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 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 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 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.