CN105425792A - Omnidirectional mobile automatic guided vehicle - Google Patents

Omnidirectional mobile automatic guided vehicle Download PDF

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Publication number
CN105425792A
CN105425792A CN201510788465.2A CN201510788465A CN105425792A CN 105425792 A CN105425792 A CN 105425792A CN 201510788465 A CN201510788465 A CN 201510788465A CN 105425792 A CN105425792 A CN 105425792A
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CN
China
Prior art keywords
gear
shaft
casing
module
agv
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Pending
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CN201510788465.2A
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Chinese (zh)
Inventor
杨光明
刘明
李潇波
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HANGZHOU WARUI TECHNOLOGY Co Ltd
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HANGZHOU WARUI TECHNOLOGY Co Ltd
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Priority to CN201510788465.2A priority Critical patent/CN105425792A/en
Publication of CN105425792A publication Critical patent/CN105425792A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0212Driverless passenger transport vehicle

Abstract

The invention relates to an omnidirectional mobile automatic guided vehicle (AGV for short) comprising omnidirectional drive modules and a control module. The AGV further comprises an RFID read-write module and navigation sensors. The RFID read-write module is installed right under a frame and is used for detecting a ground magnetic card sign. The navigation sensors are installed on the front, rear, left and right axes of the frame respectively and are used for reading a ground magnetic stripe path. The RFID read-write module and the navigation sensors are connected with the control module. The AGV is equipped with safety protection devices around. According to the invention, the RFID read-write module controls steering and acceleration and deceleration of the AGV, the navigation sensors controls directional cruise of the AGV and the stability of the vehicle body, and therefore, the motion of the AGV is more flexible and efficient, route planning is more flexible, the automation degree and work efficiency of the AGV are improved, and the safety and reliability of the working process of the AGV are ensured.

Description

Can the automatically guiding trolley of Omni-mobile
Technical field
The present invention relates to a kind of automatically guiding trolley, especially a kind of can the automatically guiding trolley of Omni-mobile.
Background technology
Automatically guiding trolley (be called for short AGV) is one of key equipment in modern industry Intelligent logistics transportation system, compared with transporting with travelling belt, rail guided vehicle, roller, AGV has that automaticity is high, space availability ratio is high, route is arranged and amendment is convenient, controllability is good, be convenient to and the advantage such as Automatic System Inteqration, is therefore used widely in all conglomeraties such as equipment manufacturing, electronics, port traffic.
Current AGV chassis drives overwhelming majority to be wheel undercarriage, is generally two driving wheels and adds two universal wheels formation four-wheel-type one-way traffic AGV, or is that two driving wheels add four universal wheels and form six wheeled two way AGV.The velocity contrast of adjustment two independently driving wheel is adopted to carry out differential steering no matter to be four-wheel-type one-way traffic AGV or six wheeled two way AGV be all, although this driving and turn to and can meet general job requirements, but AGV can not be made simultaneously to have X-direction, Y direction, Z axis rotation three degree of freedom, AGV namely can not be made to carry out Omni-mobile.Along with the industry material flows automation of China in recent years, logistic industry, production assembling line flourish, human cost is got up higher, the Omni-mobile AGV growing to the demand of AGV, especially powerful, motion is flexible, route arranges flexibility more.
China Patent No. be 201410396798.6 patent of invention disclose a kind of can the automatic Guided Vehicle of omnidirectional running, comprise vehicle frame, at least two driving steering wheels, at least two supporting rollers and vehicle-mounted control modules, steering wheel is driven diagonally to be arranged on bottom of frame, supporting roller is also diagonally arranged on bottom of frame, described vehicle-mounted control module is arranged on described navigation dolly, and the control of vehicle-mounted control module exports and is connected with driving steering wheel; By controlling the independence of each driving steering wheel, achieve the control to AGV athletic posture and movement velocity, AGV can realize omnidirectional running; The orientation of this automatic Guided Vehicle is cruised and is turned to and all relies on navigation sensor induction ground magnetic stripe to adjust athletic posture, causes ground magnetic strip arrangements complicated thus causes navigation sensor easily misread information and cause damage; In addition, this automatic Guided Vehicle can control the speed held stationary of dolly by navigation sensor but can not control acceleration and deceleration freely according to state of ground.
