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CN111071333A - AGV four-wheel counterweight steering system - Google Patents

AGV four-wheel counterweight steering system Download PDF

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Publication number
CN111071333A
CN111071333A CN201911371087.2A CN201911371087A CN111071333A CN 111071333 A CN111071333 A CN 111071333A CN 201911371087 A CN201911371087 A CN 201911371087A CN 111071333 A CN111071333 A CN 111071333A
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CN
China
Prior art keywords
steering
proportional valve
agv
shaft
tire
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201911371087.2A
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Chinese (zh)
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CN111071333B (en
Inventor
季彩玲
畅朋涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Yufeng Equipment Co ltd
Original Assignee
Anhui Yufeng Warehousing Equipment Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to CN201911371087.2A priority Critical patent/CN111071333B/en
Publication of CN111071333A publication Critical patent/CN111071333A/en
Application granted granted Critical
Publication of CN111071333B publication Critical patent/CN111071333B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/16—Steering columns
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/062—Details, component parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/08—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of steering valve used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/09—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by means for actuating valves
    • B62D5/093—Telemotor driven by steering wheel movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses an AGV four-wheel balancing weight steering system, and relates to the AGV steering technology. In the invention: the lower end side of the universal shaft is connected with a steering seat; a steering encoder/potentiometer is arranged on the lower end side of the steering seat; the steering oil cylinder is connected with a steering adjusting mechanism of a steering tire through an oil cylinder output connecting rod/mechanism; a steering longitudinal shaft which synchronously rotates with the steering adjusting mechanism is arranged on the steering adjusting mechanism; the upper end of the steering longitudinal shaft is provided with a driving gear; a driven gear driven to rotate by a driving gear is mounted on a supporting flat plate on the upper side of the steering adjusting mechanism; an angle sensor is arranged above the driven gear. According to the invention, through constructing the linkage and detection matching mechanism of manual steering and electronic intelligent steering and correspondingly adjusting the steering proportional valve, manual and electric double-interchange operation is better realized, and meanwhile, the stability and smoothness during steering are ensured, so that the steering force is small and light, and the steering mechanism can be better applied to the steering process of the unmanned vehicle.

