A small Mecanum wheel AGV vibration reduction structure and vibration reduction method

Abstract

The present invention discloses a vibration reduction structure and vibration reduction method for a small Mecanum wheel AGV, which includes a frame connecting plate, a wheel frame connecting plate, a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism. Through the combination of the buffer mechanism and the guide mechanism, a simplified design is achieved in the structure. The vibration reduction structure can adaptively adjust the stiffness and damping according to different loads and road conditions by flexibly increasing or decreasing the number and position of the buffer mechanism, thereby ensuring the stability of the AGV under load fluctuations and uneven roads. In addition, the structure adopts a central symmetrical arrangement, which significantly improves the load balance, ensures the stability of sensitive goods during the handling process, reduces the number of parts, reduces the difficulty of assembly, and achieves a good vibration reduction effect on the basis of a compact structure, greatly improving the assembly efficiency and daily maintenance convenience of the AGV, and meeting the needs of easy operation and convenient maintenance in industrial environments.

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 small Mecanum wheel AGV vibration reduction structure and a vibration reduction method. Background Art

[0002] Mecanum-wheeled automated guided vehicles (AGVs) are key equipment in industrial scenarios such as smart warehousing and logistics. They use autonomous navigation to move cargo, making stable operation on complex surfaces particularly crucial. To ensure smooth operation on uneven surfaces, vibration damping structures are typically installed between the AGV frame and wheel modules to mitigate the impact of road bumps. However, existing AGV vibration damping structures still present numerous challenges in practical applications and require improvement.

[0003] Existing vibration reduction structures mostly use passive structures. Common types include: parallelogram structures consisting of connecting rods and spring dampers, and vertical guide column structures consisting of springs and sliding bearings. Although these passive structures have a certain vibration reduction effect, they have the following major problems:

[0004] 1. Complex structure and difficult assembly: Both the parallelogram vibration damping 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.

[0005] 2. Unable to adjust stiffness and damping: Traditional passive vibration damping structures typically have fixed stiffness and damping, making them difficult to cope with load fluctuations. For uneven roads or varying loads, these structures offer suboptimal vibration damping, causing the vehicle to sway and even affecting the AGV's stability and handling accuracy.

[0006] 3. Active suspension systems are expensive: Although active suspension structures such as gas-liquid suspension and cloud suspension have the function of adjusting stiffness and damping and can be adaptively adjusted according to load and road conditions, their complex structures and high costs make them difficult to promote and apply to general AGV usage scenarios.

[0007] To address these issues, the industry is gradually experimenting with combining multi-layered buffers and guide structures to optimize vibration damping. However, current structural designs often lack flexibility, making it difficult to balance vibration damping effectiveness, cost, and adaptability. Furthermore, they require numerous components to adjust the structure, resulting in limited adaptability to varying loads and road conditions. This is particularly true when carrying sensitive cargo (such as electronics and glass), as existing vibration damping structures struggle to provide stable support.

[0008] Therefore, how to simplify the structure, improve assembly convenience and flexibly adjust stiffness and damping has become the technical problem to be solved by the present invention. Summary of the Invention

[0009] The technical problem solved by the present invention is to address the defects existing in the above-mentioned prior art and provide a small Mecanum wheel AGV vibration reduction structure and vibration reduction method to solve the problems of the existing vibration reduction structure proposed in the above-mentioned background technology in terms of adaptability, stability and cost.

[0010] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0011] A small Mecanum wheel AGV vibration reduction structure includes a frame connecting plate, a wheel frame connecting plate, a connecting guide mechanism, a middle buffer mechanism and a linear guide mechanism;

[0012] 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 cooperation;

[0013] 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;

[0014] 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;

[0015] 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;

[0016] The lower surface of the frame connecting plate is provided with a second slot that matches the first buffer column, the bottom of the second slot is provided with a guide pin avoidance slot, and the bottom of the guide pin avoidance slot is provided with a pin avoidance hole; the pin of the guide pin passes through the pin avoidance hole and extends to the top of the frame connecting plate;

[0017] 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;

[0018] The middle buffer mechanism includes a first buffer avoidance hole, a second buffer avoidance hole and a second buffer column;

[0019] 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 are respectively inserted 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 in the same plane, and the other end of the second buffer column and the upper surface of the frame connecting plate are in the same plane;

[0020] The vehicle frame connecting plate and the wheel frame connecting plate are connected by a linear guide mechanism.

[0021] 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.

[0022] 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.

[0023] 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 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.

[0024] 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.

[0025] As a further solution of the present invention, the number of the central buffer mechanisms is 7, and the 7 central buffer mechanisms are evenly distributed between the frame connecting plate and the wheel frame connecting plate.

[0026] 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.