Summary of the invention
The object of the invention is to overcome the deficiency that prior art exists, provide a kind of can the automatically guiding trolley of Omni-mobile, possess turn to flexibly, speeds control is convenient, makes ground route planning more simple, rationally; And dolly has safe reliability well in motion process.
Technical scheme of the present invention is:
Can the automatically guiding trolley of Omni-mobile, comprise omnidirectional's driver module, control module, RFID read-write module and navigation sensor; Above-mentioned omnidirectional driver module comprises drive motor, steer motor and driving wheel, drive motor to be connected with driving wheel by gear and to control the advance of driving wheel, retrogressing and acceleration and deceleration, steer motor to be connected with driving wheel by gear and to control turning to of driving wheel, work simultaneously and can carry out omnidirectional moving control to driving wheel, omnidirectional's driver module is connected with control module, receive and perform corresponding action according to the control signal that control module sends, namely omnidirectional's driver module is the main topworks of AGV; RFID read-write module to be arranged on immediately below vehicle frame and to be connected with control module, for detecting ground magnetic card road sign and by signal transmission to control module, control module according to RFID read the content of magnetic card road sign, sending corresponding control signal makes AGV perform corresponding action to omnidirectional's driver module, as turned to, acceleration and deceleration etc.; Navigation sensor to be installed on vehicle frame axis all around and to be connected with control module, for reading ground magnetic strip information and feeding back to control module, control module sends corresponding control signal according to the signal of feedback and walks along ground magnetic strip line to make AGV to omnidirectional's driver module; Therefore, according to the effect of above-mentioned RFID read-write module and navigation sensor, can preset magnetic stripe and magnetic card road sign by moving line as required at ground straight line or bend place, AGV can complete given task according to the magnetic stripe preset and magnetic card road sign.
Particularly, the information such as acceleration and deceleration, turning around a curve can be set on the magnetic card road sign preset, when RFID read-write module reads bend magnetic card road sign, control module according to receive be about to by bend information time, the control signal sending deceleration and mistake bend performs corresponding action to omnidirectional's driver module and slows down to make AGV, so that dolly is smooth cross bend; After AGV crosses bend, the control signal that control module sends acceleration performs corresponding action to omnidirectional's driver module and accelerates to make AGV, quickly move through rectilinear orbit ground; In this process, navigation sensor feeds back to control module by the magnetic strip information reading ground default, sends corresponding signal to omnidirectional's driver module to keep the easy motion of AGV by control module; RFID read-write module and the collaborative utilization of navigation sensor, relative to independent navigation sensor, further increase the safe reliability of AGV motion process.
Particularly, above-mentioned omnidirectional driver module comprises drive motor, the first input shaft, steer motor, the second input shaft, casing, outer shaft, the first gear set, the second gear set, live axle and driving wheel; Wherein: drive motor is connected with the first input shaft, steer motor is connected with the second input shaft, and the first input shaft enters in casing through cabinet shell and is connected with the first gear set, and the second input shaft enters in casing through cabinet shell and is connected with the second gear set; Outer shaft is tubular shaft, is arranged on casing lower end, is connected with casing by bearing, and outer shaft upper end is fixedly connected with the second gear set through cabinet shell; First gear set passes casing and enters outer shaft inside, and live axle is arranged on outer shaft lower end, and its two ends are connected by bearing with the both sides, isoplanar of outer shaft respectively, and are fixedly connected with the first gear set; Driving wheel is fixedly mounted on live axle, and part passes outer shaft bottom surface.
Particularly, drive motor rotates, and drives the first gear set by the first input shaft, and then drives live axle, and live axle drives driving wheel to rotate, thus above-mentioned omnidirectional driver module can be advanced or fall back; Steer motor is rotated, and drives the second gear set by the second input shaft, and then drives outer shaft to rotate, and makes driving wheel at original place autobiography, thus can control turning to of above-mentioned omnidirectional driver module; Steer motor and drive motor can work independently also collaborative work, by controlling the work of drive motor and steer motor simultaneously, can rotate driving wheel and control while turning to, thus control the motion of omnidirectional's driver module different directions, the Omni-mobile namely achieving AGV controls.
