Heavy-load AGV steering wheel positive pressure automatic adjusting device and adjusting method

Abstract

The invention discloses a heavy-load AGV steering wheel positive pressure automatic adjusting device and method. The heavy-load AGV steering wheel positive pressure automatic adjusting device comprises a carrying chassis, a steering wheel assembly is movably connected to the carrying chassis, the steering wheel assembly can move in the vertical direction relative to the carrying chassis, a steering wheel driving unit is connected to the steering wheel assembly, a bearing disc is connected to the carrying chassis, and the bearing disc is connected to the carrying chassis. A pressure sensing unit is arranged on the bearing disc, the pressure sensing unit is communicated with a steering wheel driving unit, and when the bearing pressure of the bearing disc is increased, the steering wheel driving unit synchronously increases the driving pressure on the steering wheel assembly. The invention provides a device and a method for automatically adjusting positive pressure of a steering wheel of a heavy-load AGV, which solve the problem of different positive pressure required by the steering wheel in a no-load state and a full-load state of the heavy-load AGV, and solve the problems that the floating steering wheel of the heavy-load AGV is easy to generate overlarge downward pressure in the no-load state and the wheel slips due to insufficient downward pressure in the full-load state.

Description

Technical Field

[0001] The present invention relates to the field of AGV transportation technology, and in particular to a heavy-load AGV steering wheel positive pressure automatic adjustment device and adjustment method. Background Art

[0002] For example, publication number "CN119329286A" discloses a "hydraulic drive device and heavy-load AGV", in which the operating shaft of the hydraulic transmission component is rotatably provided on two opposite side walls of the driving gear box, and the two operating steering wheels are respectively connected to the two ends of the operating shaft; the driving gear box is movably connected to the mounting plate, and the hydraulic motor is provided on the driving gear box, the driving end of the hydraulic motor is meshedly connected to the power input end of the driving gear box, and the power output end of the driving gear box is meshedly connected to the operating shaft; the two ends of the balancing valve are respectively connected to the oil inlet and oil outlet ends of the hydraulic motor, the input end of the center rotary joint is connected to the external oil tank, and the output end of the center rotary joint is connected to the oil filling end of the balancing valve; the signal acquisition end of the encoder is connected to the output shaft, which is used to collect signals and transmit them to the control system, and the control system is also connected to the center rotary joint. However, in actual applications, this type of AGV steering wheel cannot adapt to the different positive pressures required in heavy-load and no-load states, and cannot achieve adaptive adjustment of positive pressure. Summary of the Invention

[0003] In response to the problem mentioned in the background technology that the existing technology is unable to adaptively adjust the positive pressure, the present invention provides a heavy-loaded AGV steering wheel positive pressure automatic adjustment device and adjustment method, which solves the problem that the steering wheel of the heavy-loaded AGV requires different positive pressures when it is unloaded and fully loaded, and solves the problem that the floating steering wheel of the heavy-loaded AGV is prone to excessive downforce when it is unloaded, and insufficient downforce when it is fully loaded, causing the wheel to slip.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions.

[0005] A heavy-loaded AGV steering wheel positive pressure automatic adjustment device includes a carrying chassis, a steering wheel assembly movably connected to the carrying chassis, the steering wheel assembly can move in the up and down directions relative to the carrying chassis, a steering wheel drive unit is connected to the steering wheel assembly, a load-bearing plate is connected to the carrying chassis, a pressure sensing unit is provided on the load-bearing plate, the pressure sensing unit is connected to the steering wheel drive unit, and when the bearing pressure of the load-bearing plate increases, the steering wheel drive unit synchronously increases the driving pressure on the steering wheel assembly.

[0006] Existing AGV steering wheel technology lacks an adaptive positive pressure adjustment mechanism, resulting in difficulty moving, frequent slippage, excessive energy consumption, and shortened component life when faced with varying loads. While some improvements have attempted to mitigate these issues through manual intervention or discrete adjustments, they still fall short of meeting the demands for AGV efficiency, reliability, and intelligence in modern industrial scenarios. Therefore, a technical solution that can sense load status in real time and automatically adjust steering wheel positive pressure is urgently needed to fundamentally address these shortcomings and improve the overall performance of AGVs.

