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  • AGV的行走機構 AGV's Running Mechanism

    1.AGV兩輪差速的行走機構

    行走驅動車輪對稱布置在前后中線上,從動輪布置在以兩行走輪支點連線為底邊的等腰三角形頂點處。小車靠兩側行走驅動輪差速轉向因此不必設置舵輪。該小車機構簡單、工作可靠、成本低。在自動運行狀態下小車能做前進、后退行駛并能垂直轉彎機動性好。和帶舵輪的四輪行走機構小車相比該車由于省去了舵輪不僅可以省去兩臺駕駛馬達還能節省空間小車可以做的更小些。近年來這種機構的小車得到廣泛應用。為了提高行駛時車體橫向穩定性可將兩輪差速的四輪行走機構做如下改進將支承輪由原來的兩個增加到四個分別布置在小車底盤的四個角處。
    這種行走機構簡單,工作可靠,成本低。在自動運行狀態下小車能做前進、后退行駛并能垂直轉彎,機動性好?! ?/span>

    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三輪行走機構

    三輪行走機構的AGV搬運機器人三個車輪分別布置在等腰三角形的三個頂點上前輪既是舵輪又是行走驅動輪后面兩個車輪是無動力支承輪。

    三輪行走機構的AGV小車結構簡單、控制容易、工作可靠、造價低。該車手動時可前進、后退和轉彎自動運行時只能單向行駛轉彎時后輪中點軌跡偏離導引線輪跡呈曳物線。

    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帶舵輪的四輪行走機構

    帶舵輪的四輪行走機構是在三輪行走機構基礎上演變過來的,它相當于把兩個三輪車合并在一起兩支承輪對稱地布置在小車前后的中線上前后車輪分別對稱布置在以兩支承輪支點為底邊的等腰三角形頂點處。前后車輪既是舵輪又是行走驅動輪。這種AGV小車在自動運行狀態下可全方位行駛轉彎時前后車輪均能跟蹤導引線軌跡機動性比三輪車好適用于狹窄通道作業環境。

    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其它形式的行走機構
    近年來國外不斷研究出新的行走機構,其中最有代表性的屬瑞典麥卡納姆公司的行走機構,該行走機構設計新穎、機構緊湊四個驅動車輪以鉸接形式分別布置在底盤的四個角上。運行時分別控制四個車輪的轉向和轉速利用速度矢量合成原理實現駕駛。后來日本三井公司與麥卡納姆公司合作在原基礎上做了改進推出了三井麥卡納姆車輪系統,其性能比原來又有所提高,這種智能搬運AGV小車可實現全方位行駛。

    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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