Preferably, above-mentioned omnidirectional driver module comprises drive motor, key, steer motor, the first input shaft, the second input shaft, the first intermediate shaft, the first gear, the second gear, the 3rd gear, stationary shaft, the 4th gear, live axle, driving wheel, the 5th gear, outer shaft, the second intermediate shaft, the 6th gear, casing, the 7th gear, octadentate wheel, the 9th gear and bearing composition; Wherein: drive motor is connected with the first input shaft by key, first input shaft enters in casing through cabinet shell and is fixedly connected with the 7th gear, 7th gear and octadentate are taken turns and are in transmission connection, octadentate wheel with in the first intermediate shaft upper end be fixedly connected with, first intermediate shaft enters outer shaft inside through the 6th gear, and lower end is fixedly connected with the first gear; First gear is connected with the 5th gear drive, and the 5th gear and the second gear concentric are installed on the second intermediate shaft, and the second intermediate shaft is installed on outer shaft upper end, and its two ends are connected respectively by bearing with the both sides, isoplanar of outer shaft; Second gear is connected with the 3rd gear drive, and the 3rd gear is installed on stationary shaft, is connected by bearing with stationary shaft, and stationary shaft is installed on the medial surface of outer shaft; 3rd gear is connected with the 4th gear drive, and the 4th gear is fixedly connected with live axle, and live axle is arranged on outer shaft lower end, its two ends respectively with outer shaft both sides, isoplanar be connected respectively by bearing; Driving wheel is fixedly mounted on live axle, and part passes outer shaft bottom surface; Steer motor is connected with the second input shaft by key, second input shaft enters in casing through cabinet shell and is fixedly connected with the 9th gear, 9th gear is connected with the 6th gear drive, the 6th gear and outer shaft upper end be connected by key or with outer shaft for being made of one gear shaft; Outer shaft is tubular shaft, is arranged on casing lower end, is connected with casing by bearing.
Preferably, described omnidirectional's driver module comprises motor driver.
Preferably, described omnidirectional's driver module is at least two, and diagonal angle is arranged on bottom of frame.
In addition, front panel is set in vehicle frame front portion, rear panel is set at vehicle frame rear portion; Front panel and rear panel are all provided with anticollision press strip and IR evading obstacle sensors, and IR evading obstacle sensors is connected with control module; Control module receives the signal that sends of IR evading obstacle sensors and sends control signal according to signal designation and performs corresponding action to corresponding topworks and crash to avoid AGV; Anticollision press strip can play certain buffer action when the collision accident of fore-and-aft direction occurs AGV, reduces collision loss
Particularly, in the above-mentioned latter panel be provided with wireless communication module and be connected with control module, wireless communication module can make AGV and other AGV travelled on the same area or same ground rail carry out communication, and communication signal is sent to control module, by the control action of control module, the collision between different AGV or grazing accident can be prevented on the one hand, can also make in addition to exchange between different AVG, facilitate traffic control and vehicle scheduling.
Preferably, at least two supporting rollers are set at bottom of frame, and diagonal angle is installed; More preferably, described supporting roller is universal wheel, and is furnished with shock attenuation device.
Preferably, setting angle sensor on omnidirectional's driver module, described angular transducer is for detecting the angle at omnidirectional's driver module and the angle of vehicle frame and being connected with control module; In AGV motion process, angular transducer sends control module to signal in real time, and control module sends control signal according to the signal received and performs an action to make AGV complete target travel task to corresponding topworks.
Preferably, an intermediate case is set in the periphery of vehicle frame, 3 IR evading obstacle sensors is installed respectively in the both sides of described intermediate case, and is connected with control module respectively; When there is side collision risk, IR evading obstacle sensors sends control module to the signal sensed, can be avoided the side collision of AGV by the control of control module.
Preferably, described RFID read-write module is at least 1, and described navigation sensor is 4
Preferably, AGV is provided with electric battery, electric battery is arranged on vehicle frame, is directly or indirectly connected, provides power source with all consumers and instrument.