[0007] In the present application, the AGV includes a carrying chassis, wherein the carrying chassis is provided with a steering wheel and other rollers, and the direction of the entire AGV is changed by turning the steering wheel, wherein the steering wheel assembly can not only turn left and right relative to the carrying chassis, but also move up and down relative to the carrying chassis, so that the positive pressure of the steering wheel assembly can be increased by applying an external force, and a steering wheel drive unit is connected to the steering wheel assembly, wherein the steering wheel drive unit includes but is not limited to driving components such as oil cylinders, air cylinders, and motor units. When the steering wheel component in the steering wheel assembly contacts the ground, when the oil cylinder, air cylinder or motor unit generates driving force, the steering wheel component in the steering wheel assembly does not generate relative displacement, but will increase the positive pressure accordingly, thereby changing the vertical force on the bottom surface.

[0008] In this application, a load-bearing plate is provided on the carrier chassis, and cargo can be carried by the load-bearing plate, wherein the designer has a pressure sensing unit on the load-bearing plate, and the cargo loaded on the load-bearing plate can be weighed by the pressure sensing unit, and the pressure sensing unit is connected to the steering wheel drive unit, so that the steering wheel drive unit can apply pressure to the steering wheel assembly according to the pressure feedback of the pressure sensing unit, thereby enabling the AGV to generate different positive pressures of the steering wheel assembly according to the weight of the loaded cargo. Therefore, when the AGV is overloaded, the steering wheel drive unit can generate a larger positive pressure on the steering wheel assembly to avoid slipping, and when it is unloaded, no large positive pressure is generated, thereby avoiding difficulty in steering the steering wheel assembly.

[0009] Preferably, the pressure sensing unit includes a base plate, a cargo sensing cylinder is provided on the base plate, a movable plate is provided on the side of the cargo sensing cylinder away from the base plate, and a plurality of reset springs are provided between the base plate and the movable plate. The pressure sensing unit is provided with a base plate, and the cargo sensing cylinder provided on the base plate can be compressed when subjected to pressure, and the oil flow in the cargo sensing cylinder is transmitted to the steering wheel drive unit, and the corresponding pressure is applied by the cylinder in the steering wheel drive unit. By providing a movable plate on the cargo sensing cylinder, the movable plate contacts the cargo, so that when the cargo sensing cylinder needs to be reset, the cargo sensing cylinder and the movable plate can be reset by the reset spring between the movable plate and the base plate.

[0010] Preferably, a plurality of return springs are provided along the circumferential direction of the cargo sensing cylinder and are evenly distributed. A plurality of return springs are provided along the circumferential direction of the cargo sensing cylinder and are evenly distributed, thereby making the return and downward pressing action of the movable plate more stable.

[0011] Preferably, the steering wheel drive unit includes a support member, the support member is fixedly connected to the carrier chassis, a boosting oil cylinder is rotatably connected to the support member, the boosting oil cylinder is connected to the steering wheel assembly on the side away from the support member, and the boosting oil cylinder is connected to the pressure sensing unit. The steering wheel drive unit includes a support member, the support member is fixedly connected to the carrier chassis so that the support member and the carrier chassis remain relatively fixed, the fixed connection includes but is not limited to welding and bolting, the boosting oil cylinder is rotatably connected to the support member, wherein due to the rotatable connection between the support member and the boosting oil cylinder, the boosting oil cylinder can better exert force and adapt to the small up and down movements of the steering wheel assembly, and the boosting oil cylinder is connected to the pressure sensing unit to ensure that timely action can be performed through changes in oil pressure.

[0012] Preferably, the steering wheel assembly includes a floating plate rotatably connected to the carrier chassis, and a steering wheel component is rotatably connected to the floating plate. The steering wheel assembly includes a floating plate rotatably connected to the carrier chassis, and a steering wheel component is designed on the floating plate. Because the floating plate and the carrier chassis are rotatably connected, the floating plate can rotate relative to the carrier chassis under the drive of the steering wheel drive unit, thereby driving the steering wheel component to move in the vertical direction. When the steering wheel component is on the ground, it can generate relative positive pressure based on the force generated by the steering wheel drive unit.

[0013] Preferably, the steering wheel is positioned between the steering wheel drive unit and the rotating shaft of the floating plate. The steering wheel is arranged between the steering wheel drive unit and the floating plate, so that the steering wheel forms a tilting lever structure, which can generate different positive pressures under the drive of the steering wheel drive unit.

[0014] Preferably, a preload spring is connected to the carrier chassis, and the preload spring connects the carrier chassis and the steering wheel assembly. The preload spring is connected to the carrier chassis, and the preload spring is connected between the carrier chassis and the steering wheel assembly. The preload spring enables the steering wheel assembly to generate a preload value even when not affected by the steering wheel drive unit, thereby ensuring grip between the steering wheel assembly and the ground.

