Vibration reduction structure and vibration reduction method for small Mecanum wheel AGV (Automatic Guided Vehicle)

Abstract

The invention discloses a small Mecanum wheel AGV vibration reduction structure and vibration reduction method.The small Mecanum wheel AGV vibration reduction structure comprises a vehicle frame connecting plate, a wheel carrier connecting plate, a connecting guide mechanism, a middle buffering mechanism and a linear guide mechanism, and through combination of the buffering mechanism and the guide mechanism, simplified design is achieved on the structure. According to the vibration reduction structure, by flexibly increasing or reducing the number and the positions of the buffering mechanisms, the rigidity and damping can be adjusted in a self-adaptive mode according to different loads and road surface conditions, and the stability of the AGV on load fluctuation and uneven road surfaces is ensured. In addition, the structure adopts central symmetry arrangement, the load balance is remarkably improved, the stability of sensitive goods in the carrying process is guaranteed, the number of parts is reduced, the assembly difficulty is lowered, a good vibration reduction effect is achieved on the basis of the compact structure, the assembly efficiency and daily maintenance convenience of the AGV are greatly improved, and the production cost is reduced. And the requirements of simple and convenient operation and convenient maintenance in an industrial environment are met.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration reduction structures in industrial automation and logistics equipment, and in particular to a vibration reduction structure and a vibration reduction method for a small Mecanum wheel AGV. Background Art

[0002] Mecanum wheel automated guided vehicles (AGVs) are key equipment in industrial scenarios such as smart warehousing and logistics transportation. They use autonomous navigation to carry goods, and it is particularly important for them to maintain stable driving under complex ground conditions. In order to make the AGV run smoothly on uneven roads, a vibration reduction structure is usually configured between the AGV frame and the wheel module to reduce the vibration impact caused by uneven roads. However, the existing AGV vibration reduction structure still has many problems in practical applications and needs to be improved.

[0003] Most existing vibration reduction structures are passive structures, including parallelogram structures consisting of connecting rods and spring dampers, and vertical guide column structures consisting of springs and sliding bearings. Although such passive structures have a certain vibration reduction effect, they have the following main problems: 1. Complex structure and difficult assembly: Both the parallelogram vibration reduction structure and the vertical guide column structure contain many parts, which require precise coordination during assembly, resulting in high production and maintenance costs. In addition, the assembly and maintenance operations are complicated, making it difficult to quickly respond to changes in the load demand of the AGV.

[0004] 2. Unable to adjust stiffness and damping: The stiffness and damping of traditional passive vibration reduction structures are usually fixed, making it difficult to cope with load fluctuations. For uneven roads or different loads, the vibration reduction effect of this type of structure is not ideal, causing the body to shake and even affecting the stability and handling accuracy of the AGV.

[0005] 3. Active suspension systems are expensive: Although active suspension structures such as gas-liquid suspension and Yunlian have the function of adjusting stiffness and damping and can be adaptively adjusted according to load and road conditions, their structures are complex and expensive, making them difficult to promote and apply to general AGV usage scenarios.

[0006] In order to solve the above problems, the industry has gradually tried to use a combination of multi-layer buffer devices and guide structures to optimize the vibration reduction effect. However, the current structural design often lacks flexibility, making it difficult to balance vibration reduction effect, cost and adaptability, and still requires a large number of components to achieve structural adjustment, resulting in insufficient adaptability under different loads or road conditions. Especially when it is necessary to carry sensitive goods (such as electronic products, glass, etc.), the existing vibration reduction structure is difficult to provide stable support.