[0027] A vibration reduction method for a small Mecanum wheel AGV comprises the following steps:

[0028] Step a: Estimate the load that the AGV needs to bear and determine whether the current load exceeds the design load;

[0029] Step b: When the load is not overweight, remove the existing vibration reduction structure from the AGV;

[0030] Step c: Adjust the number of buffer mechanisms in the middle according to the actual load size, and ensure that the number and distribution of the buffer mechanisms are centrally symmetrical during the adjustment process;

[0031] Step d: Reinstall the adjusted vibration reduction structure on the AGV and make it have a vibration reduction function that adapts to different road conditions;

[0032] Step e: Start the AGV and verify its driving stability under different load conditions and road conditions to complete the handling task.

[0033] 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.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. Flexible Adjustment Mechanism Ensures Dynamic Stability on Uneven Roads: The invention provides a flexible adjustment mechanism for the vibration damping structure. By simply increasing or decreasing the number of buffer mechanisms and rationally distributing their positions, the vibration damping system can flexibly adjust the damping force according to different road conditions. This design effectively mitigates ground impact when AGVs navigate uneven surfaces common in warehousing and logistics environments (such as floor joints and uneven surfaces in loading and unloading areas), ensuring smooth operation in complex road conditions.

[0036] 2. Simple structure, easy assembly and maintenance: This invention reduces the number of parts and assembly difficulty through the simplified design of the buffer mechanism and linear guide mechanism. It achieves good vibration reduction effect on the basis of compact structure, greatly improving the assembly efficiency and daily maintenance convenience of AGV, and meets the demand for simple operation and convenient maintenance in industrial environments. It avoids the parallelogram structure composed of connecting rods and spring dampers, or the vertical guide column structure composed of springs and sliding bearings in the existing technology, reducing the complexity of parts, high assembly difficulty and maintenance cost.

[0037] 3. Economical and practical adjustment capability to adapt to varying loads: By combining a buffer mechanism with a linear guide, this invention enables the vibration reduction system to flexibly adjust stiffness and damping by increasing or decreasing the number and location of the buffer mechanisms, achieving load-adaptive vibration reduction and demonstrating excellent adaptability under varying load conditions. This design not only significantly reduces costs but also overcomes the limitations of traditional vibration reduction structures.

[0038] 4. Enhanced vibration damping for smooth handling of sensitive goods: By adjusting the number and position of buffer mechanisms, this invention enables fine-tuning of vibration damping to meet the specific needs of heavy-load transport or handling of sensitive goods requiring high vibration damping (such as electronic devices or fragile items). This flexible adjustment ensures the AGV remains stable during handling, reduces the risks associated with vibration, and significantly improves the adaptability and safety of the equipment for handling sensitive goods.

[0039] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0041] Figure 1 Schematic diagram of the shock absorbing structure of the present invention.

[0042] Figure 2 for Figure 1 Schematic diagram of the structure from another perspective.

[0043] Figure 3 for Figure 1 Schematic diagram of the structure of the middle wheel frame connecting plate.

[0044] Figure 4 for Figure 1 Schematic diagram of the structure of the mid-frame connecting plate.

[0045] Figure 5 This is a schematic diagram of the AGV installation of the shock-absorbing structure of the present invention.

[0046] Figure 6 Flowchart of the operation of the vibration reduction structure in the embodiment of the present invention.

[0047] The reference numerals and names in the figures are as follows:

[0048] 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

[0049] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0050] 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;

[0051] 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 that cooperates 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.

[0052] The lower surface of the vehicle frame connecting plate 1 is provided with a second card slot 6 that matches the first buffer column 3, the bottom of the second card slot 6 is provided with a guide pin avoidance slot 7, and 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 vehicle 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 vehicle frame connecting plate 1 can also be connected to the vehicle frame 12 for guiding and matching through the pin of the guide pin 9. After the guiding and matching connection, the vehicle frame 12 can be further fixedly connected to the vehicle 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 angular positions of the vehicle body, which are all extended implementation methods known to ordinary technicians in this field.

[0053] 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 wheel frame connecting plate 2 is provided with a first buffer avoidance hole 13, and the frame connecting plate 1 is provided with a second buffer avoidance hole 14, and 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 mounted on the frame connecting plate 1, and the guide pin 16 and the linear bearing 17 are connected in a linear guiding manner.

[0054] The linear guide mechanism includes a guide pin 16 and a linear bearing 17 that cooperates 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 mounted on the wheel frame connecting plate 2. The guide pin 16 and the linear bearing 17 are linearly guided and cooperated. The frame connecting plate 1 and the wheel frame connecting plate 2 are each square, and the square frame connecting plate 1 and the wheel frame connecting plate 2 respectively protect four corners. The four angular positions of the frame connecting plate 1 are fixedly connected to the four corner positions on the wheel frame connecting plate 2 via connecting guide mechanisms. There are six connecting guide mechanisms, and these six connecting guide mechanisms are evenly distributed between the frame connecting plate 1 and the wheel frame connecting plate 2. There are seven central buffer mechanisms, and these seven central buffer mechanisms are evenly distributed between the frame connecting plate 1 and the wheel frame connecting plate 2. There are two linear guide mechanisms, and these two linear guide mechanisms are evenly distributed between the frame connecting plate 1 and the wheel frame connecting plate 2.