[0015] Preferably, the steering wheel assembly includes a floating plate, the floating plate having a through-hole, the preload spring including a through-shaft connected to a carrier chassis, the through-shaft passing through the through-hole, the preload spring including a spring member disposed on the through-shaft and located within the floating plate, the spring member having a bottom block disposed on a side proximal to the through-hole, the bottom block abutting the floating plate, and the spring member having a top block disposed on a side distal to the bottom block. The floating plate has a through-hole through which the through-shaft on the preload spring can pass, the through-shaft being provided with a spring member, a bottom block, and a top block, wherein after the through-shaft passes through the through-hole, the top block remains fixed at a specific position on the through-shaft, while the bottom block abuts the floating plate under the action of the spring member, thereby ensuring that the bottom block exerts a certain downward pressure on the floating plate under the action of the spring member, thereby ensuring the initial pressure of the steering wheel assembly, wherein the through-shaft is connected to the carrier chassis, thereby ensuring that the through-shaft maintains a stable position during pressure application, and downward pressure is generated only by the spring member.

[0016] Preferably, a connecting pipe is provided between the pressure sensing unit and the steering wheel drive unit, wherein an oil pot and a relief valve are provided on the connecting pipe, and the relief valve is disposed between the oil pot and the connecting pipe. A connecting pipe is provided between the pressure sensing unit and the steering wheel drive unit, wherein oil flows within the connecting pipe, transmitting pressure changes through the oil. The connecting pipe is provided with an oil pot and a relief valve, and the pressure at which the relief valve unloads can be adjusted according to the required positive pressure. The overflowing hydraulic oil is temporarily stored in the oil pot.

[0017] The present invention also discloses a regulating method, comprising the following steps: S1. When the load plate rises and contacts the cargo, the pressure sensing unit is triggered; S2. The pressure sensing unit feeds back the received pressure to the steering wheel drive unit, and the steering wheel drive unit generates positive pressure on the steering wheel assembly; S3. When the load plate is separated from the cargo, the pressure sensing unit is reset; S4. The pressure sensing unit feeds back a reset signal to the steering wheel drive unit, which resets the steering wheel drive unit and cancels the positive pressure applied to the steering wheel assembly. During operation, when the load plate contacts the cargo, the pressure sensing unit is triggered, and the load pressure on the load plate is detected by the pressure sensing unit. At this time, the pressure sensing unit can produce a relative displacement under the action of the pressure, thereby transporting the oil through the connecting pipe to the steering wheel drive unit. The steering wheel drive unit can generate a corresponding pressure to the steering wheel assembly, so that the steering wheel assembly can generate a corresponding positive pressure, thereby achieving adaptive positive pressure regulation.

[0018] The beneficial effects of the present invention are as follows: (1) Solve the problem that the positive pressure required by the steering wheel of a heavy-loaded AGV is different when it is empty and fully loaded. This solves the problem that the floating steering wheel of a heavy-loaded AGV is prone to excessive downward pressure when it is empty, and insufficient downward pressure when it is fully loaded, causing the wheel to slip; (2) The preload spring enables the steering wheel assembly to generate a preload value without being affected by the steering wheel drive unit, thereby ensuring the grip between the steering wheel assembly and the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an overall axonometric drawing of the present invention.

[0020] Figure 2 The present invention Figure 1 A partial enlarged view of the middle steering wheel assembly.

[0021] Figure 3 It is a partial axonometric drawing of the present invention.

[0022] Figure 4 It is a partial side view of the present invention.

[0023] Figure 5 This is a schematic diagram of Example 2.

[0024] In the picture: 1 carrier chassis, 11 preload spring, 111 through-shaft, 112 spring member, 113 bottom block, 114 top block; 2 steering wheel assembly, 21 floating plate, 211 perforation, 22 steering wheel part; 3 steering wheel drive unit, 31 support member, 32 booster cylinder; 4 load-bearing plates; 5 pressure sensing unit, 51 bottom plate, 52 cargo sensing cylinder, 53 movable plate, 54 return spring 6 connecting pipeline, 61 oil pot, 62 overflow valve. DETAILED DESCRIPTION

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1: like Figure 1 As shown, a heavy-load AGV steering wheel positive pressure automatic adjustment device includes a carrying chassis 1, a steering wheel assembly 2 movably connected to the carrying chassis 1, the steering wheel assembly 2 can move in the up and down directions relative to the carrying chassis 1, a steering wheel drive unit 3 is connected to the steering wheel assembly 2, a load-bearing plate 4 is connected to the carrying chassis 1, a pressure sensing unit 5 is provided on the load-bearing plate 4, the pressure sensing unit is connected to the steering wheel drive unit 3, when the bearing pressure of the load-bearing plate 4 increases, the steering wheel drive unit 3 synchronously increases the driving pressure on the steering wheel assembly 2.

