An AGV trolley support and leveling base

Abstract

The present invention discloses a support and leveling base for an AGV cart, belonging to the technical field of construction robots. It includes an AGV base, and support legs are fixedly arranged in an expandable manner at the four corners of the AGV base. An angle sensor is arranged on the top of the AGV base. The support legs are bolted and fixed to the side of the AGV base through fixing seats. The support legs include a rotation structure and a lifting structure. The rotation structure is rotatably connected to the fixing seat, and the bottom of the lifting structure is in a liftable contact with the ground. The angle sensor detects the inclination angle of the AGV cart relative to the world coordinate axis, and controls the rotation structure and the lifting structure to level the AGV base through an encoder. In the present invention, according to the angle sensed by the angle sensor between the AGV base and the world coordinate axis, it is judged whether the AGV chassis is level, so as to adjust the foot cups of each support leg to be in contact with the ground, thereby adjusting the level of the AGV chassis, so that the AGV cart can ensure smooth operation under different ground flatness and different heights.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and in particular to a leveling base for supporting an AGV cart. Background Art

[0002] With the development of technology and the increasing labor cost, the high-altitude operation in the traditional construction industry is cumbersome, inefficient, and has potential safety hazards. Therefore, it has increasingly become a mainstream trend to use robots to replace traditional manual operations. Among them, AGV chassis robots are generally used for automatic decoration of walls and ceilings in the construction industry, including puttying, spraying, and grinding of walls and ceilings. When the robot is performing wall operations, it is necessary to ensure that the lifting mechanism is perpendicular to the ground every time it operates, so that each lifting operation surface is parallel. However, since the ground is not completely flat, if the robot cannot be leveled, it cannot ensure that each construction operation surface is parallel, and there will be a phenomenon of overlapping construction connection areas after each construction. Some places overlap too much, while some places are not connected, which greatly affects the construction quality; in addition, the higher the robot rises, the greater the risk of tipping. If a support leg is designed to support and level, the risk of tipping will be greatly reduced, and the construction quality can also be guaranteed. Summary of the Invention

[0003] The purpose of the present invention is to provide a leveling base for supporting an AGV cart to solve the technical problem that the chassis of the existing AGV cart cannot be automatically leveled.

[0004] The present invention provides a leveling base for supporting an AGV cart, including an AGV base. Support legs are fixedly arranged at the four corners of the AGV base in an expandable manner. An angle sensor is arranged on the top of the AGV base. The support legs are bolted and fixed to the side of the AGV base through fixing seats. The support legs include a rotating structure and a lifting structure. The rotating structure is rotatably connected to the fixing seat. The bottom of the lifting structure is in liftable contact with the ground. The angle sensor detects the tilt angle of the AGV cart relative to the world coordinate axis, and controls the rotating structure and the lifting structure to level the AGV base through an encoder.

[0005] Further, the rotating structure includes a fixed rotating shaft nested in the hole on the surface of the fixing seat and locked and fixed to the fixing seat. A fixed gear is fixed on the top of the fixed rotating shaft. A rotating gear is arranged on one side of the fixed gear, and the rotating gear meshes with the fixed gear. The rotating gear is driven by a rotating stepping motor, and the rotating stepping motor is installed and fixed at the bottom of the first motor mounting plate.

[0006] Furthermore, a rotary hinge seat is nested at the connection between the fixed seat and the fixed rotating shaft. The inner hole of the rotary hinge seat is embedded with tapered roller bearings and a spacer sleeve. The bottom end of the fixed rotating shaft is nested and fixed by a locking nut. One side of the rotary hinge seat is bolted and fixed to the lifting structure through a transverse connecting plate. A pair of tapered roller bearings and a spacer sleeve fix the rotary hinge seat and the fixed rotating shaft, preventing slippage between the two and ensuring the rotation accuracy of the support leg.

[0007] Furthermore, a shaft sleeve is nested at the output end of the rotary stepper motor, and the shaft sleeve is embedded in the rotary gear. The rotary stepper motor drives the rotary gear through the shaft sleeve, which not only prevents slippage between the two but also facilitates disassembly and maintenance.

