Mobile robot 、AGV、RGV、IGV、AMR、

The mobile robot adopts a chassis composed of two omni-directional steering wheels and four driven wheels. The two omni-directional steering wheels are respectively composed of a set of forward driving device and a set of steering driving device, which can make the robot move in any direction on the plane. Compared with differential AGV, its steering does not need to change the direction of the vehicle, and can achieve higher movement flexibility. Compared with the ordinary industrial steering wheel, the omni-directional steering wheel adds an electric slip ring device on its basis, which can realize the continuous rotation of the steering wheel without winding, thus making the mobile robot more flexible. Because of the omni-directional chassis with double steering wheels, the wan-300a-dl mobile robot can realize three motion modes: differential, fixed attitude and free. Among them, the differential mode is similar to the traditional two wheel differential chassis in the body movement form, but it is slightly different. On the whole, the movement of the differential mode is that the head direction always follows the tangent direction of the path trajectory (in order to overcome the motion inertia of the body direction changing back and forth when the S-shaped path is running at high speed, the track tracking controller will control the head direction to slightly offset the tangent direction of the path trajectory)