[0027] As an intelligent transportation device, the Automated Guided Vehicle (AGV) has been widely used in industrial logistics, warehouse management, intelligent manufacturing and other fields. Its core function is to achieve precise material handling and path planning through autonomous navigation and drive systems. In the mechanical structure of the AGV, the steering wheel, as a key drive component, directly determines the vehicle's motion performance, steering flexibility and load adaptability. The steering wheel is usually composed of a drive motor, a steering mechanism and support components. Through the coordinated action of the drive and steering, the AGV can complete various operations such as forward, backward and turning along a preset trajectory. However, in actual application, whether the positive pressure generated when the steering wheel contacts the ground (i.e., the vertical force exerted by the wheel body on the ground) meets the requirements will directly affect the vehicle's motion stability, energy efficiency and equipment life. Since the AGV is in different load states during operation, this problem is particularly prominent.

[0028] The positive pressure of the steering wheel is typically achieved through a fixed mechanical structure or preset pressure parameters. For example, some designs utilize a spring suspension system or rigid connection device to physically connect the steering wheel to the vehicle body, indirectly controlling the pressure of the wheel on the ground through the deformation of the spring or the tightening force of the fixing bolts. The advantages of this solution lie in its simple structure and low manufacturing cost, but its core drawback is the inability to dynamically adjust the positive pressure based on the actual load state of the AGV. Specifically, when the AGV is unloaded or lightly loaded, the vehicle's weight is relatively low. If the positive pressure of the steering wheel remains high at this time, the frictional resistance between the wheel and the ground will be excessive, making steering difficult. This will not only increase the energy consumption of the drive motor but may also cause abnormal wear due to excessive tire compression. Conversely, when the AGV is heavily loaded, if the positive pressure is insufficient, the adhesion between the wheel and the ground will be significantly reduced, making it prone to slipping during acceleration, braking, or steering, resulting in path deviation or even loss of control.

[0029] Further analysis shows that the limitations of positive pressure regulation in existing technologies stem from the following two aspects: First, the inherent characteristics of the mechanical structure make it difficult to respond to load changes in real time. For example, although the spring suspension system can buffer impact loads to a certain extent, its elastic coefficient is fixed and it cannot actively change the compression amount for different loads; and the rigid connection device has no adaptive adjustment capability at all, and the positive pressure depends entirely on the locking force during the initial assembly. Second, the existing control strategy lacks a dynamic perception and feedback mechanism for the load state. Most AGV systems only control the motion parameters of the steering wheel (such as speed and steering angle) through preset programs, but do not incorporate real-time load information into the calculation model of the positive pressure regulation, resulting in the control system being unable to make adaptive adjustments to the current working conditions.

[0030] This positive pressure configuration method has caused a series of problems in actual use. First, under heavy load conditions, if the positive pressure is insufficient, the driving force of the steering wheel cannot be effectively transmitted to the ground. For example, when the AGV carries heavy materials to climb or accelerate, the torque output by the drive motor is lost in large quantities due to insufficient adhesion, which manifests as the wheel body idling or slipping, which not only reduces transportation efficiency, but also may cause a decrease in positioning accuracy. Secondly, in an empty or lightly loaded state, excessive positive pressure will significantly increase rolling resistance, forcing the drive motor to be in a high-load working state for a long time, thereby shortening the motor life and increasing energy consumption costs. In addition, the steering wheel assembly 2 (such as tires, bearings, etc.) that is under non-ideal positive pressure for a long time will accelerate wear due to uneven force, resulting in an increase in maintenance frequency, affecting the overall reliability of the AGV.

[0031] Therefore, some improvement schemes in the existing technology attempt to alleviate the above problems through manual adjustment or graded preset modes, such as setting corresponding pressure gears for different load ranges, or allowing operators to adjust the preload of the suspension system based on experience. However, such methods still have obvious shortcomings: on the one hand, manual adjustment relies too much on manual experience, making it difficult to ensure adjustment accuracy, and unable to cope with real-time fluctuations in load; on the other hand, the graded preset mode can only cover a limited number of typical working conditions and cannot adapt to complex and changeable actual application scenarios. In mixed logistics scenarios, AGVs may need to frequently switch between empty, half-loaded, and fully loaded states. If each switch requires manual intervention or system restart, it will seriously reduce operating efficiency.