The invention has the beneficial effects as follows: read magnetic card road sign by RFID read-write module and realize the transmission of movement instruction and the location of AGV, read ground magnetic strip information with navigation sensor to realize automatically following line and maintaining athletic posture stablizing, there is provided acceleration and deceleration with omnidirectional's driver module for AGV and turn to driving, realize the motion attitude control to AGV, AGV can be made to control in the omnidirectional of the self-movement of X-direction, Y direction, Z axis sense of rotation, also simplify ground magnetic strip arrangements simultaneously; The communication between each AGV can be realized by wireless communication module, carry out traffic control and vehicle scheduling; The anticollision press strip be equipped with and omnibearing IR evading obstacle sensors effectively improve AGV safety and reliability at work.
Accompanying drawing explanation
Fig. 1 is structural drawing of the present invention.
Fig. 2 is axonometric drawing of the present invention.
Fig. 3 is that Omni-mobile automatically guiding trolley moves in the X-axis direction schematic diagram.
To be Omni-mobile automatically guiding trolley to move schematic diagram along Y direction Fig. 4.
To be Omni-mobile automatically guiding trolley to move schematic diagram along any direction Fig. 5.
Fig. 6 is that Omni-mobile automatically guiding trolley makes arbitrary curve motion schematic diagram.
Fig. 7 is the structural representation of omnidirectional's driver module of embodiment 3.
Fig. 8 is the structural representation of omnidirectional's driver module of embodiment 4.
In Fig. 1, Fig. 2,1 vehicle frame, 2 navigation sensors, 3 omnidirectional's driver modules, 4 control modules, 5 supporting rollers, 6 front panels, 7 drive motor, 8 angular transducers, 9 steer motor, 10 is RFID read-write module, 11 electric battery, 12 intermediate case, 13 wireless communication modules, 14 rear panels, 15 anticollision press strips, 16 IR evading obstacle sensors, 17 IR evading obstacle sensors;
In Fig. 7, Fig. 8, key 101, first gear set 102, steer motor 103, first intermediate shaft 104, first gear 105, second gear 106, the 3rd gear 107, stationary shaft 108, the 4th gear 109, live axle 110, driving wheel 111, the 5th gear 112, outer shaft 113, second intermediate shaft 114, bearing 115, the 6th gear 116, drive motor 117, key 118, casing 119, first input shaft 120, the 7th gear 121, octadentate wheel the 122, the 9th gear 123, second input shaft 124, second gear set 125.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described, but protection scope of the present invention is not limited to this.
Embodiment 1: a kind of shown in composition graphs 1 can the automatically guiding trolley of Omni-mobile, comprises vehicle frame 1, Liang Ge omnidirectional driver module 3, two supporting rollers 5, control module 4, RFID read-write module 10, four navigation sensors 2, two electric battery 11 and two angular transducers 8; Each omnidirectional driver module 3 is connected with control module 4, and comprises a connected drive motor 7 and a steer motor 9; Liang Ge omnidirectional driver module 3 diagonal angle is arranged on bottom vehicle frame 1, and two supporting rollers 5 are also arranged on bottom vehicle frame 1 in diagonal angle, and control module 4 is arranged on vehicle frame; Four navigation sensors 2 are arranged on the axis all around of vehicle frame 1 respectively, and be connected with control module, to read ground magnetic strip information and to feed back to control module 4, control module 4 sends corresponding control signal according to the signal of feedback and walk and to maintain vehicle body stable along ground magnetic strip line to make AGV to omnidirectional's driver module 4; Two angular transducers 8 are arranged on Liang Ge omnidirectional driver module 3 respectively, and are connected with control module, for detecting the angle at the angle of omnidirectional's driver module 3 and vehicle frame 1; RFID read-write module 10 is arranged on immediately below vehicle frame, and be connected with control module 4, for detecting ground magnetic card road sign and by signal transmission to control module 4, control module 4 according to RFID read-write module 10 read the information of magnetic card road sign, send corresponding control signal and perform corresponding action to omnidirectional's driver module 3 to make AGV, as turned to, acceleration and deceleration etc.; Two electric battery 11 are arranged on vehicle frame and are distributed in RFID read-write module 10 both sides, provide power source to all consumers on AGV and instrument.
