The working principle of the AGV differential drive wheel is based on the principle of the differential. There are various structural forms of common differential drive methods, such as the double steering wheel type and the double differential drive steering mechanism.
In the double steering wheel type structure, both wheels of the AGV are equipped with drive motors, steering motors and their power transmission devices. The two wheels are flexibly connected to the frame through load-bearing rotary supports, and other wheels bear the load. When steering is required, it is achieved by controlling the speed and steering of the two steering wheels.
The double differential drive steering mechanism has two sets of differential drive steering devices. Each set is connected to the vehicle body through load-bearing rotary supports. Each wheel is equipped with a drive motor, and the others are follower wheels. This structure achieves steering solely by the speed difference between the inner and outer steering wheels.
Specifically, the differential drive AGV uses two independently driven motors or electric motors to drive the two drive wheels. When the speeds of the two motors are the same, the differential will cause the two drive wheels to rotate at the same speed, enabling the vehicle to move in a straight line. When the speeds of the two motors are different, the differential will cause the two drive wheels to rotate at different speeds, thereby achieving the vehicle's turning.
For example, suppose the AGV needs to turn left. The left motor will be set to rotate slower, and the right motor will be set to rotate faster. Thus, the differential will, through the coordination of the planetary gears and the clutch discs, cause the left drive wheel to rotate slower and the right drive wheel to rotate faster, allowing the vehicle to turn left.
The differential drive structure has good turning performance and flexibility, enabling it to achieve turns with a small radius and is suitable for transportation needs in narrow spaces. However, it also has some disadvantages. For instance, when encountering situations with inconsistent friction coefficients or uneven ground, it may cause the drive wheels to slip, resulting in unstable vehicle movement. Additionally, at high speeds, it is prone to causing instability of the vehicle.
In conclusion, the AGV differential drive wheel achieves steering and movement of the vehicle by controlling the speed difference between the left and right drive wheels. In practical applications, its advantages and disadvantages need to be comprehensively considered to achieve the best use effect.
The working mode of the differential drive of the double steering wheel type AGV is rather complex. In this structure, both wheels of the AGV are equipped with drive motors, steering motors and their power transmission devices. The two wheels are flexibly connected to the frame through load-bearing rotary supports, and other wheels bear the load. When steering is required, it is achieved by controlling the speed and steering of the two steering wheels. Specifically, to turn left, the left steering wheel will be set to rotate slower, and the right steering wheel will rotate faster, enabling the vehicle to turn left smoothly. The double steering wheel type AGV, with this differential drive mode, can achieve 360° rotation and universal lateral movement, featuring high flexibility and precise operation accuracy. However, the disadvantages of this structure are also obvious. The cost of two sets of steering wheels is high, and during the operation of the AGV, the two steering wheels often need to operate differentially, which has high requirements for the motion control algorithm of the motors and is also strict on the flatness of the ground.
The double differential drive steering mechanism has two sets of differential drive steering devices. Each set is connected to the vehicle body through load-bearing rotary supports. Each wheel is equipped with a drive motor, and the others are follower wheels. This structure achieves steering solely by the speed difference between the inner and outer steering wheels. For example, when the AGV needs to turn left, the speed of the wheels on the left will decrease, and the speed of the wheels on the right will increase, completing the turning action through this speed difference. The advantage of this steering mechanism is its flexibility in steering and its ability to adapt to various complex working conditions. However, there are also some problems. For instance, the controller is difficult to control completely accurately, and during the vehicle's movement, wheel slip and vibration may occur, causing wear on the wheels.
The AGV differential drive wheel has several advantages. Firstly, it has good turning performance and flexibility, enabling it to achieve turns with a small radius and is suitable for transportation needs in narrow spaces. Secondly, the differential drive structure has lower requirements for the motors and relatively lower costs. Additionally, the differential drive wheel can achieve efficient steering and movement of the vehicle by controlling the speed difference between the left and right drive wheels, improving transportation efficiency. For example, in the scenario of warehouse goods handling, the AGV differential drive wheel can easily move in narrow aisles and accurately deliver the goods to the designated location.
The AGV differential drive wheel has some notable disadvantages. When encountering situations with inconsistent friction coefficients or uneven ground, it may cause the drive wheels to slip, resulting in unstable vehicle movement. When traveling at high speeds, it is also prone to causing instability of the vehicle. Moreover, the differential drive wheel has higher requirements for the flatness of the ground. If the ground is not flat, it may affect its normal operation. For instance, in some factory workshops with poor road conditions, the AGV differential drive wheel may experience operational failures due to the uneven ground.
The AGV differential drive wheel achieves straight-line movement by controlling the two independently driven motors or electric motors. When the speeds of the two motors are the same, the differential will cause the two drive wheels to rotate at the same speed, thereby enabling the vehicle to move in a straight line. For example, suppose the AGV is traveling on a flat and straight passage. At this time, by controlling the two motors to operate at the same speed, the differential will evenly distribute the power, keeping the left and right drive wheels in sync, and the vehicle can move forward stably in a straight line.
In summary, the working principle of the AGV differential drive wheel is based on the effect of the differential, achieving steering and movement by controlling the speed difference between the left and right drive wheels. It has advantages such as flexible turning and lower costs but also has disadvantages such as easy slipping and high requirements for the ground. In practical applications, the advantages and disadvantages need to be comprehensively considered based on the specific working scenarios and requirements to select the most suitable AGV drive method.
Established in 2005, Suzhou PhoenixPower Industrial Co., Ltd. is a leading enterprise in China specializing in the research and production of electric drive assemblies for AGV/AMR unmanned mobile handling robots and off-road electric vehicles. Over the years, we have been deeply involved in the field of electric drive, continuously promoting technological innovation and industrial upgrading.
With several professional brands under our umbrella, including "PhoenixPower," "inagv," "Firmpace," "inEVC," and "Miestype," we have formed our brand matrix. These brands focus on different technical areas, such as integrated electric drive solutions, servo motors and drives, AGV-specific casters, electric drive system control programs, and high-precision gear transmission device development.
Our mission is to transform complex technology into simple and reliable solutions, creating value for customers. Through the synergy of our brand matrix, we can provide all-in-one electric drive solutions, assisting customers in solving various technical challenges and improving production efficiency.