[0007] Therefore, how to simplify the structure, improve assembly convenience and flexibly adjust stiffness and damping has become a technical problem to be solved by the present invention. Summary of the invention

[0008] The technical problem solved by the present invention is to provide a small Mecanum wheel AGV vibration reduction structure and vibration reduction method in view of the defects existing in the above-mentioned prior art, so as to solve the problems of the existing vibration reduction structure proposed in the above-mentioned background technology in terms of adaptability, stability and cost.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: A small Mecanum wheel AGV vibration reduction structure, comprising a frame connecting plate, a wheel frame connecting plate, a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism; The frame connecting plate and the wheel frame connecting plate are connected by a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism for buffering and guiding matching; The number of connecting guide mechanisms and buffer mechanisms is more than 3 respectively, and the number of linear guide mechanisms is more than 1; The connecting guide mechanism comprises a first buffer column, a first clamping slot, a bolt connection hole, a second clamping slot, a guide pin avoidance slot, a pin column avoidance hole and a guide pin; The upper surface of the wheel frame connecting plate is provided with a first clamping groove matched with the first buffer column, and the lower surface of the wheel frame connecting plate is provided with a bolt connection hole for fixed connection with the wheel frame; The lower surface of the frame connecting plate is provided with a second card slot matched with the first buffer column, the bottom of the second card slot is provided with a guide pin avoidance slot, and the bottom of the guide pin avoidance slot is provided with a pin column avoidance hole; the pin column of the guide pin passes through the pin column avoidance hole and protrudes to the top of the frame connecting plate; The bottom end and the top end of the first buffer column are respectively limited on the first card slot and the second card slot; The middle buffer mechanism comprises a first buffer avoidance hole, a second buffer avoidance hole and a second buffer column; The wheel frame connecting plate is provided with a first buffer avoidance hole, the frame connecting plate is provided with a second buffer avoidance hole, one end and the other end of the second buffer column respectively extend into the first buffer avoidance hole and the second buffer avoidance hole so that one end of the second buffer column and the lower plate surface of the wheel frame mounting plate are on the same plane, and the other end of the second buffer column and the upper surface of the frame connecting plate are on the same plane; The vehicle frame connecting plate and the wheel frame connecting plate are connected by a linear guide mechanism.

[0010] As a further solution of the present invention, the linear guide mechanism includes a guide pin and a linear bearing matched with the guide pin, the guide pin is fixedly connected to the wheel frame connecting plate, the linear bearing is fixedly installed on the frame connecting plate, and the guide pin and the linear bearing are linearly guided and matched.

[0011] As a further solution of the present invention, the linear guide mechanism includes a guide pin and a linear bearing matched with the guide pin shaft, the guide pin shaft is fixedly connected to the frame connecting plate, the linear bearing is fixedly installed on the wheel frame connecting plate, and the guide pin shaft and the linear bearing are linearly guided and matched.

[0012] As a further solution of the present invention, the frame connecting plate and the wheel frame connecting plate are square respectively, and the square frame connecting plate and the wheel frame connecting plate respectively protect 4 corners, and the four angular positions of the frame connecting plate are fixedly connected to the 4 corner positions on the wheel frame connecting plate through a connecting guide mechanism.

[0013] As a further solution of the present invention, the number of the connecting guide mechanisms is 6, and the 6 connecting guide mechanisms are evenly distributed between the frame connecting plate and the wheel frame connecting plate.

[0014] As a further solution of the present invention, the number of the middle buffer mechanisms is 7, and the 7 middle buffer mechanisms are evenly distributed between the frame connecting plate and the wheel frame connecting plate.

[0015] As a further solution of the present invention, the number of the linear guide mechanisms is two, and the two linear guide mechanisms are evenly distributed between the frame connecting plate and the wheel frame connecting plate.

[0016] A small Mecanum wheel AGV vibration reduction method comprises the following steps: Step a: Estimate the load that the AGV needs to bear and determine whether the current load exceeds the design load; Step b: When the load is not overweight, remove the existing vibration reduction structure from the AGV; Step c: Adjust the number of the middle buffer mechanisms according to the actual load size, and ensure that the number and distribution of the buffer mechanisms are centrally symmetrical during the adjustment process; Step d: reinstall the adjusted vibration reduction structure on the AGV, and make it have the vibration reduction function that can adapt to different road conditions; Step e: Start the AGV and verify its driving stability under different load conditions and road conditions to complete the handling task.