[0032] From a system integration perspective, the lack of positive pressure regulation also has a knock-on impact on the overall AGV design. For example, to compensate for insufficient adhesion under heavy loads, designers may be forced to choose more powerful drive motors or wider tires. However, this increases the size and cost of the equipment, and runs counter to the trend of miniaturization and lightweighting of AGVs. Conversely, deliberately reducing wheel size or motor power to reduce no-load energy consumption will limit the AGV's maximum load capacity and narrow its application range.

[0033] In summary, existing AGV steering wheel technology lacks an adaptive positive pressure adjustment mechanism, resulting in problems such as difficulty moving, frequent slippage, excessive energy consumption, and shortened component life when faced with load changes. Although some improvements have attempted to alleviate these issues through manual intervention or discrete adjustment, they still cannot meet the requirements for AGV efficiency, reliability, and intelligence in modern industrial scenarios. Therefore, a technical solution that can sense the load status in real time and automatically adjust the steering wheel positive pressure is urgently needed to fundamentally address these existing shortcomings and improve the overall performance of AGVs.

[0034] In the present application, the AGV includes a carrying chassis 1, wherein the carrying chassis 1 is provided with a steering wheel and other rollers, and the direction of the entire AGV is changed by turning the steering wheel, wherein the steering wheel assembly 2 can not only turn left and right relative to the carrying chassis 1, but also move up and down relative to the carrying chassis 1, so that the positive pressure of the steering wheel assembly 2 can be increased by applying an external force, and a steering wheel drive unit 3 is connected to the steering wheel assembly 2, wherein the steering wheel drive unit 3 includes but is not limited to driving components such as oil cylinders, air cylinders, and motor units. When the steering wheel component 22 in the steering wheel assembly 2 contacts the ground, when the oil cylinder, air cylinder or motor unit generates driving force, the steering wheel component 22 in the steering wheel assembly 2 does not generate relative displacement, but will increase the positive pressure accordingly, thereby changing the vertical force on the bottom surface.

[0035] In this application, a load-bearing plate 4 is provided on the carrier chassis, and the load-bearing plate 4 can carry goods. The load-bearing plate is designed with a pressure sensing unit 5, and the weight of the goods loaded on the load-bearing plate can be weighed by the pressure sensing unit 5, and the pressure sensing unit is connected to the steering wheel drive unit 3, so that the steering wheel drive unit 3 can apply pressure to the steering wheel assembly 2 according to the pressure feedback of the pressure sensing unit, thereby enabling the AGV to generate different positive pressures of the steering wheel assembly 2 according to the weight of the loaded goods. Therefore, when the AGV is overloaded, the steering wheel drive unit 3 can generate a larger positive pressure on the steering wheel assembly 2, thereby avoiding slipping, and when it is unloaded, no large positive pressure is generated, thereby avoiding difficulty in steering the steering wheel assembly 2.

[0036] like Figure 3 As shown, the pressure sensing unit 5 includes a base plate 51, on which a cargo sensing cylinder 52 is mounted. A movable plate 53 is disposed on the side of the cargo sensing cylinder 52 facing away from the base plate 51, and a plurality of return springs 54 are disposed between the base plate 51 and the movable plate 53. The pressure sensing unit 5 is provided with the base plate 51. The cargo sensing cylinder 52 mounted on the base plate 51 is capable of compressing when subjected to pressure. The oil flow in the cargo sensing cylinder 52 is then transmitted to the steering wheel drive unit 3, where the corresponding pressure is applied by the oil cylinder in the steering wheel drive unit 3. Because the movable plate 53 is disposed on the cargo sensing cylinder 52 and contacts the cargo, when the cargo sensing cylinder 52 needs to be reset, the return springs 54 between the movable plate 53 and the base plate 51 can reset the cargo sensing cylinder 52 and the movable plate 53.

[0037] like Figure 3 As shown, multiple return springs 54 are evenly distributed along the circumference of the cargo sensing cylinder 52. Multiple return springs 54 are evenly distributed along the circumference of the cargo sensing cylinder 52, thereby making the return and downward pressing actions of the movable plate 53 more stable.