[0055] A vibration reduction method for a small Mecanum wheel AGV comprises the following steps:

[0056] Step a: Estimate the load that the AGV needs to bear and determine whether the current load exceeds the design load;

[0057] Step b: When the load is not overweight, remove the existing vibration reduction structure from the AGV;

[0058] Step c: Adjust the number of buffer mechanisms in the middle according to the actual load size, and ensure that the number and distribution of the buffer mechanisms are centrally symmetrical during the adjustment process;

[0059] Step d: Reinstall the adjusted vibration reduction structure on the AGV and make it have a vibration reduction function that adapts to different road conditions;

[0060] Step e: Start the AGV and verify its driving stability under different load conditions and road conditions to complete the handling task.

[0061] 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.

[0062] Example 1:

[0063] In industrial warehousing and logistics systems, small Mecanum-wheeled AGVs are widely used for material handling and automated transportation. However, these environments often present challenges such as uneven surfaces, large load variations, and a wide variety of cargo types, placing high demands on the AGV's stability and vibration damping performance. For example, warehouse floor joints, uneven areas in loading and unloading areas, and varying load conditions (such as heavy objects and fragile items) can all cause AGV vibrations, affecting their operational stability and the safety of their cargo. To this end, the vibration damping structure of the present invention is specifically designed for these complex operating conditions, ensuring efficient and stable AGV operation under diverse load and road conditions.

[0064] The vibration reduction structure of the small Mecanum wheel AGV in 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:

[0065] First, a frame connecting plate 1 and a wheel frame connecting plate 2 are installed between the AGV's frame and wheel frame. These two connecting plates are connected by a connecting guide mechanism, a central buffer mechanism, and a linear guide mechanism. There are at least three connecting guides and three buffer mechanisms, each evenly distributed between the connecting plates, creating a multi-point support and vibration reduction effect. This arrangement ensures that the vibration reduction structure effectively and evenly distributes vibrations and maintains frame stability even when encountering load fluctuations or uneven road surfaces.

[0066] In practice, when AGVs need to carry heavy or fragile cargo, operators can adjust the number and distribution of buffer mechanisms based on the load. Increasing the number of buffer mechanisms enhances the stiffness and damping of the vibration-damping structure, providing stronger support under heavy loads and on uneven surfaces. For example, when carrying heavy machinery or multiple boxes of materials, the AGV may experience significant jolting. In these cases, increasing the number of central buffer mechanisms can effectively improve vibration damping, reducing the impact of vibration on the frame and wheel carriers, and preventing equipment sway that could compromise handling accuracy or damage cargo.

[0067] Furthermore, in environments with relatively flat surfaces or light loads (such as those handling lightweight electronic components or single-package items), the number of buffer mechanisms can be reduced, allowing the vibration reduction system to maintain low damping and stiffness. This adjustment reduces unnecessary damping effort, effectively improving AGV operating efficiency and avoiding energy loss caused by excessive damping. The linear guide mechanism ensures consistent movement between the frame and wheel carriers, providing vertical guidance support during AGV operation, thereby preventing lateral displacement or vehicle tilt and further enhancing stability.

[0068] In complex applications, such as long-distance transport, AGVs must traverse varying areas and road conditions. Flexibly configuring the vibration damping system can be tailored to the complexity of the transport route and the type of cargo. For example, when AGVs traverse between storage and loading / unloading areas, they often encounter floor joints, ramps, and other uneven areas. By pre-setting the appropriate number and placement of buffer mechanisms, the vibration damping structure automatically adapts to changing road conditions, ensuring stability during long-distance transport and preventing cargo from shifting or being damaged by vibration.

[0069] In practice, the buffer and guide mechanisms of the present invention are embedded in the AGV structure in a modular design. When load conditions or operational requirements change, the system can flexibly adapt to different working environments and load requirements by simply adjusting the number or position of the buffer mechanisms, without having to replace key components. This modular and flexible design reduces the need for modifications to the AGV's internal structure, lowering maintenance and operating costs.

[0070] Through the above-mentioned specific applications, the small Mecanum wheel AGV vibration reduction structure in this embodiment can demonstrate excellent stability and adaptability in industrial environments with fluctuating loads and complex road conditions, significantly reducing the risk of vibration transmission to cargo and ensuring the efficient completion of transportation tasks. Compared with traditional fixed vibration reduction structures, the design of this invention better meets the actual needs of AGV operation in complex environments, effectively solving the problems of complex structure, poor adaptability, and inconvenient adjustment in existing technologies. It has significant advantages in improving AGV operating efficiency, protecting cargo safety, and reducing maintenance costs.