[0017] As a further solution of the present invention, in step c, the stiffness and damping of the AGV vibration reduction structure are adjusted by increasing or decreasing the number of buffer mechanisms to adapt to different load requirements and ensure the smooth operation of the AGV.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. Flexible adjustment mechanism to ensure dynamic stability on uneven roads: The invention provides a flexible adjustment mechanism on the vibration reduction structure. By simply increasing or decreasing the number of buffer mechanisms and reasonably distributing their positions, the vibration reduction system can flexibly adjust the vibration reduction strength according to different road conditions. This design enables AGV to effectively alleviate the impact from the ground when dealing with uneven roads commonly seen in warehousing and logistics environments (such as ground joints and uneven surfaces in loading and unloading areas), ensuring smooth driving under complex road conditions.

[0019] 2. Simple structure, convenient assembly and maintenance: The present invention reduces the number of parts and components and the difficulty of assembly through the simplified buffer mechanism and linear guide mechanism design, achieves good vibration reduction effect on the basis of compact structure, greatly improves the assembly efficiency and daily maintenance convenience of AGV, and meets the requirements of easy operation and convenient maintenance in industrial environment. Avoid the parallelogram structure composed of connecting rod and spring damper, or the vertical guide column structure composed of spring and sliding bearing in the prior art, reduce the complexity of parts, high assembly difficulty and maintenance cost.

[0020] 3. Economical and practical adjustment capability to adapt to different load changes: The present invention combines the buffer mechanism and the linear guide mechanism, so that the vibration reduction system can flexibly adjust the stiffness and damping by increasing or decreasing the number and position distribution of the buffer mechanism, thereby achieving load-adaptive vibration reduction effect and showing excellent adaptability under variable load conditions. This design not only significantly reduces costs, but also overcomes the limitations of traditional vibration reduction structures.

[0021] 4. Enhanced vibration reduction effect, suitable for stable handling of sensitive goods: The present invention achieves fine adjustment of the vibration reduction effect by increasing or decreasing the number and position of the buffer mechanism to meet the specific needs of heavy-load transportation or handling of sensitive goods with high vibration reduction requirements (such as electronic devices or fragile items). This flexible adjustment capability ensures that the AGV can remain stable during the handling process, reduces the risks caused by vibration, and significantly improves the adaptability and safety of the equipment in sensitive goods handling tasks.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 It is a schematic diagram of the shock absorbing structure of the present invention.

[0025] Figure 2 for Figure 1 Schematic diagram of the structure from another perspective.

[0026] Figure 3 for Figure 1 Schematic diagram of the structure of the middle wheel frame connecting plate.

[0027] Figure 4 for Figure 1 Schematic diagram of the structure of the mid-frame connecting plate.

[0028] Figure 5 The figure is a schematic diagram of the AGV installation of the shock absorbing structure of the present invention.

[0029] Figure 6 1 is a flow chart of the operation of the vibration reduction structure in an embodiment of the present invention.

[0030] The reference numerals and names in the figures are as follows: Frame connecting plate 1, wheel frame connecting plate 2, first buffer column 3, first slot 4, bolt connecting hole 5, second slot 6, guide pin avoidance groove 7, pin column avoidance hole 8, guide pin 9, wheel frame 10, wheel frame mounting plate 11, frame 12, first buffer avoidance hole 13, second buffer avoidance hole 14, second buffer column 15, guide pin shaft 16 and linear bearing 17. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1 —6. In an embodiment of the present invention, a small Mecanum wheel AGV vibration reduction structure includes a frame connecting plate 1, a wheel frame connecting plate 2, a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism; The frame connecting plate 1 and the wheel frame connecting plate 2 are connected by a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism; the number of the connecting guide mechanism and the buffer mechanism is more than 3, and the number of the linear guide mechanism is more than 1; the connecting guide mechanism includes a first buffer column 3, a first clamping groove 4, a bolt connection hole 5, a second clamping groove 6, a guide pin avoidance groove 7, a pin column avoidance hole 8 and a guide pin 9; the upper surface of the wheel frame connecting plate 2 is provided with a first clamping groove 4 matched with the first buffer column 3, and the lower surface of the wheel frame connecting plate 2 is provided with a bolt connection hole 5 for fixed connection with the wheel frame; The lower surface of the frame connecting plate 1 is provided with a second card slot 6 matched with the first buffer column 3, the bottom of the second card slot 6 is provided with a guide pin avoidance slot 7, the bottom of the guide pin avoidance slot 7 is provided with a pin avoidance hole 8; the pin of the guide pin 9 passes through the pin avoidance hole 8 and protrudes to the top of the frame connecting plate 1; in addition, the wheel frame 10 is provided with a wheel frame mounting plate 11, and the wheel frame mounting plate 11 can be fixedly connected to the wheel frame connecting plate 2 by bolts, which belongs to an extended implementation method known to ordinary technicians in this field. Similarly, the frame connecting plate 1 can also be connected with the frame 12 by a guide matching connection through the pin of the guide pin 9. After the guide matching connection, the frame 12 can be further fixedly connected to the frame connecting plate 1 by bolts to enhance the structural stability. At the same time, Figure 5 As shown, when the shock absorbing structure is installed on the AGV, the shock absorbing structures are respectively installed at four angle positions of the vehicle body, which are all extended implementation methods known to ordinary technicians in this field.

