The choice of steering mode and driving mode of AGV robot

The AGV car needs to use the steering device to control the movement mode in the daily transportation process. According to the movement mode of the AGV, it can be divided into: one-way AGV (only forward), two-way AGV(Able to move forwards and backwards), omnidirectional AGV (able to move in all directions in longitudinal, lateral, oblique and rotary directions). We analyze the choice of steering mode and driving mode of AGV robot.
 

We all know that AGV cars have four steering modes: differential steering four-wheel models, articulated shaft steering three-wheel models, all-wheel steering four-wheel models, and McCannham wheels.

1. Differential steering four-wheel vehicle

The differential steering four-wheel vehicle has a simple structure and high positioning accuracy. There are two driving wheels in the middle of the body of the AGV unmanned guided vehicle, which are driven by two motors. There is a steering wheel at the front and rear, and the steering of the car body can be realized by controlling the speed ratio of the two wheels in the middle, and the AGV car can drive and steer forward and backward in both directions.

2. Articulated steering three-wheeled models

This steering method has a simple structure and low cost, but its positioning accuracy is low. Its steering method is mainly that the front part of the car body is an articulated steering wheel, which is used as a driving wheel. The steering and driving are respectively driven by two different electric motors. There are two free wheels at the rear of the car body, and the front wheels control the steering to realize the AGV robot driving forward in one direction.
 

3. All-wheel steering four-wheel models
 

The all-wheel steering four-wheel vehicle is equivalent to merging two tricycles. The two supporting wheels are symmetrically arranged on the center line of the front and rear of the trolley. The front and rear wheels are both steering wheels and walking driving wheels. This kind of AGV robot can travel in all directions under the automatic running state. When turning, the front and rear wheels can track the trajectory of the guide wire. The maneuverability is better than that of the tricycle.
 

4. McCanam wheels
 

Machanum wheels, the running mechanism is novel in design and compact in mechanism. The four driving wheels are arranged on the four corners of the chassis in an articulated form. When running, the steering and speed of the four wheels are controlled separately, and the speed vector synthesis principle is used to realize driving. Later improvements were made, and its performance has improved. This AGV robot can realize all-round driving.