[0008] Furthermore, limit shock-absorbing blocks are symmetrically embedded on one side of the fixed seat away from the AGV base. Four limit shock-absorbing blocks are installed on the side of the fixed seat. During the 0-180° rotation of the support leg, the limit shock-absorbing blocks limit and buffer the fixed seat.

[0009] Furthermore, a guide rail mounting plate is bolted and fixed to the end of the transverse connecting plate away from the rotary hinge seat. A linear guide rail is fixed on one side of the guide rail mounting plate. A slider is slidably connected to the surface of the linear guide rail. A lead screw nut fixing seat is fixed to the side of the slider. Along the vertical direction of the lead screw nut fixing seat, a lead screw nut is fixed in the lead screw nut fixing seat. A ball screw is nested at the center of the lead screw nut, and the ball screw is threadedly connected to the lead screw nut. A foot cup is fixed to the bottom of the lead screw nut fixing seat, and the foot cup abuts against the ground. The top end of the ball screw is nested and fixed with a driven end synchronous pulley. The driven end synchronous pulley is driven by a synchronous belt and a driving end synchronous pulley. The driving end synchronous pulley is driven by a lifting stepper motor, and the lifting stepper motor is fixed to the transverse connecting plate through a second motor mounting plate. Driven by the lifting stepper motor, the driving end synchronous pulley, the driven end synchronous pulley and the synchronous belt, the ball screw rotates, and the rotary motion of the ball screw is converted into a linear motion through the lead screw nut, so that the lead screw nut fixing seat slides along the linear guide rail until the foot cup fixed to the lead screw nut fixing seat rises and falls with the ground, adjusting the height in four directions of the AGV base, thereby leveling the AGV base.

[0010] Furthermore, a photoelectric switch sensing piece is fixed to the back of the lead screw nut fixing seat. A groove type photoelectric switch is arranged directly above the photoelectric switch sensing piece, and the groove type photoelectric switch is fixed to the transverse connecting plate. The photoelectric switch sensing piece rises and falls with the rise and fall of the lead screw nut fixing seat. The groove type photoelectric switch detects the position of the foot cup of the support leg and coordinates with the angle data of the angle sensor, thereby facilitating the precision adjustment of the levelness of the AGV base.

[0011] Furthermore, the ball screw is embedded in the screw fixing seat and limited by the screw fixing seat. The screw fixing seat is fixedly installed in the screw mounting seat, and the screw mounting seat is fixedly installed with the transverse connecting plate. The two transverse connecting plates are tensioned and fixed by a tensioning seat. The ball screw can be limited and fixed through the screw fixing seat and the screw mounting seat to prevent the ball screw from being misaligned. At the same time, the two transverse connecting plates can be adjusted by the tensioning seat, which is convenient for close fixation with each component.

[0012] Furthermore, a slider limiting block is fixed at the bottom end of the guide rail mounting plate. Through the slider limiting block at the bottom of the guide rail mounting plate, the limit position of the foot cup can be limited to prevent the lifting stepper motor from rising excessively and damaging the transmission components for lifting.

[0013] Furthermore, a protective housing is detachably installed and fixed on the surface of the support leg. The protective housing can protect the support leg to prevent the transmission components therein from being damaged during operation.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] First, in the prior art, when a robot performs wall operations, it is necessary to ensure that the lifting mechanism is perpendicular to the ground every time it operates, so that each lifting operation surface is parallel. However, since the ground is not completely flat, if the robot cannot be leveled, it cannot ensure that each construction operation surface is parallel, and there will be a phenomenon of overlapping construction connection areas after each construction. Some places overlap too much, while some places are not connected, which greatly affects the construction quality. In addition, the higher the robot rises, the greater the risk of tipping. In view of such problems, the present invention designs a support leveling base for an AGV cart. Four support legs are fixedly installed at the four corners of the AGV base, and all four support legs can be freely opened and closed. Among them, the rotating gear, shaft sleeve, motor mounting plate, rotating hinge seat, rotating stepper motor, and transverse connecting plate can all rotate along the fixed rotating shaft. Through the drive of the rotating stepper motor, rotating gear, and fixed gear, the opening and closing of the support legs are realized. After the support legs are opened to an appropriate angle, the lifting stepper motor drives the driving end synchronous pulley, driving the driven end synchronous pulley and the ball screw to rotate. The screw nut converts the rotational motion of the ball screw into a linear motion, so that the screw nut fixing seat moves up and down along the linear guide rail, and the foot cup moves up and down accordingly. According to the angle sensor sensing the angle between the AGV base and the world coordinate axis, it is judged whether the AGV chassis is level, so as to adjust the foot cup of each support leg to be in contact with the ground, thereby adjusting the level of the AGV chassis, so as to ensure the stable operation of the AGV cart under different ground flatness and at different heights.