[0038] like Figure 1 、 2 As shown, the steering wheel drive unit 3 includes a support member 31, which is fixedly connected to the carrier chassis 1. A booster cylinder 32 is rotatably connected to the support member 31. The booster cylinder 32 is connected to the steering wheel assembly 2 on a side away from the support member 31. The booster cylinder 32 is in communication with the pressure sensing unit 5. The steering wheel drive unit 3 includes a support member 31, which is fixedly connected to the carrier chassis 1 so that the support member 31 and the carrier chassis 1 remain relatively fixed. The fixed connection includes but is not limited to welding and bolting. The booster cylinder 32 is rotatably connected to the support member 31. The rotatable connection between the support member 31 and the booster cylinder 32 enables the booster cylinder 32 to better exert force and adapt to the slight up and down movement of the steering wheel assembly 2. The booster cylinder 32 is in communication with the pressure sensing unit 5, ensuring that timely action can be performed through changes in oil pressure.

[0039] like Figure 2 、 4 As shown, the steering wheel assembly 2 includes a floating plate 21, which is rotatably connected to the carrier chassis 1, and a steering wheel component 22 is rotatably connected to the floating plate 21. The steering wheel assembly 2 includes a floating plate 21, wherein the floating plate 21 is rotatably connected to the carrier chassis 1, and a steering wheel component 22 is designed on the floating plate 21. Because the floating plate 21 and the carrier chassis 1 are rotatably connected, the floating plate 21 can rotate relative to the carrier chassis 1 under the drive of the steering wheel drive unit 3, thereby driving the steering wheel component 22 to move in the vertical direction. When the steering wheel component 22 is on the ground, it can generate relative positive pressure based on the force generated by the steering wheel drive unit 3.

[0040] like Figure 4 As shown, the steering wheel member 22 is located between the steering wheel drive unit 3 and the rotating shaft of the floating plate 21. The steering wheel member 22 is arranged between the steering wheel drive unit 3 and the floating plate 21, so that the steering wheel member 22 forms a tilting lever structure, which can generate different positive pressures under the drive of the steering wheel drive unit 3.

[0041] like Figure 3 As shown, a preload spring 11 is connected to the carrier chassis 1, and the preload spring 11 connects the carrier chassis 1 and the steering wheel assembly 2. The preload spring 11 is connected to the carrier chassis 1, wherein the preload spring 11 is connected between the carrier chassis 1 and the steering wheel assembly 2. The preload spring 11 enables the steering wheel assembly 2 to generate a preload value even without being affected by the steering wheel drive unit 3, thereby ensuring the grip between the steering wheel member 22 and the ground.

[0042] like Figure 3As shown, the steering wheel assembly 2 includes a floating plate 21, a through-hole 211 is provided on the floating plate 21, a pre-tightening spring 11 includes a through-shaft 111 connected to the carrying chassis 1, the through-shaft 111 passes through the through-hole 211, the pre-tightening spring 11 includes a spring member 112 arranged on the through-shaft 111 and located in the floating plate 21, a bottom block 113 is provided on the side of the spring member 112 close to the through-hole 211, the bottom block 113 abuts against the floating plate 21, and a top block 114 is provided on the side of the spring member 112 away from the bottom block 113. A through-hole 211 is provided on the floating plate 21, through which the through-shaft 111 on the preloaded spring 11 can pass. The through-shaft 111 is provided with a spring member 112, a bottom block 113, and a top block 114. After the through-shaft 111 passes through the through-hole 211, the top block 114 remains fixed at a specific position on the through-shaft 111, and the bottom block 113 can abut against the floating plate 21 under the action of the spring member 112. Therefore, under the action of the spring member 112, it can be ensured that the bottom block 113 generates a certain downward pressure on the floating plate 21, thereby ensuring the initial pressure of the steering wheel assembly 2. The through-shaft 111 is connected to the carrier chassis 1, thereby ensuring that the position of the through-shaft 111 is stable during the pressure application process, and the downward pressure is generated only by the spring member 112.

[0043] Example 2: A regulation method comprises the following steps: S1. When the load-bearing plate 4 rises and contacts the cargo, the pressure sensing unit 5 is triggered; S2, the pressure sensing unit 5 feeds back the received pressure to the steering wheel drive unit 3, and the steering wheel drive unit 3 generates positive pressure on the steering wheel assembly 2; S3. When the load-bearing plate 4 is separated from the cargo, the pressure sensing unit 5 is reset; S4. The pressure sensing unit 5 feeds back a reset signal to the steering wheel drive unit 3. The steering wheel drive unit 3 is reset and the positive pressure applied to the steering wheel assembly 2 is cancelled.