[0033] The bottom and top ends of the first buffer column 3 are respectively limited on the first card slot 4 and the second card slot 6; the middle buffer mechanism includes a first buffer avoidance hole 13, a second buffer avoidance hole 14 and a second buffer column 15; the first buffer avoidance hole 13 is provided on the wheel frame connecting plate 2, and the second buffer avoidance hole 14 is provided on the frame connecting plate 1. One end and the other end of the second buffer column 15 are respectively inserted into the first buffer avoidance hole 13 and the second buffer avoidance hole 14 so that one end of the second buffer column 15 and the lower plate surface of the wheel frame mounting plate are on the same plane, and the other end of the second buffer column 15 and the upper surface of the frame connecting plate 1 are on the same plane; the frame connecting plate 1 and the wheel frame connecting plate 2 are connected by a linear guide mechanism. The linear guide mechanism includes a guide pin 16 and a linear bearing 17 matched with the guide pin 16, the guide pin 16 is fixedly connected to the wheel frame connecting plate 2, the linear bearing 17 is fixedly installed on the frame connecting plate 1, and the guide pin 16 and the linear bearing 17 are connected in a linear guiding manner.

[0034] The linear guide mechanism includes a guide pin 16 and a linear bearing 17 matched with the guide pin 16. The guide pin 16 is fixedly connected to the frame connecting plate 1, and the linear bearing 17 is fixedly installed on the wheel frame connecting plate 2. The guide pin 16 and the linear bearing 17 are linearly guided and matched. The frame connecting plate 1 and the wheel frame connecting plate 2 are square, respectively. The square frame connecting plate 1 and the wheel frame connecting plate 2 protect 4 corners respectively. The four angle positions of the frame connecting plate 1 are fixedly connected with the positions of 4 corners on the wheel frame connecting plate 2 through the connecting guide mechanism. The number of connecting guide mechanisms is 6, and the 6 connecting guide mechanisms are evenly distributed between the frame connecting plate 1 and the wheel frame connecting plate 2. The number of middle buffer mechanisms is 7, and the 7 middle buffer mechanisms are evenly distributed between the frame connecting plate 1 and the wheel frame connecting plate 2. The number of linear guide mechanisms is 2, and the 2 linear guide mechanisms are evenly distributed between the frame connecting plate 1 and the wheel frame connecting plate 2.

[0035] A small Mecanum wheel AGV vibration reduction method comprises the following steps: Step a: Estimate the load that the AGV needs to bear and determine whether the current load exceeds the design load; Step b: When the load is not overweight, remove the existing vibration reduction structure from the AGV; Step c: Adjust the number of the middle buffer mechanisms according to the actual load size, and ensure that the number and distribution of the buffer mechanisms are centrally symmetrical during the adjustment process; Step d: reinstall the adjusted vibration reduction structure on the AGV, and make it have the vibration reduction function that can adapt to different road conditions; Step e: Start the AGV and verify its driving stability under different load conditions and road conditions to complete the handling task.

