, the most representative of which is the traveling mechanism of the Swedish McCanham Company. The traveling mechanism has a novel design and a compact structure. The four driving wheels are hingedly arranged on the four chassis corner. During operation, the steering and rotational speed of the four wheels are controlled respectively, and the driving is realized by the principle of speed vector synthesis. Later, Japan's Mitsui Co., Ltd. and Mecanum Co., Ltd. made improvements on the original basis and launched the Mitsui Mecanum wheel system. Its performance has been improved compared with the original. This intelligent handling AGV car can achieve all-round driving.

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