Embodiment 2: a kind of shown in composition graphs 1 and Fig. 2 can the automatically guiding trolley of Omni-mobile, and AGV as described in Example 1 also comprises front panel 6, rear panel 14, intermediate case 12, wireless communication module 13, anticollision press strip 15, IR evading obstacle sensors 16 and IR evading obstacle sensors 17; It is anterior that front panel 6 is arranged on vehicle frame 1, and rear panel 14 is arranged on vehicle frame 1 rear portion, and front and back panel is all provided with an anticollision press strip 15 and an IR evading obstacle sensors 16, IR evading obstacle sensors 16 is connected with control module 4; Rear panel 14 is provided with wireless communication module 13, wireless communication module 13 is connected with control module 4; Intermediate case 12 both sides are separately installed with 3 IR evading obstacle sensors 17, and each IR evading obstacle sensors 17 is all connected with control module 4.
Embodiment 3: a kind of shown in composition graphs 1, Fig. 2 and Fig. 7 can the automatically guiding trolley of Omni-mobile, AGV as described in Example 2, its omnidirectional's driver module 3 comprises drive motor 117, first input shaft 120, steer motor 103, second input shaft 124, casing 119, outer shaft 113, first gear set 102, second gear set 125, live axle 110 and driving wheel 111; Wherein: drive motor 117 is connected with the first input shaft 120, steer motor 103 is connected with the second input shaft 124, first input shaft 120 enters in casing through casing 119 shell and is connected with the first gear set 102, and the second input shaft 124 enters in casing through casing 119 shell and is connected with the second gear set 125; Outer shaft 113 is tubular shaft, is arranged on casing 119 lower end, is connected with casing 119 by bearing 115, and outer shaft 113 upper end is fixedly connected with the second gear set 125 through cabinet shell; First gear set 102 passes casing 119 and enters outer shaft 113 inside, and live axle 110 is arranged on outer shaft 113 lower end, and its two ends are connected by bearing with the both sides, isoplanar of outer shaft 113 respectively, and is fixedly connected with the first gear set 102; Driving wheel 111 is fixedly mounted on live axle 110, and part passes outer shaft 113 bottom surface.
Embodiment 4: composition graphs 1, a kind of shown in Fig. 2 and Fig. 8 can the automatically guiding trolley of Omni-mobile, AGV as described in Example 2, its omnidirectional's driver module 3 comprises drive motor 117, key 101, steer motor 103, first input shaft 120, second input shaft 124, first intermediate shaft 104, first gear 105, second gear 106, 3rd gear 107, stationary shaft 108, 4th gear 109, live axle 110, driving wheel 111, 5th gear 112, outer shaft 113, second intermediate shaft 114, 6th gear 116, casing 119, 7th gear 121, octadentate wheel 122, 9th gear 123 and bearing 115 form, wherein: drive motor 117 is connected with the first input shaft 120 by key 101, first input shaft 120 enters in casing through casing 119 shell and is fixedly connected with the 7th gear 121,7th gear 121 and octadentate are taken turns 122 and are in transmission connection, octadentate wheel 122 with in the first intermediate shaft 104 upper end be fixedly connected with, it is inner that first intermediate shaft 104 enters outer shaft 113 through the 6th gear 116, and lower end is fixedly connected with the first gear 105, first gear 105 and the 5th gear 112 are in transmission connection, 5th gear 112 and the second gear 106 concentric are installed on the second intermediate shaft 114, second intermediate shaft 114 is installed on outer shaft 113 upper end, and its two ends are connected respectively by bearing with the both sides, isoplanar of outer shaft 113, second gear 106 and the 3rd gear 107 are in transmission connection, and the 3rd gear 107 is installed on stationary shaft 108, is connected by bearing with stationary shaft 108, and stationary shaft 108 is installed on the medial surface of outer shaft 113, 3rd gear 107 and the 4th gear 109 are in transmission connection, and the 4th gear 109 is fixedly connected with live axle 110, and live axle 110 is arranged on outer shaft 113 lower end, and its two ends are connected respectively by bearing with the both sides, isoplanar of outer shaft 113 respectively, driving wheel 111 is fixedly mounted on live axle 110, and part passes outer shaft 113 bottom surface, steer motor 103 is connected with the second input shaft 124 by key 118, second input shaft 124 enters in casing through casing 119 shell and is fixedly connected with the 9th gear 123,9th gear 123 and the 6th gear 116 are in transmission connection, the 6th gear 116 and outer shaft 113 upper end be connected by key or with outer shaft 113 for being made of one gear shaft, outer shaft 113 is tubular shaft, is arranged on casing 119 lower end, is connected with casing 119 by bearing 115.