[0036] In step c, the stiffness and damping of the AGV vibration reduction structure are adjusted by increasing or decreasing the number of buffer mechanisms to adapt to different load requirements and ensure the smooth operation of the AGV.

[0037] Embodiment 1: In industrial warehousing and logistics systems, small Mecanum wheel AGVs are widely used in material handling and automated transportation. However, these environments usually have problems such as uneven ground, large load changes, and a variety of cargo types to be transported, which puts high demands on the stability and vibration reduction performance of AGVs. For example, the ground joints of the warehouse, the concave and convex areas of the loading and unloading areas, and different load conditions (such as heavy objects, fragile items, etc.) may cause vibrations in the AGV, affecting its operating stability and the safety of the cargo. To this end, the vibration reduction structure of the present invention is specially designed for these complex working conditions to ensure that the AGV can achieve efficient and stable operation under a variety of load and road conditions.

[0038] The small Mecanum wheel AGV vibration reduction structure of this embodiment includes a frame connecting plate 1, a wheel frame connecting plate 2, a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism. The structure is installed and applied in the following manner: First, a frame connecting plate 1 and a wheel frame connecting plate 2 are installed between the frame and the wheel frame of the AGV. The two connecting plates are connected by a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism. The number of connecting guide mechanisms and buffer mechanisms is more than 3, evenly distributed between the connecting plates, thereby forming a multi-point support vibration reduction effect. This arrangement ensures that the vibration reduction structure can effectively and evenly disperse the vibration and maintain the stability of the frame when encountering load fluctuations or uneven road surfaces.

[0039] In actual applications, when the AGV needs to carry heavy or fragile goods, the operator can adjust the number and distribution of buffer mechanisms according to the load conditions. By increasing the number of buffer mechanisms, the stiffness and damping of the vibration reduction structure are enhanced, which is suitable for providing stronger support effects under heavy loads and uneven road conditions. For example, when carrying heavy machinery and equipment or multiple boxes of grouped materials, the AGV may encounter large bumps during driving. At this time, increasing the number of middle buffer mechanisms can effectively improve the vibration reduction performance, reduce the impact of vibration on the frame and wheel frame, and prevent the shaking of the equipment from causing a decrease in handling accuracy or damage to the goods.

[0040] In addition, in environments with relatively flat ground or light loads (such as carrying lightweight electronic components or single packaged items), the number of buffer mechanisms can be reduced to keep the damping and stiffness of the vibration reduction system low. Such adjustments reduce unnecessary vibration reduction efforts, effectively improve the operating efficiency of the AGV, and avoid energy loss caused by excessive damping. The linear guide mechanism ensures that the movement direction between the frame and the wheel frame is consistent, and provides upward and downward guide support during the AGV's travel, thereby preventing lateral displacement or body tilt, and further improving stability.

[0041] In some complex application scenarios, such as long-distance transportation tasks, AGVs need to cross different areas and road conditions. At this time, the vibration reduction system can be flexibly configured according to the complexity of the transportation route and the type of goods. For example, when AGVs pass between storage and loading and unloading areas, they often encounter ground joints, ramps and other uneven areas. By setting a reasonable number and position of buffer mechanisms in advance, the vibration reduction structure automatically adapts when road conditions change, ensuring stability during long-distance transportation and preventing goods from moving or being damaged due to vibration.

[0042] In actual operation, the buffer mechanism and guide mechanism of the present invention are embedded in the AGV structure in a modular design. When the load situation changes or the scene needs to change, there is no need to replace key components. Simply adjusting the number or position of the buffer mechanism can flexibly adapt to different working environments and load requirements. This modular and flexible design reduces the need for modification of the internal structure of the AGV and reduces maintenance and operating costs.

[0043] Through the above specific applications, the small Mecanum wheel AGV vibration reduction structure in this embodiment can show excellent stability and adaptability in industrial environments with changing loads and complex road conditions, significantly reducing the risk of vibration transmission to goods and ensuring the efficient completion of transportation tasks. Compared with the traditional fixed vibration reduction structure, the design of the present invention is more in line with the actual needs of AGV operation in complex environments, effectively solving the problems of complex structure, poor adaptability and inconvenient adjustment in the prior art, and has significant advantages in improving AGV operation efficiency, protecting cargo safety and reducing maintenance costs.