[0044] like Figure 5 As described above, a connecting pipe 6 is provided between the pressure sensing unit 5 and the steering wheel drive unit 3. An oil pot 61 and a relief valve 62 are provided on the connecting pipe 6. The relief valve 62 is provided between the oil pot 61 and the connecting pipe 6. A connecting pipe is provided between the pressure sensing unit 5 and the steering wheel drive unit 3. Oil flows through the connecting pipe, and pressure changes are transmitted through the oil pot 61. The connecting pipe is provided with the oil pot 61 and the relief valve 62. The pressure of the relief valve 62 can be adjusted according to the required positive pressure. The overflowed hydraulic oil is temporarily stored in the oil pot 61.

[0045] During operation, when the load-bearing plate 4 contacts the cargo, the pressure sensing unit 5 will be triggered, and the load-bearing pressure on the load-bearing plate 4 can be detected by the pressure sensing unit 5. At this time, the pressure sensing unit 5 can produce relative displacement under the action of pressure, thereby transporting the oil through the connecting pipe to the steering wheel drive unit 3, wherein the steering wheel drive unit 3 can generate corresponding pressure to the steering wheel assembly 2, so that the steering wheel assembly 2 can generate corresponding positive pressure, thereby realizing adaptive positive pressure adjustment.

[0046] This embodiment also includes a carrying chassis 1, to which a steering wheel assembly 2 is movably connected. The steering wheel assembly 2 is capable of moving up and down relative to the carrying chassis 1. A steering wheel drive unit 3 is connected to the steering wheel assembly 2. A load plate 4 is connected to the carrying chassis 1, and a pressure sensing unit 5 is provided on the load plate 4. The pressure sensing unit is in communication with the steering wheel drive unit 3. When the bearing pressure of the load plate 4 increases, the steering wheel drive unit 3 simultaneously increases the driving pressure on the steering wheel assembly 2. The pressure sensing unit 5 includes a base plate 51, on which a cargo sensing cylinder 52 is mounted. A movable plate 53 is provided on the side of the cargo sensing cylinder 52 away from the base plate 51. A plurality of return springs 54 are provided between the base plate 51 and the movable plate 53. A plurality of return springs 54 are evenly distributed along the circumference of the cargo sensing cylinder 52. The steering wheel drive unit 3 includes a support member 31, which is fixedly connected to the carrier chassis 1. A boost cylinder 32 is rotatably connected to the support member 31. The side of the boost cylinder 32, which is away from the support member 31, is connected to the steering wheel assembly 2 and is in communication with the pressure sensing unit 5. The steering wheel assembly 2 includes a floating plate 21, which is rotatably connected to the carrier chassis 1. The steering wheel assembly 22 is rotatably connected to the floating plate 21. The steering wheel assembly 22 is positioned between the rotational axis of the steering wheel drive unit 3 and the floating plate 21. A preload spring 11 is connected to the carrier chassis 1, connecting the carrier chassis 1 and the steering wheel assembly 2. The steering wheel assembly 2 includes a floating plate 21, which is provided with a through hole 211. The pre-tightening spring 11 includes a through shaft 111 connected to the carrying chassis 1, and the through shaft 111 passes through the through hole 211. The pre-tightening spring 11 includes a spring member 112 arranged on the through shaft 111 and located in the floating plate 21. A bottom block 113 is provided on the side of the spring member 112 close to the through hole 211, and the bottom block 113 abuts the floating plate 21. A top block 114 is provided on the side of the spring member 112 away from the bottom block 113.

[0047] In the present application, the AGV includes a carrying chassis 1, wherein the carrying chassis 1 is provided with a steering wheel and other rollers, and the direction of the entire AGV is changed by turning the steering wheel, wherein the steering wheel assembly 2 can not only turn left and right relative to the carrying chassis 1, but also move up and down relative to the carrying chassis 1, so that the positive pressure of the steering wheel assembly 2 can be increased by applying an external force, and a steering wheel drive unit 3 is connected to the steering wheel assembly 2, wherein the steering wheel drive unit 3 includes but is not limited to driving components such as oil cylinders, air cylinders, and motor units. When the steering wheel component 22 in the steering wheel assembly 2 contacts the ground, when the oil cylinder, air cylinder or motor unit generates driving force, the steering wheel component 22 in the steering wheel assembly 2 does not generate relative displacement, but will increase the positive pressure accordingly, thereby changing the vertical force on the bottom surface.