[0016] Second, in the present invention, four limit damping blocks are installed on the side of the fixed seat. During the rotation of the support leg within 0 - 180°, the limit damping blocks limit and buffer the fixed seat.

[0017] Third, in the present invention, the optoelectronic switch sensing piece rises and falls with the rise and fall of the lead screw nut fixed seat. The groove-type optoelectronic switch detects the position of the foot cup of the support leg and coordinates with the angle data of the angle sensor, thereby facilitating the precision adjustment of the levelness of the AGV base. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure after the four support legs of the present invention are closed;

[0021] Figure 3 It is a schematic diagram of the structure after the four support legs of the present invention are deployed at 135°;

[0022] Figure 4 It is a schematic diagram of the support leg of the present invention;

[0023] Figure 5 It is a schematic diagram of the internal structure of the support leg of the present invention;

[0024] Figure 6 It is a top view of the internal structure of the support leg of the present invention;

[0025] Figure 7 It is a cross-sectional view of the internal structure of the support leg of the present invention;

[0026] Figure 8 It is an exploded view of the support leg of the present invention;

[0027] Figure 9 It is a schematic diagram of the structure of the support leg in the initial position of the present invention;

[0028] Figure 10 It is a schematic diagram of the structure of the support leg when it descends to the lowest position of the present invention.

[0029] Reference Numerals:

[0030] 1. Support leg; 2. AGV base; 3. Angle sensor; 4. Protective housing; 5. Fixed seat; 6. Rotating structure; 601. Fixed gear; 602. Rotating gear; 603. Bush; 604. Motor mounting plate; 605. Limit shock absorber; 606. Fixed rotating shaft; 607. Tapered roller bearing; 608. Spacer sleeve; 609. Locking nut; 610. Rotating hinge seat; 611. Rotating stepper motor; 7. Horizontal connecting plate; 8. Lifting structure; 801. Driving end synchronous pulley; 802. Motor mounting plate; 803. Tensioning seat; 804. Synchronous belt; 805. Driven end synchronous pulley; 806. Slide block; 807. Guide rail mounting plate; 808. Linear guide rail; 809. Lifting stepper motor; 810. Groove type photoelectric switch; 811. Lead screw fixed seat; 812. Lead screw mounting seat; 813. Photoelectric switch sensing piece; 814. Lead screw nut; 815. Lead screw nut fixing seat; 816. Ball screw; 817. Foot cup; 818. Slide block limit block. Detailed implementation mode

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments.

[0032] The components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention.