Description

AGV four-wheel counterweight steering system
Technical Field
The invention relates to the technical field of AGV steering, in particular to an AGV four-wheel balancing weight steering system.
Background
An AGV, an Automated Guided Vehicle, is an Automated Guided Vehicle, which is a Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path, and has safety protection and various transfer functions. When AGV turns to control, traditional manual turning and intelligent electron turn to all need better application wherein, how better realization manual work and two interchange operations of electricity, stationarity, ride comfort when guaranteeing to turn to simultaneously just become the AGV and turn to the problem that the in-process need notice and solve.
Disclosure of Invention
The invention provides an AGV four-wheel balancing weight steering system, which better realizes manual and electric double interchange operation, ensures the stability and smoothness during steering, ensures small and light steering force and is better applied to the steering process of an unmanned vehicle.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an AGV four-wheel balancing weight steering system, which comprises an instrument frame on the AGV, wherein a steering wheel is arranged above the instrument frame, the lower side of the steering wheel is connected with a direction steering column penetrating through the instrument frame, and the lower end side of the direction steering column is connected with a cardan shaft which is obliquely arranged; the lower end side of the universal shaft is connected with a steering seat; the lower end side of the steering seat is provided with a steering encoder/potentiometer.
Comprises a steering oil cylinder connected with a steering proportional valve; comprises a steering tyre and a steering adjusting mechanism connected with the steering tyre; the steering oil cylinder is connected with a steering adjusting mechanism of a steering tire through an oil cylinder output connecting rod/mechanism; a steering longitudinal shaft which synchronously rotates with the steering adjusting mechanism is arranged on the steering adjusting mechanism; the upper end of the steering longitudinal shaft is provided with a driving gear; a driven gear driven to rotate by a driving gear is mounted on a supporting flat plate on the upper side of the steering adjusting mechanism; an angle sensor is arranged above the driven gear; the lower end of the angle sensor is provided with an angle transmission revolving shaft which rotates with the driven gear.
As a preferable technical scheme of the invention, a mounting bracket for supporting the angle sensor is arranged on a supporting flat plate on the upper side of the steering adjusting mechanism.
The invention relates to a preferable technical scheme, which comprises the steps of building an artificial steering control system, manually rotating a steering wheel through an operator, linking a steering column and a universal shaft to rotate, wherein the universal shaft is linked with a connecting shaft on a steering seat to rotate, the connecting shaft on the steering seat transmits steering displacement to a steering encoder/potentiometer, the steering encoder/potentiometer transmits rotation speed information and a rotation forward and reverse direction signal to a steering proportional valve controller, the steering proportional valve controller analyzes and processes the rotation speed information and the rotation forward and reverse direction signal transmitted by the steering encoder/potentiometer, and outputs a control signal to control the steering proportional valve to drive a steering oil cylinder to act to drive a steering tire to rotate left/right.
The optimal technical scheme includes that an electronic intelligent steering system is built, a steering control system/controller directly transmits a steering signal to a steering proportional valve controller, the steering proportional valve controller drives the interior of a steering proportional valve to open and close and reverse a loop and controls the flow of steering oil, the steering proportional valve outputs to drive a steering oil cylinder to act, and the steering oil cylinder drives a steering tire to steer.
When the steering tire steers, the driving gear is driven to rotate through the steering longitudinal shaft, the driving gear drives the driven gear to rotate, the driven gear transmits rotation information/signals to the angle sensor through the angle transmission rotating shaft, the angle sensor transmits the detected steering angle information to the steering control system/controller, and the steering control system/controller judges the actual steering angle of the steering tire according to the steering angle information detected by the angle sensor, drives and adjusts the steering proportional valve and outputs the corresponding steering angle.
As a preferred technical scheme of the invention, the steering proportional valve is provided with a left/right steering output port communicated with the steering oil cylinder; an electronically controlled three-position four-way reversing proportional valve for switching an oil circuit is arranged in the steering proportional valve.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, through constructing the linkage and detection matching mechanism of manual steering and electronic intelligent steering and correspondingly adjusting the steering proportional valve, manual and electric double-interchange operation is better realized, and meanwhile, the stability and smoothness during steering are ensured, so that the steering force is small and light, and the steering mechanism can be better applied to the steering process of the unmanned vehicle.
Drawings
FIG. 1 is a schematic diagram of the overall apparatus system of the present invention;
FIG. 2 is a schematic view of the control valve and surrounding structure of the present invention;
FIG. 3 is a schematic diagram of the control of the manual steering according to the present invention;
FIG. 4 is a schematic diagram of the control process of the electronic intelligent steering system of the present invention;