[0044] Embodiment 2: In this embodiment, the vibration reduction structure of the small Mecanum wheel AGV is particularly suitable for performing repeated transportation tasks in a specific workshop. According to the specific transportation needs and road conditions of the workshop, the vibration reduction structure of the AGV is adjusted once so that it can be used multiple times and maintain a consistent vibration reduction effect, thereby avoiding frequent adjustments and improving production efficiency.

[0045] In order to adapt to the loads of different weights in the workshop, this embodiment uses the number and material of the second buffer column 15 to adjust the stiffness and damping of the vibration reduction system to ensure that the AGV can achieve the ideal vibration reduction effect under different load conditions. The second buffer column 15 is made of polyurethane material, which has excellent elasticity and durability, with a hardness of 70A on the Shore A scale, and can withstand a pressure of 200N per buffer column and produce an elastic deformation of 3mm, and can effectively absorb and relieve vibration in normal use.

[0046] The specific application scenarios and adjustment examples are as follows: 1. Light load (about 50 kg): When the AGV transports light items (such as electronic components or packaging materials), installing three second buffer columns 15 can provide sufficient vibration reduction support. At this time, the three buffer columns can withstand a total pressure of 600N, ensuring a moderate damping effect under light load and flat ground conditions to avoid unnecessary energy loss. The deformation of the buffer column under this load is controlled within the range of 1 to 2 mm, which is enough to eliminate minor ground vibrations and ensure smooth driving.

[0047] 2. Medium load (100 to 150 kg): When the AGV needs to transport medium-weight items (such as a whole box of parts or multiple packaged items), five second buffer columns 15 are installed to enhance the stiffness and damping of the vibration reduction system. The total load capacity of these five buffer columns is 1000N, which allows the system to produce an elastic deformation of 3mm when it is subjected to a load of 150 kg, adapting to larger vibrations and maintaining the driving stability of the vehicle, avoiding the impact of larger vibrations caused by medium loads.

[0048] 3. Heavy load (about 200 kg): When the AGV transports heavier materials (such as mechanical equipment parts or metal raw materials), 7 second buffer columns 15 are installed to further improve the rigidity and damping of the system by increasing the number of support points. At this time, the total load capacity of the 7 buffer columns can reach 1400N, so that under a load of 200 kg, the elastic deformation of each buffer column is close to 3mm, which fully absorbs vibration and shock, so that the AGV can run smoothly even under heavy load.

[0049] After adjustment, the AGV can repeatedly perform similar transportation tasks in the workshop without frequently reconfiguring the number and position of buffer columns. When carrying different loads, the second buffer column 15 made of polyurethane can eliminate the instability caused by vibration through its elastic deformation, and ensure the adaptability of the AGV under load changes. The above configuration not only simplifies the adjustment operation of the AGV vibration reduction system, but also improves the reliability and durability of the AGV in complex workshop scenarios. In this way, the present embodiment effectively solves the problems of difficult adjustment and poor adaptability of traditional vibration reduction structures in diversified load scenarios, ensures the stability of the AGV under different load conditions, extends the service life of the equipment, and reduces long-term maintenance costs.

[0050] In the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "setting", "connection", "fixation", "screw-on" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