[0048] In this application, a load-bearing plate 4 is provided on the carrier chassis, and the load-bearing plate 4 can carry goods. The load-bearing plate is designed with a pressure sensing unit 5, and the weight of the goods loaded on the load-bearing plate can be weighed by the pressure sensing unit 5, and the pressure sensing unit is connected to the steering wheel drive unit 3, so that the steering wheel drive unit 3 can apply pressure to the steering wheel assembly 2 according to the pressure feedback of the pressure sensing unit, thereby enabling the AGV to generate different positive pressures of the steering wheel assembly 2 according to the weight of the loaded goods. Therefore, when the AGV is overloaded, the steering wheel drive unit 3 can generate a larger positive pressure on the steering wheel assembly 2, thereby avoiding slipping, and when it is unloaded, no large positive pressure is generated, thereby avoiding difficulty in steering the steering wheel assembly 2.

Claims

1. A heavy-load AGV steering wheel positive pressure automatic adjustment device, characterized in that: The transport chassis includes a transport chassis, a steering wheel assembly movably connected to the transport chassis, the steering wheel assembly can move in the up and down directions relative to the transport chassis, the steering wheel assembly is connected to a steering wheel drive unit, the transport chassis is connected to a load-bearing plate, the load-bearing plate is provided with a pressure sensing unit, the pressure sensing unit is connected to the steering wheel drive unit, and when the bearing pressure of the load-bearing plate increases, the steering wheel drive unit synchronously increases the driving pressure on the steering wheel assembly.

2. The heavy-duty AGV steering wheel positive pressure automatic adjustment device according to claim 1, characterized in that: The pressure sensing unit includes a bottom plate, a cargo sensing oil cylinder is arranged on the bottom plate, a movable plate is arranged on the side of the cargo sensing oil cylinder away from the bottom plate, and a plurality of reset springs are arranged between the bottom plate and the movable plate.

3. The heavy-duty AGV steering wheel positive pressure automatic adjustment device according to claim 2, characterized in that: Along the circumferential direction of the cargo sensing cylinder, a plurality of return springs are provided and evenly distributed.

4. The heavy-duty AGV steering wheel positive pressure automatic adjustment device according to claim 1, characterized in that: The steering wheel drive unit includes a support member, which is fixedly connected to the carrying chassis. A booster cylinder is rotatably connected to the support member. The booster cylinder is connected to the steering wheel assembly on the side away from the support member, and the booster cylinder is connected to the pressure sensing unit.

5. The heavy-duty AGV steering wheel positive pressure automatic adjustment device according to claim 1, characterized in that: The steering wheel assembly includes a floating plate, the floating plate is rotatably connected to the carrying chassis, and the steering wheel component is rotatably connected to the floating plate.

6. The heavy-duty AGV steering wheel positive pressure automatic adjustment device according to claim 5, characterized in that: The steering wheel component is located between the steering wheel drive unit and the rotating shaft of the floating plate.

7. The heavy-duty AGV steering wheel positive pressure automatic adjustment device according to claim 1, characterized in that: The carrying chassis is connected with a pre-tightening spring, and the pre-tightening spring connects the carrying chassis and the steering wheel assembly.

8. The heavy-load AGV steering wheel positive pressure automatic adjustment device according to claim 7, characterized in that: The steering wheel assembly includes a floating plate, a through-hole is provided on the floating plate, the pre-tightening spring includes a through-shaft connected to the carrying chassis, the through-shaft passes through the through-hole, the pre-tightening spring includes a spring member arranged on the through-shaft and located in the floating plate, a bottom block is provided on the side of the spring member close to the through-hole, the bottom block abuts the floating plate, and a top block is provided on the side of the spring member away from the bottom block.

9. A heavy-duty AGV steering wheel positive pressure automatic adjustment device according to any one of claims 1 to 8, characterized in that: A connecting pipeline is provided between the pressure sensing unit and the steering wheel driving unit. An oil pot and an overflow valve are provided on the connecting pipeline. The overflow valve is provided between the oil pot and the connecting pipeline.

10. A method of adjusting, using the heavy-duty AGV steering wheel positive pressure automatic adjustment device according to any one of claims 1 to 9, characterized in that: The following steps are included: S1. When the load plate rises and contacts the cargo, the pressure sensing unit is triggered; S2. The pressure sensing unit feeds back the received pressure to the steering wheel drive unit, and the steering wheel drive unit generates positive pressure on the steering wheel assembly; S3. When the load plate is separated from the cargo, the pressure sensing unit is reset; S4. The pressure sensing unit feeds back a reset signal to the steering wheel drive unit, and the steering wheel drive unit resets, canceling the positive pressure applied to the steering wheel assembly.

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