wherein: 1-an instrument rack; 2-a steering wheel; 3-a steering column; 4-a cardan shaft; 5-a steering seat; 6-steering encoder/potentiometer; 7-a steering oil cylinder; 8-a steering adjustment mechanism; 9-steering the longitudinal axis; 10-a steered tire; 11-a drive gear; 12-a driven gear; 13-mounting a bracket; 14-an angle sensor; the 15-degree angle conducts the rotating shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention relates to an AGV four-wheel balancing weight steering system, which comprises an instrument frame 1 on the AGV, wherein a steering wheel 2 is arranged above the instrument frame, the lower side of the steering wheel 2 is connected with a direction steering column 3 penetrating through the instrument frame 1, and the lower end side of the direction steering column 3 is connected with a cardan shaft 4 which is obliquely arranged; the lower end side of the universal shaft 4 is connected with a steering seat 5; a steering encoder/potentiometer 6 is mounted on the lower end side of the steering base 5.
Comprises a steering oil cylinder 7 connected with a steering proportional valve; comprises a steering tire 10 and a steering adjusting mechanism 8 connected with the steering tire 10; the steering oil cylinder 7 is connected with a steering adjusting mechanism 8 of a steering tire 10 through an oil cylinder output connecting rod/mechanism; a steering longitudinal shaft 9 which rotates synchronously with the steering adjusting mechanism 8 is arranged on the steering adjusting mechanism 8; the upper end of the steering vertical shaft 9 is provided with a driving gear 11; a driven gear 12 driven to rotate by a driving gear 11 is arranged on a supporting flat plate on the upper side of the steering adjusting mechanism 8; an angle sensor 14 is arranged above the driven gear 12; the lower end of the angle sensor 14 is provided with an angle transmission rotary shaft 15 which rotates with the driven gear 12.
Further, a mounting bracket 13 for supporting an angle sensor 14 is provided on the support plate on the upper side of the steering adjustment mechanism 8.
Further, the manual steering control system is built, manual steering is achieved through a manual rotating steering wheel 2, the steering column 3 in the linkage direction and the universal shaft 4 rotate, the universal shaft 4 is in linkage with a connecting shaft on a steering seat 5 to rotate, steering displacement is conducted to a steering encoder/potentiometer 6 through the connecting shaft on the steering seat 5, the steering encoder/potentiometer 6 transmits rotation speed information and rotation forward and reverse direction signals to a steering proportional valve controller, the steering proportional valve controller analyzes and processes the rotation speed information and the rotation forward and reverse direction signals transmitted by the steering encoder/potentiometer 6, and a control signal is output to control the steering proportional valve, so that the steering oil cylinder 7 is driven to act, and the steering tire 10 is driven to rotate left/right.
Further, the electronic intelligent steering system is built, a steering control system/controller directly transmits a steering signal to a steering proportional valve controller, the steering proportional valve controller drives the interior of the steering proportional valve to open, close and reverse a loop, the flow of steering oil is controlled, the steering proportional valve outputs to drive a steering oil cylinder 7 to act, and the steering oil cylinder 7 drives a steering tire 10 to steer.
When the steering tire 10 is steered, the driving gear 11 is driven to rotate through the steering longitudinal shaft 9, the driving gear 11 drives the driven gear 12 to rotate, the driven gear 12 transmits rotation information/signals to the angle sensor 14 through the angle transmission rotating shaft 15, the angle sensor 14 transmits detected steering angle information to the steering control system/controller, and the steering control system/controller judges the actual steering angle of the steering tire 10 according to the steering angle information detected by the angle sensor, drives and adjusts the steering proportional valve, and outputs the corresponding steering angle.
Further, the steering proportional valve is provided with a left/right steering output port communicated with the steering oil cylinder 7; an electronically controlled three-position four-way reversing proportional valve for switching an oil circuit is arranged in the steering proportional valve.
In the present invention:
the electronic intelligent steering during manual rotation or unmanned driving can be carried out according to actual conditions.
The first condition is as follows: manual steering
The manual steering is carried out by manually rotating a steering wheel to drive a steering column, a universal shaft and a connecting shaft to drive a potentiometer, the potentiometer transmits the rotating speed in the positive and negative directions to a steering proportional valve controller, the rotating speed is analyzed and processed by the steering proportional valve controller and converted into a control signal, the steering proportional valve is controlled, and the steering oil cylinder drives a steering tire to rotate left and right.
Case two: electronic intelligent steering
A. The steering controller or the steering control system directly controls a steering signal to the steering proportional valve, the steering proportional valve is enabled to realize opening and closing of the steering loop and control over the flow of the oil body, and the proportional valve controls the steering oil cylinder to drive the steering tire to realize steering;
B. the steering wheel is characterized in that an angle sensor is arranged on a steering wheel rotating shaft, the angle sensor detects the real-time steering angle of a steering wheel and transmits steering angle information to a steering controller, and the steering controller identifies the actual angle of a steering tire according to information and data transmitted by the steering angle sensor, so that the electro-hydraulic proportional valve is controlled to be opened and closed, and the steering angle output by the proportional valve is adjusted.
The details of the steering proportional valve during steering are disclosed in the patent (an AVG four-wheel-balanced steering proportional valve) of the present company, and will not be described herein.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (5)