[0033] All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0034] The following combination Figures 1 to 10As shown in the figure, an embodiment of the present invention provides a support leveling base for an AGV cart, which includes an AGV base 2. Support legs 1 are fixedly installed at the four corners of the AGV base 2 in an expandable manner. A protective housing 4 is detachably installed and fixed on the surface of the support legs 1. The protective housing 4 can protect the support legs 1 to prevent damage to the transmission components therein during operation. An angle sensor 3 is provided on the top of the AGV base 2. The support legs 1 are bolted and fixed to the side of the AGV base 2 through a fixed seat 5. The support legs 1 include a rotation structure 6 and a lifting structure 8. The rotation structure 6 is rotatably connected to the fixed seat 5. The bottom of the lifting structure 8 is in liftable contact with the ground. The angle sensor 3 detects the tilt angle of the AGV cart relative to the world coordinate axis, and controls the rotation structure 6 and the lifting structure 8 to level the AGV base 2 through an encoder. In the prior art, when a robot performs wall operations, it is necessary to ensure that the lifting mechanism is perpendicular to the ground every time it operates, so that the lifting operation surfaces are parallel each time. However, since the ground is not completely flat, if the robot cannot be leveled, it cannot be guaranteed that the construction operation surfaces are parallel each time, and there will be a phenomenon of overlapping construction connection areas after each construction. Some places overlap too much, while some places are not connected, which greatly affects the construction quality. In addition, the higher the robot rises, the greater the risk of tipping. To solve such problems, the present invention designs a support leveling base for an AGV cart. Four support legs 1 are installed and fixed at the four corners of the AGV base 2. The four support legs 1 can be freely opened and closed. Among them, the rotating gear 602, the bushing 603, the motor mounting plate, the rotating hinge seat 610, the rotating stepping motor 611, and the transverse connecting plate 7 can all rotate along the fixed rotating shaft 606. Through the drive of the rotating stepping motor 611, the rotating gear 602, and the fixed gear 601, the opening and closing of the support legs 1 are realized. After the support legs 1 are opened to an appropriate angle, the lifting stepping motor 809 drives the driving end synchronous pulley 801, driving the driven end synchronous pulley 805 and the ball screw 816 to rotate. The screw nut 814 converts the rotational motion of the ball screw 816 into a linear motion, so that the screw nut fixing seat 815 moves up and down along the linear guide 808, and the foot cup 817 moves up and down accordingly. According to the angle between the AGV base 2 and the world coordinate axis sensed by the angle sensor 3, it is judged whether the AGV chassis is level, so as to adjust the foot cup 817 of each support leg 1 to be in contact with the ground, thereby adjusting the level of the AGV chassis, so as to ensure the stable operation of the AGV cart under different ground flatness and at different heights.

[0035] In another embodiment, the rotating structure 6 includes a fixed rotating shaft 606 nested in the hole on the surface of the fixed seat 5 and locked and fixed to the fixed seat 5. A fixed gear 601 is fixed to the top of the fixed rotating shaft 606. A rotating gear 602 is arranged on one side of the fixed gear 601, and the rotating gear 602 meshes with the fixed gear 601. The rotating gear 602 is driven by a rotating stepper motor 611, and the rotating stepper motor 611 is installed and fixed to the bottom of the first motor mounting plate 604; a rotating hinge seat 610 is nested at the connection between the fixed seat 5 and the fixed rotating shaft 606. The inner hole of the rotating hinge seat 610 is embedded with tapered roller bearings 607 and a spacer sleeve 608. The bottom end of the fixed rotating shaft 606 is nested and fixed through a locking nut 609. One side of the rotating hinge seat 610 is bolted and fixed to the lifting structure 8 through a transverse connecting plate 7. A pair of tapered roller bearings 607 and a spacer sleeve 608 fix the rotating hinge seat 610 and the fixed rotating shaft 606 to prevent slipping between the two and ensure the rotation accuracy of the support leg 1; a bushing 603 is nested at the output end of the rotating stepper motor 611, and the bushing 603 is embedded in the rotating gear 602. The rotating stepper motor 611 drives the rotating gear 602 through the bushing 603, which not only prevents slipping between the two but also facilitates disassembly and maintenance.

[0036] In another embodiment, limiting and damping blocks 605 are symmetrically embedded on one side of the fixed seat 5 away from the AGV base 2. Four limiting and damping blocks 605 are installed on the side of the fixed seat 5. During the 0-180° rotation of the support leg 1, the limiting and damping blocks 605 limit and buffer the fixed seat 5.

