AGV, or automatic guided vehicle, is widely used in automated logistics systems. In the process of machine tool processing, a complete workpiece needs to be processed in different processes on multiple machine tools. Due to the limitation of the machine tool’s own processing level, some processes require shorter processing time on one machine tool. The processing time is long, which requires intelligent scheduling of the semi-finished products processed by the upper machine tool. Most of the current solutions use robots for workpiece scheduling, but the space size of the robots is severely limited and is not suitable for various changing occasions. AGVs can be fully utilized. During the tracking process, ordinary AGVs cannot steer at right angles along the guide line of the ground signal. However, in many workplaces, such as machine tool workshops, due to the high workshop density, AGVs are particularly required to have the ability to turn in a small range to adapt to the high-density layout of the site. The 90-degree direct steering of the AGV can enable the AGV itself to be used in many high-density layout fields, but the current AGV does not have a feasible related technical solution, so a right-angle steering method for the AGV chassis is needed.

In order to solve the problems in the prior art, technicians provide a right-angle steering method for the AGV chassis, which can greatly improve the AGV's ground walking ability. The AGV developed by this method has a simple structure and a low cost. In order to achieve the above objective, the present invention provides a right-angle steering method for an AGV chassis, in which the two mutually perpendicular directions are preset as the Y direction and the X direction respectively. The method includes the following steps: S1, the chassis is equipped with both the Y direction and the X direction. X-direction drive wheels and drive shafts; S2, set the x-direction drive shaft as the main drive shaft; S3, the x-direction drive shaft executes, the y-direction drive wheel hover, and the x-direction drive wheel executes; S4, the x-direction drive shaft and y Connect to the drive shaft; S5, the y direction drive shaft executes, the x direction drive shaft executes, and the x direction drive wheel pauses. The specific content of step S2 is to connect the motor drive of the AGV to the X-direction drive shaft. The height of the X-direction drive wheel is fixed and cannot be adjusted. In step S3, the Y-direction drive wheel is suspended by setting a lever structure, and the Y-direction drive shaft has no power input. The specific content of step S4 is to set a gear pair transmission between the X-direction drive shaft and the Y-direction drive shaft, and set a lever mechanism on the Y-direction drive shaft, and the lever mechanism is connected to the linear motion actuator. The specific content of step S5 is as follows: the diameter of the Y-direction drive wheel is greater than the diameter of the X-direction drive wheel; the Y-direction drive wheel is on the ground, the X-direction drive wheel is up, and the Y-direction drive shaft is overlapped with the X-phase drive shaft. The linear motion actuator is a pneumatic cylinder, and a connecting rod is arranged between the pneumatic cylinder and the Y-direction drive shaft to make multiple Y-direction drive shafts move synchronously.

The beneficial effect of the above-mentioned right-angle steering method of the AGV chassis is: in order to ensure the unity of the two mutually perpendicular power sources, the Y-direction drive shaft is overlapped on the X-direction drive shaft to draw power, thereby reducing the cost and the structure of the AGV chassis Complexity: The use of a linear drive to drive the lever mechanism where the Y-direction drive shaft is located can realize the right-angle commutation of the AGV chassis with the X-direction drive wheel suspended or the Y-direction drive wheel suspended.