Embodiment 5: shown in composition graphs 3, Fig. 4 and Fig. 5, when control module 4 by the signal that navigation sensor 2, rfid interrogator 10 receive be requirement AGV along certain direction running time, output control signal is passed to omnidirectional's driver module 3 by control module 4, by the action of omnidirectional's driver module 3, AGV is adjusted to suitable attitude, the change of AGV speed will be realized under the control of omnidirectional's driver module 3 simultaneously.
Embodiment 6: shown in composition graphs 6, when control module 4 receives and makes the order of AGV riding, control module 4 to transmit control signal order to respectively Liang Ge omnidirectional driver module 3, if the driving wheel rotating speed on Liang Ge omnidirectional driver module 3 is identical, turns to the cast that just can realize AGV on the contrary; If driving wheel rotating speed on Liang Ge omnidirectional driver module 3 is different, turns to identical according to the situation that realizes or then can realize AGV on the contrary and travel along arbitrary curve; Rationally correctly control Liang Ge omnidirectional driver module rotates according to certain rule in a word, and AGV can be made to move in any way in the plane.

Claims (10)

1. can the automatically guiding trolley of Omni-mobile, comprise control module, it is characterized in that: described the automatically guiding trolley of Omni-mobile can comprise omnidirectional's driver module, RFID read-write module and navigation sensor; Wherein, omnidirectional's driver module is arranged on bottom of frame, and RFID read-write module is arranged on immediately below vehicle frame, and navigation sensor is installed on vehicle frame axis all around, and omnidirectional's driver module, RFID read-write module are connected with control module respectively with navigation sensor.
2. according to claim 1 a kind of can the automatically guiding trolley of Omni-mobile, it is characterized in that: described omnidirectional's driver module comprises drive motor, the first input shaft, steer motor, the second input shaft, casing, outer shaft, the first gear set, the second gear set, live axle and driving wheel; Wherein: drive motor is connected with turning to input shaft, steer motor is connected with the second input shaft, and the first input shaft enters in casing through cabinet shell and is connected with the first gear set, and the second input shaft enters in casing through cabinet shell and is connected with the second gear set; Outer shaft is tubular shaft, is arranged on casing lower end, is connected with casing by bearing, and outer shaft upper end is fixedly connected with the second gear set through cabinet shell; First gear set passes casing and enters outer shaft inside, and live axle is arranged on outer shaft lower end, and its two ends are connected by bearing with the both sides, isoplanar of outer shaft respectively, and are fixedly connected with the first gear set; Driving wheel is fixedly mounted on live axle, and part passes outer shaft bottom surface.