[0037] In another embodiment, a guide rail mounting plate 807 is bolted and fixed to one end of the transverse connecting plate 7 away from the rotary hinge seat 610. A linear guide rail 808 is fixed on one side of the guide rail mounting plate 807. A slider 806 is slidably connected to the surface of the linear guide rail 808. A lead screw nut fixing seat 815 is fixed to the side of the slider 806. Along the vertical direction of the lead screw nut fixing seat 815, a lead screw nut 814 is fixed inside the lead screw nut fixing seat 815. A ball screw 816 is nested at the center of the lead screw nut 814, and the ball screw 816 is threadedly connected to the lead screw nut 814. A foot cup 817 is fixed to the bottom of the lead screw nut fixing seat 815, and the foot cup 817 abuts against the ground. A driven end synchronous pulley 805 is nested and fixed at the top end of the ball screw 816. The driven end synchronous pulley 805 is driven by a synchronous belt 804 to be in transmission connection with a driving end synchronous pulley 801. The driving end synchronous pulley 801 is driven by a lifting stepper motor 809, and the lifting stepper motor 809 is fixed to the transverse connecting plate 7 through a second motor mounting plate 802. Through the drive of the lifting stepper motor 809, the driving end synchronous pulley 801, the driven end synchronous pulley 805 and the synchronous belt 804, the ball screw 816 rotates, and the rotational motion of the ball screw 816 is converted into a linear motion through the lead screw nut 814, so that the lead screw nut fixing seat 815 slides along the linear guide rail 808 until the foot cup 817 fixed to the lead screw nut fixing seat 815 rises and falls with the ground, adjusting the height of the AGV base 24 in all directions, thereby leveling the AGV base 2; a photoelectric switch sensing piece 813 is fixed to the back of the lead screw nut fixing seat 815. A groove-shaped photoelectric switch 810 is arranged directly above the photoelectric switch sensing piece 813, and the groove-shaped photoelectric switch 810 is fixed to the transverse connecting plate 7. The photoelectric switch sensing piece 813 rises and falls with the rise and fall of the lead screw nut fixing seat 815. The groove-shaped photoelectric switch 810 detects the position of the foot cup 817 of the support leg 1 and coordinates with the angle data of the angle sensor 3, so as to facilitate the precision adjustment of the levelness of the AGV base 2; the ball screw 816 is embedded in a lead screw fixing seat 811 and is limited by the lead screw fixing seat 811. The lead screw fixing seat 811 is installed and fixed in a lead screw mounting seat 812, and the lead screw mounting seat 812 is installed and fixed to the transverse connecting plate 7. The two transverse connecting plates 7 are tensioned and fixed through a tensioning seat 803. The ball screw 816 can be limited and fixed through the lead screw fixing seat 811 and the lead screw mounting seat 812 to prevent the ball screw 816 from being misaligned. At the same time, the two transverse connecting plates 7 are adjustable through the tensioning seat 803, which is convenient for tight fixing with each component; a slider limit block 818 is fixed to the bottom end of the guide rail mounting plate 807. Through the slider limit block 818 at the bottom of the guide rail mounting plate 807, the limit position of the foot cup 817 can be limited to prevent the lifting stepper motor 809 from rising excessively and damaging the transmission components for lifting.