Claims

1. A small Mecanum wheel AGV vibration reduction structure, characterized in that: It includes a vehicle frame connecting plate, a wheel frame connecting plate, a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism; The frame connecting plate and the wheel frame connecting plate are connected by a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism for buffering and guiding matching; The number of connecting guide mechanisms and buffer mechanisms is more than 3 respectively, and the number of linear guide mechanisms is more than 1; The connecting guide mechanism comprises a first buffer column, a first clamping slot, a bolt connection hole, a second clamping slot, a guide pin avoidance slot, a pin column avoidance hole and a guide pin; The upper surface of the wheel frame connecting plate is provided with a first clamping groove matched with the first buffer column, and the lower surface of the wheel frame connecting plate is provided with a bolt connection hole for fixed connection with the wheel frame; The lower surface of the frame connecting plate is provided with a second card slot matched with the first buffer column, the bottom of the second card slot is provided with a guide pin avoidance slot, and the bottom of the guide pin avoidance slot is provided with a pin column avoidance hole; the pin column of the guide pin passes through the pin column avoidance hole and protrudes to the top of the frame connecting plate; The bottom end and the top end of the first buffer column are respectively limited on the first card slot and the second card slot; The middle buffer mechanism comprises a first buffer avoidance hole, a second buffer avoidance hole and a second buffer column; The wheel frame connecting plate is provided with a first buffer avoidance hole, the frame connecting plate is provided with a second buffer avoidance hole, one end and the other end of the second buffer column respectively extend into the first buffer avoidance hole and the second buffer avoidance hole so that one end of the second buffer column and the lower plate surface of the wheel frame mounting plate are on the same plane, and the other end of the second buffer column and the upper surface of the frame connecting plate are on the same plane; The vehicle frame connecting plate and the wheel frame connecting plate are connected by a linear guide mechanism.

2. A small Mecanum wheel AGV vibration reduction structure according to claim 1, characterized in that: The linear guide mechanism includes a guide pin shaft and a linear bearing matched with the guide pin shaft. The guide pin shaft is fixedly connected to the wheel frame connecting plate, the linear bearing is fixedly installed on the frame connecting plate, and the guide pin shaft and the linear bearing are linearly guided and matched.

3. The small Mecanum wheel AGV vibration reduction structure according to claim 1, characterized in that: The linear guide mechanism includes a guide pin and a linear bearing matched with the guide pin shaft. The guide pin shaft is fixedly connected to the frame connecting plate, the linear bearing is fixedly installed on the wheel frame connecting plate, and the guide pin shaft and the linear bearing are linearly guided and matched.

4. The small Mecanum wheel AGV vibration reduction structure according to claim 1, characterized in that: The frame connecting plate and the wheel frame connecting plate are square in shape, respectively, and the square frame connecting plate and the wheel frame connecting plate protect four corners respectively. The four angle positions of the frame connecting plate are fixedly connected to the four corner positions on the wheel frame connecting plate through connecting guide mechanisms.

5. The small Mecanum wheel AGV vibration reduction structure according to claim 1, characterized in that: The number of the connecting guide mechanisms is 6, and the 6 connecting guide mechanisms are evenly distributed between the frame connecting plate and the wheel frame connecting plate.

6. The small Mecanum wheel AGV vibration reduction structure according to claim 1, characterized in that: The number of the middle buffer mechanisms is 7, and the 7 middle buffer mechanisms are evenly distributed between the frame connecting plate and the wheel frame connecting plate.

7. The small Mecanum wheel AGV vibration reduction structure according to claim 1, characterized in that: The number of the linear guide mechanisms is 2, and the 2 linear guide mechanisms are evenly distributed between the vehicle frame connecting plate and the wheel frame connecting plate.

8. A vibration reduction method for a small Mecanum wheel AGV, characterized in that: The following steps are involved: Step a: Estimate the load that the AGV needs to bear and determine whether the current load exceeds the design load; Step b: When the load is not overweight, remove the existing vibration reduction structure from the AGV; Step c: Adjust the number of the middle buffer mechanisms according to the actual load size, and ensure that the number and distribution of the buffer mechanisms are centrally symmetrical during the adjustment process; Step d: reinstall the adjusted vibration reduction structure on the AGV, and make it have the vibration reduction function that can adapt to different road conditions; Step e: Start the AGV and verify its driving stability under different load conditions and road conditions to complete the handling task.

9. The vibration reduction method for a small Mecanum wheel AGV according to claim 1, characterized in that: In step c, the stiffness and damping of the AGV vibration reduction structure are adjusted by increasing or decreasing the number of buffer mechanisms to adapt to different load requirements and ensure the smooth operation of the AGV.

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