AGV automatic guided vehicles are 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 processing level of the machine tool itself, some processes have shorter processing time on one machine tool and longer processing time on the next machine tool. This requires intelligent scheduling of the semi-finished products processed by the previous machine tool. The current solutions mostly use robots for workpiece scheduling, but the size of the robot's space will be severely limited, and it is not suitable for various changing occasions. The use of AGV can be fully utilized. During the tracking process, ordinary AGVs cannot turn at right angles along the ground signal guide line. However, in many workplaces, such as machine tool workshops, due to the high density of the workshop, AGVs particularly need 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 make the AGV itself suitable for many high-density layout fields, but there is currently no feasible technical solution for the AGV, so a right-angle steering method for the AGV chassis is needed.

AGV

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 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 Y direction is set on the chassis at the same time S2, set the x-direction drive shaft as the main drive shaft; S3, the x-direction drive shaft is executed, the y-direction drive wheel is hovered, and the x-direction drive wheel is executed; S4, the x-direction drive shaft and y-direction drive shaft connection; S5, execute the y-direction drive shaft, execute the x-direction drive shaft, and suspend the x-direction drive wheel. 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 there is no power input from the y-direction drive shaft. The specific content of step S4 is to set up a gear pair transmission between the X-direction drive shaft and the Y-direction drive shaft, and set up a lever mechanism on the Y-direction drive shaft, and the lever mechanism is connected with the linear motion actuator. The details of step S5 are 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 on 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 above-mentioned right-angle steering method of the AGV chassis has the following beneficial effects: 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 extract power, which reduces the cost and structural complexity of the AGV chassis ; The linear drive is used to drive the lever mechanism where the Y-direction drive shaft is located, and can realize the right-angle commutation of the AGV chassis with the X-direction drive wheel suspended or the Y-direction drive wheel suspended.