[0038] The working principle of this embodiment is as follows: When this product is used for construction operations, the AGV base 2 is placed on the construction site. Among them, the rotating gear 602, the bushing 603, the motor mounting plate, the rotating hinge seat 610, the rotating stepping motor 611, and the transverse connecting plate 7 can rotate as a whole along the fixed rotating shaft 606. When the support leg 1 needs to be deployed, the rotating stepping motor 611 rotates to drive the rotating gear 602 to rotate, and the rotating gear 602 rotates around the fixed gear 601, thus completing the deployment action. Subsequently, the support leg 1 performs the lifting step. The output shaft of the lifting stepping motor 809 is connected to the driving end synchronous pulley 801. The rotational motion output by the lifting stepping motor 809 drives the ball screw 816 to rotate through the driving end synchronous pulley 801, the synchronous belt 804, and the driven end synchronous pulley 805. The lead screw nut 814 converts the rotational motion of the ball screw 816 into a linear motion. The slider 806, the photoelectric switch sensing piece 813, the lead screw nut 814, and the foot cup 817 are all installed on the lead screw nut fixing seat 815. Therefore, the linear motion of the lead screw nut 814 will drive the up and down linear motion of the foot cup 817. The groove-shaped photoelectric switch 810 can be used to detect the initial position of the foot cup 817. Through the feedback of the angle sensor 3 and computer calculation, the specific position information of the descent can be accurately sent to each support leg 1, so as to achieve the leveling purpose of the AGV base 2.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An AGV trolley support leveling base, comprising an AGV base (2), characterized in that: At the four corners of the AGV base (2), support legs (1) can be fixedly opened. An angle sensor (3) is arranged on the top of the AGV base (2). The support legs (1) are bolted and fixed to the side of the AGV base (2) through fixing seats (5). The support legs (1) include a rotating structure (6) and a lifting structure (8). The rotating structure (6) is rotatably connected relative to the fixing seat (5). The bottom of the lifting structure (8) is in liftable contact with the ground. The angle sensor (3) detects the tilt angle of the AGV cart relative to the world coordinate axis, and controls the rotating structure (6) and the lifting structure (8) to level the AGV base (2) through an encoder; The rotating structure (6) includes a fixed rotating shaft (606) nested in the holes on the surface of the fixing seat (5) and locked and fixed to the fixing seat (5). A fixed gear (601) is fixed to the top of the fixed rotating shaft (606). A rotating gear (602) is arranged on one side of the fixed gear (601), and the rotating gear (602) meshes with the fixed gear (601). The rotating gear (602) is driven by a rotating stepper motor (611). The rotating stepper motor (611) is installed and fixed to the bottom of the first motor mounting plate (604); A rotating hinge seat (610) is nested at the connection between the fixing seat (5) and the fixed rotating shaft (606). A tapered roller bearing (607) and a spacer sleeve (608) are embedded in the inner hole of the rotating hinge seat (610). The bottom end of the fixed rotating shaft (606) is nested and fixed through a locking nut (609). One side of the rotating hinge seat (610) is bolted and fixed to the lifting structure (8) through a transverse connecting plate (7); Limiting and damping blocks (605) are symmetrically embedded on one side of the fixing seat (5) away from the AGV base (2); One end of the transverse connecting plate (7) far from the rotary hinge seat (610) is bolted and fixed with a guide rail mounting plate (807). A linear guide rail (808) is fixed on one side of the guide rail mounting plate (807). A slider (806) is slidably connected to the surface of the linear guide rail (808). A lead screw nut fixing seat (815) is fixed to the side of the slider (806). Along the vertical direction of the lead screw nut fixing seat (815), a lead screw nut (814) is fixed in the lead screw nut fixing seat (815). A ball screw (816) is nested at the center of the lead screw nut (814), and the ball screw (816) is threadedly connected to the lead screw nut (814). A foot cup (817) is fixed to the bottom of the lead screw nut fixing seat (815), and the foot cup (817) abuts against the ground. The top end of the ball screw (816) is nested and fixed with a driven end synchronous pulley (805). The driven end synchronous pulley (805) is driven by a synchronous belt (804) to be in transmission connection with a driving end synchronous pulley (801). The driving end synchronous pulley (801) is driven by a lifting stepping motor (809), and the lifting stepping motor (809) is fixed to the transverse connecting plate (7) through a second motor mounting plate (802).

2. The leveling base for supporting an AGV cart according to claim 1, wherein: A shaft sleeve (603) is nested at the output end of the rotary stepping motor (611), and the shaft sleeve (603) is embedded in a rotary gear (602).

3. The leveling base for supporting an AGV cart according to claim 1, wherein: A photoelectric switch sensing piece (813) is fixed to the back of the lead screw nut fixing seat (815). A groove type photoelectric switch (810) is arranged directly above the photoelectric switch sensing piece (813), and the groove type photoelectric switch (810) is fixed to the transverse connecting plate (7).

4. The leveling base for supporting an AGV cart according to claim 1, wherein: The ball screw (816) is embedded in a lead screw fixing seat (811) and is limited by the lead screw fixing seat (811). The lead screw fixing seat (811) is installed and fixed in a lead screw mounting seat (812), and the lead screw mounting seat (812) is installed and fixed to the transverse connecting plate (7). The two transverse connecting plates (7) are tensioned and fixed through a tensioning seat (803).

5. The leveling base for supporting an AGV cart according to claim 1, wherein: A slider limiting block (818) is fixed to the bottom end of the guide rail mounting plate (807).

6. The leveling base for supporting an AGV cart according to claim 1, wherein: A protective housing (4) is detachably installed and fixed on the surface of the support leg (1).

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