1.一种AGV四轮平衡重转向系统，包括AGV上的仪表架（1），所述仪表架上方安装方向盘（2），所述方向盘（2）下侧连接穿过仪表架（1）的方向转向管柱（3），其特征在于：1. An AGV four-wheel counterweight steering system, comprising an instrument frame (1) on the AGV, a steering wheel (2) is installed above the instrument frame, and the lower side of the steering wheel (2) is connected to a steering wheel that passes through the instrument frame (1). Steering column (3), characterized by: 所述方向转向管柱（3）下端侧连接有倾斜设置的万向轴（4）；The lower end side of the steering column (3) is connected with an inclined universal shaft (4); 所述万向轴（4）的下端侧连接有转向座（5）；A steering seat (5) is connected to the lower end side of the universal shaft (4); 所述转向座（5）的下端侧安装有转向编码器/电位器（6）；A steering encoder/potentiometer (6) is installed on the lower end side of the steering seat (5); 包括与转向比例阀相连的转向油缸（7）；Including the steering oil cylinder (7) connected with the steering proportional valve; 包括转向轮胎（10）以及与转向轮胎（10）相连的转向调节机构（8）；comprising a steering tire (10) and a steering adjustment mechanism (8) connected with the steering tire (10); 所述转向油缸（7）通过油缸输出连杆/机构与转向轮胎（10）的转向调节机构（8）相连；The steering oil cylinder (7) is connected with the steering adjustment mechanism (8) of the steering tire (10) through the oil cylinder output connecting rod/mechanism; 所述转向调节机构（8）上设置有与转向调节机构（8）同步转动的转向纵轴（9）；The steering adjustment mechanism (8) is provided with a steering longitudinal shaft (9) that rotates synchronously with the steering adjustment mechanism (8); 所述转向纵轴（9）上端装设有主动齿轮（11）；The upper end of the steering vertical shaft (9) is provided with a driving gear (11); 所述转向调节机构（8）上侧的支撑平板上安装有由主动齿轮（11）驱动转动的从动齿轮（12）；A driven gear (12) driven and rotated by the driving gear (11) is installed on the supporting plate on the upper side of the steering adjustment mechanism (8); 所述从动齿轮（12）上方设置有角度传感器（14）；An angle sensor (14) is arranged above the driven gear (12); 所述角度传感器（14）的下端设有与从动齿轮（12）相转动的角度传导回转轴（15）。The lower end of the angle sensor (14) is provided with an angle transmission rotary shaft (15) that rotates with the driven gear (12). 2.根据权利要求1所述的一种AGV四轮平衡重转向系统，其特征在于：2. a kind of AGV four-wheel balance weight steering system according to claim 1, is characterized in that: 所述转向调节机构（8）上侧的支撑平板上设置有用于支撑角度传感器（14）的安装支架（13）。A mounting bracket (13) for supporting the angle sensor (14) is provided on the supporting plate on the upper side of the steering adjustment mechanism (8). 3.根据权利要求1所述的一种AGV四轮平衡重转向系统，其特征在于：3. a kind of AGV four-wheel balance weight steering system according to claim 1, is characterized in that: 包括搭建人工转向控制系统，人工转向通过人工手动旋转方向盘（2），联动方向转向管柱（3）、万向轴（4）转动，万向轴（4）联动转向座（5）上的连接轴转动，转向座（5）上的连接轴将转向位移传导至转向编码器/电位器（6），转向编码器/电位器（6）将转动速度信息、转动正反方向信号传送至转向比例阀控制器，转向比例阀控制器对转向编码器/电位器（6）传输来的转动速度信息、转动正反方向信号进行分析处理，输出控制信号对转向比例阀进行控制，驱动转向油缸（7）动作，带动转向轮胎（10）左/右转动。Including the construction of a manual steering control system, the manual steering is performed by manually manually rotating the steering wheel (2), the steering column (3) and the universal shaft (4) are rotated in the linkage direction, and the universal shaft (4) is linked to the connection on the steering seat (5). When the shaft rotates, the connecting shaft on the steering seat (5) transmits the steering displacement to the steering encoder/potentiometer (6), and the steering encoder/potentiometer (6) transmits the rotational speed information and the forward and reverse direction signals to the steering ratio The valve controller and the steering proportional valve controller analyze and process the rotation speed information and the forward and reverse direction signals transmitted by the steering encoder/potentiometer (6), output control signals to control the steering proportional valve, and drive the steering cylinder (7). ) action to drive the steering tire (10) to turn left/right. 4.根据权利要求1所述的一种AGV四轮平衡重转向系统，其特征在于：4. a kind of AGV four-wheel balance weight steering system according to claim 1, is characterized in that: 包括搭建电子智能转向系统，转向控制系统/控制器直接将转向信号传输给转向比例阀控制器，转向比例阀控制器驱动转向比例阀内部进行回路的开合、换向，并控制转向油体流量大小，转向比例阀输出驱动转向油缸（7）动作，转向油缸（7）驱动转向轮胎（10）进行转向；Including the construction of an electronic intelligent steering system, the steering control system/controller directly transmits the steering signal to the steering proportional valve controller, and the steering proportional valve controller drives the steering proportional valve to open and close the circuit, change direction, and control the flow of steering oil. size, the output of the steering proportional valve drives the steering cylinder (7) to act, and the steering cylinder (7) drives the steering tire (10) for steering; 转向轮胎（10）转向时通过转向纵轴（9）驱动主动齿轮（11）转动，主动齿轮（11）驱动从动齿轮（12）转动，从动齿轮（12）通过角度传导回转轴（15）将转动信息/信号传导给角度传感器（14），角度传感器（14）将检测到的转向角度信息传送至转向控制系统/控制器，转向控制系统/控制器根据角度传感器检测到的转向角度信息，判别转向轮胎（10）的实际转向角度，对转向比例阀进行驱动调节，输出相应的转向角度。When the steering tire (10) turns, the driving gear (11) is driven to rotate by the steering longitudinal axis (9), the driving gear (11) drives the driven gear (12) to rotate, and the driven gear (12) transmits the rotation shaft (15) through the angle. The rotation information/signal is transmitted to the angle sensor (14), the angle sensor (14) transmits the detected steering angle information to the steering control system/controller, and the steering control system/controller is based on the steering angle information detected by the angle sensor, Determine the actual steering angle of the steering tire (10), drive and adjust the steering proportional valve, and output the corresponding steering angle. 5.根据权利要求1所述的一种AGV四轮平衡重转向系统，其特征在于：5. a kind of AGV four-wheel balance weight steering system according to claim 1, is characterized in that: 转向比例阀设置有与转向油缸（7）相连通的左/右转向输出端口；The steering proportional valve is provided with a left/right steering output port that communicates with the steering oil cylinder (7); 转向比例阀内设置有电子控制的用于切换油路回路的三位四通换向比例阀。The steering proportional valve is provided with an electronically controlled three-position four-way reversing proportional valve for switching the oil circuit.
CN201911371087.2A 2019-12-26 2019-12-26 An AGV four-wheel balance weight steering system Active CN111071333B (en)