3. according to claim 1 a kind of can the automatically guiding trolley of Omni-mobile, it is characterized in that: described omnidirectional's driver module comprises drive motor, key, steer motor, the first input shaft, the second input shaft, the first intermediate shaft, the first gear, the second gear, the 3rd gear, stationary shaft, the 4th gear, live axle, driving wheel, the 5th gear, outer shaft, the second intermediate shaft, the 6th gear, casing, the 7th gear, octadentate wheel, the 9th gear and bearing composition; Wherein: drive motor is connected with the first input shaft by key, first input shaft enters in casing through cabinet shell and is fixedly connected with the 7th gear, 7th gear and octadentate are taken turns and are in transmission connection, octadentate wheel with in the first intermediate shaft upper end be fixedly connected with, first intermediate shaft enters outer shaft inside through the 6th gear, and lower end is fixedly connected with the first gear; First gear is connected with the 5th gear drive, and the 5th gear and the second gear concentric are installed on the second intermediate shaft, and the second intermediate shaft is installed on outer shaft upper end, and its two ends are connected respectively by bearing with the both sides, isoplanar of outer shaft; Second gear is connected with the 3rd gear drive, and the 3rd gear is installed on stationary shaft, is connected by bearing with stationary shaft, and stationary shaft is installed on the medial surface of outer shaft; 3rd gear is connected with the 4th gear drive, and the 4th gear is fixedly connected with live axle, and live axle is arranged on outer shaft lower end, its two ends respectively with outer shaft both sides, isoplanar be connected respectively by bearing; Driving wheel is fixedly mounted on live axle, and part passes outer shaft bottom surface; Steer motor is connected with the second input shaft by key, second input shaft enters in casing through cabinet shell and is fixedly connected with the 9th gear, 9th gear is connected with the 6th gear drive, the 6th gear and outer shaft upper end be connected by key or with outer shaft for being made of one gear shaft; Outer shaft is tubular shaft, is arranged on casing lower end, is connected with casing by bearing.
4. can the automatically guiding trolley of Omni-mobile according to a kind of one of claim 1-3 Suo Shu, it is characterized in that: described omnidirectional's driver module is at least two, and diagonal angle is arranged on bottom of frame; Omnidirectional's driver module is provided with angular transducer, and angular transducer is connected with control module.
5. can the automatically guiding trolley of Omni-mobile according to a kind of one of claim 1-3 Suo Shu, it is characterized in that: described RFID read-write module is at least one, described navigation sensor is 4.
6. can the automatically guiding trolley of Omni-mobile according to a kind of one of claim 1-3 Suo Shu, it is characterized in that: vehicle frame front portion is provided with front panel, vehicle frame rear portion is provided with rear panel, described front panel and rear panel are respectively provided with IR evading obstacle sensors and anticollision press strip, and IR evading obstacle sensors is connected with control module.
7. according to claim 6 a kind of can the automatically guiding trolley of Omni-mobile, it is characterized in that: described rear panel is provided with wireless communication module, and wireless communication module is connected with control module.
8. can the automatically guiding trolley of Omni-mobile according to a kind of one of claim 1-3 Suo Shu, it is characterized in that: vehicle frame periphery is provided with intermediate case, intermediate case both sides are respectively arranged with 3 IR evading obstacle sensors, and are connected with control module respectively.
9. can the automatically guiding trolley of Omni-mobile according to a kind of one of claim 1-3 Suo Shu, it is characterized in that: bottom of frame is provided with at least two supporting rollers, and diagonal angle is installed; Described supporting roller is universal wheel, and is furnished with shock attenuation device.
10. can the automatically guiding trolley of Omni-mobile according to a kind of one of claim 1-3 Suo Shu, it is characterized in that: on described automatically guiding trolley, be provided with electric battery, described electric battery is arranged on vehicle frame, is directly or indirectly connected with all consumers and instrument.
CN201510788465.2A 2015-11-17 2015-11-17 Omnidirectional mobile automatic guided vehicle Pending CN105425792A (en)

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CN106585768A (en) * 2016-12-23 2017-04-26 上海铁路局上海机车检修段 Trackless self-guidance transport vehicle
CN106585764A (en) * 2017-02-07 2017-04-26 河南森源电气股份有限公司 AGV (Automated Guided Vehicle)
CN107797552A (en) * 2016-09-06 2018-03-13 夏普株式会社 Autonomous driving vehicle
CN107977002A (en) * 2017-11-24 2018-05-01 北京益康生活智能科技有限公司 The mobile platform control system and method for a kind of auto-manual
CN108127639A (en) * 2017-12-30 2018-06-08 南京理工大学 A kind of goods transportation robot for floor gap
CN108423084A (en) * 2018-02-01 2018-08-21 上海明匠智能系统有限公司 A kind of omnidirectional's automatic guided vehicle
CN109375622A (en) * 2018-11-01 2019-02-22 北京云迹科技有限公司 Bidirectional walking method and robot
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