[0071] Example 2:

[0072] In this embodiment, the vibration damping structure of a small Mecanum wheel AGV is particularly suitable for performing repetitive transport tasks within a specific workshop. Based on the workshop's specific transport needs and road conditions, a one-time adjustment of the AGV's vibration damping structure allows it to be used repeatedly with consistent vibration damping, thus avoiding frequent adjustments and improving production efficiency.

[0073] To accommodate varying load weights within the workshop, this embodiment adjusts the stiffness and damping of the vibration reduction system by adjusting the number and material of the second buffer columns 15, ensuring optimal vibration reduction for the AGV under varying load conditions. The second buffer columns 15 are made of polyurethane, which exhibits excellent elasticity and durability. With a hardness of 70 Shore A, they can withstand a pressure of 200N per column and produce an elastic deformation of 3mm. They effectively absorb and mitigate vibrations during normal use.

[0074] Specific application scenarios and adjustment examples are as follows:

[0075] 1. Light load (approximately 50 kg): When the AGV is transporting lightweight items (such as electronic components or packaging materials), installing three second buffer columns 15 provides sufficient vibration damping support. These three columns can withstand a combined pressure of 600 N, ensuring moderate damping under light loads and on a flat surface, thus avoiding unnecessary energy loss. Under this load, the column deformation is kept within 1 to 2 mm, sufficient to eliminate minor ground vibrations and ensure smooth travel.

[0076] 2. Medium Load (100-150 kg): When the AGV needs to transport medium-weight items (such as full boxes of parts or multiple packages), five secondary buffer columns 15 are installed to enhance the stiffness and damping of the vibration reduction system. These five buffer columns have a total load capacity of 1000N. When the system is subjected to a load of 150 kg, each buffer column will produce an elastic deformation of 3mm. This adapts to larger vibrations and maintains vehicle driving stability, avoiding the impact of large vibrations caused by medium loads.

[0077] 3. Heavy load (approximately 200 kg): When the AGV is transporting heavier materials (such as machinery components or metal materials), seven secondary buffer columns 15 are installed to further enhance the system's rigidity and damping by increasing the number of support points. The total load capacity of these seven buffer columns reaches 1400 N. Under a 200 kg load, each buffer column experiences an elastic deformation of approximately 3 mm, fully absorbing vibration and shock, ensuring smooth operation of the AGV even under heavy loads.

[0078] After the adjustment, the AGV can repeatedly perform similar transportation tasks in the workshop without the need to frequently reconfigure the number and position of the buffer columns. The second buffer column 15 made of polyurethane can eliminate the instability caused by vibration through its elastic deformation when carrying different loads, and ensure the adaptability of the AGV under load changes. The above configuration method 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.

[0079] In the present invention, unless otherwise clearly specified or limited, terms such as "installation", "setting", "connection", "fixation", and "screw-on" should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrated; they can be mechanically connected or electrically connected; they can be directly connected or indirectly connected through an intermediate medium; they can be internal communication between two elements or an interactive relationship between two elements. Unless otherwise clearly specified or limited, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to specific circumstances.

[0080] 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 invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be embraced therein.

Claims

1. A vibration reduction method for a small Mecanum wheel AGV, characterized in that: The vibration reduction method is implemented by using a small Mecanum wheel AGV vibration reduction structure, wherein the small Mecanum wheel AGV vibration reduction structure includes 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 cooperation; 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 slot that matches the first buffer column, the bottom of the second slot is provided with a guide pin avoidance slot, and the bottom of the guide pin avoidance slot is provided with a pin avoidance hole; the pin of the guide pin passes through the pin avoidance hole and extends 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 includes 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 are respectively inserted 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 in the same plane, and the other end of the second buffer column and the upper surface of the frame connecting plate are in the same plane; The frame connecting plate and the wheel frame connecting plate are connected by a linear guide mechanism; The 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 buffer mechanisms in the middle 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 a vibration reduction function that adapts 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.

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

3. The vibration reduction method for a small Mecanum wheel AGV 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 vibration reduction method for a small Mecanum wheel AGV according to claim 1, characterized in that: The frame connecting plate and the wheel frame connecting plate are square, respectively. The square frame connecting plate and the wheel frame connecting plate protect 4 corners respectively. 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.

5. The vibration reduction method for a small Mecanum wheel AGV 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 vehicle frame connecting plate and the wheel frame connecting plate.

6. The vibration reduction method for a small Mecanum wheel AGV 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 vibration reduction method for a small Mecanum wheel AGV 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. 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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