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Application Number Priority Date Filing Date Title
CN201911371087.2A CN111071333B (en) 2019-12-26 2019-12-26 An AGV four-wheel balance weight steering system

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CN111071333B CN111071333B (en) 2021-07-06

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013206793A1 (en) * 2013-04-16 2014-10-16 Zf Friedrichshafen Ag Arrangement for detecting a steering angle
CN206561896U (en) * 2017-02-28 2017-10-17 武汉慧能机器人科技有限公司 Omnidirectional driving wheel device and AGV dollies
CN206606258U (en) * 2017-03-08 2017-11-03 苏州易摩物联科技有限公司 Agv steering mechanism
EP3323771A1 (en) * 2016-11-21 2018-05-23 STILL GmbH Industrial truck, in particular counterbalance forklift, with a hydrostatic steering device
EP2757867B1 (en) * 2011-09-07 2018-07-11 CNH Industrial Italia S.p.A. A steerable vehicle
CN108891482A (en) * 2018-09-06 2018-11-27 烟台杰瑞石油装备技术有限公司 A kind of steering control device of automatic obstacle-avoiding
CN110304136A (en) * 2019-07-18 2019-10-08 上海振华重工(集团)股份有限公司 A kind of the independent electrohydraulic steering system and method for straddle carrier wheel

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2757867B1 (en) * 2011-09-07 2018-07-11 CNH Industrial Italia S.p.A. A steerable vehicle
DE102013206793A1 (en) * 2013-04-16 2014-10-16 Zf Friedrichshafen Ag Arrangement for detecting a steering angle
EP3323771A1 (en) * 2016-11-21 2018-05-23 STILL GmbH Industrial truck, in particular counterbalance forklift, with a hydrostatic steering device
CN206561896U (en) * 2017-02-28 2017-10-17 武汉慧能机器人科技有限公司 Omnidirectional driving wheel device and AGV dollies
CN206606258U (en) * 2017-03-08 2017-11-03 苏州易摩物联科技有限公司 Agv steering mechanism
CN108891482A (en) * 2018-09-06 2018-11-27 烟台杰瑞石油装备技术有限公司 A kind of steering control device of automatic obstacle-avoiding
CN110304136A (en) * 2019-07-18 2019-10-08 上海振华重工(集团)股份有限公司 A kind of the independent electrohydraulic steering system and method for straddle carrier wheel

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