Self-adaptive stable supporting device and method for composite AGV chassis

Abstract

The invention provides a composite AGV chassis self-adaptive stable supporting device and method.The composite AGV chassis self-adaptive stable supporting device comprises a lifting mechanism, a driving supporting structure is arranged at the top end of the lifting mechanism, a self-adaptive supporting structure is arranged at the bottom end of the lifting mechanism, and the self-adaptive supporting structure comprises a movable supporting column connected to the bottom end of the lifting mechanism in a lifting mode; the bottom end of the lifting mechanism limits the movable supporting column downwards, and the bottom end of the movable supporting column is rotationally connected with a universal supporting structure abutting against the ground. The adjusting sliding plate ascends and descends at the top end of the lifting mechanism and is positioned at an adjusting positioning structure arranged at the bottom end of the lifting mechanism; the compression spring is compressed and contained between the movable supporting column and the adjusting sliding plate. The pressure of the compression spring on the movable supporting column is equal to the positive pressure of the friction force required by the whole device on the universal supporting structure. The self-adaptive supporting legs are used for positioning the working condition, so that the supporting wheels are not separated from the ground, the posture of a main body is not changed, extremely high static and dynamic stability is provided, and adverse working conditions of the driving wheels are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic guided vehicles (AGVs), and in particular relates to a composite AGV chassis adaptive stabilization support device and method. Background Art

[0002] Existing AGV auxiliary support devices are mostly drive wheels that are responsible for the movement of the main body and the positioning of the main body and the ground. This setting method makes it difficult to ensure that the drive wheels reach the optimal working state under both working conditions. In the moving mode, the support wheels require less friction to avoid excessive wear, and also require a certain degree of elasticity to cope with the impact of potholes on the ground. In the positioning mode, they require greater hardness to support the load changes caused by the continuous working conditions of the main body, and also require greater friction to avoid positioning deviation.

[0003] Patent document CN109305253A discloses a latent AGV cart, which aims to provide a latent AGV cart. The key points of its technical solution are that it includes a car body, and the car body is provided with a lifting device. The lifting device includes a frame provided around the car body, a vertically upward cylinder provided around the frame, a trapezoidal support frame provided at the cylinder outlet, a controller provided on the car body for controlling the cylinder, and a weighing device connected to the controller provided on the upper surface of the support frame.

[0004] Although patent document CN109305253A has set up a separate lifting device to prevent the drive wheels from entering an unfavorable working condition when in the positioning state, the lifting device used is not effective. The rigid support structure is directly lifted, and the entire body of the AGV will be lifted during support, causing the posture of the AGV to change. This posture change will destroy the precise positioning of the AGV itself, such as the position obtained through laser SLAM, QR code, etc., affecting the accuracy of subsequent operations.

[0005] To this end, this application has designed a high-friction adaptive support leg with independent suspension for positioning. This allows the support leg to adaptively conform to the ground and evenly distribute gravity without changing the main body's posture, providing extremely high static and dynamic stability while also preventing the drive wheel from positioning under adverse working conditions. To this end, the present invention has designed a composite AGV chassis adaptive stabilization support device and method to address the aforementioned problems. Summary of the Invention

[0006] In view of the defects in the prior art, the purpose of the present invention is to provide a composite AGV chassis adaptive stable support device and method.

[0007] According to the present invention, a composite AGV chassis adaptive stable support device is provided, comprising: a lifting mechanism, a driving support structure, an adaptive support structure, a universal support structure, and an adjustment and positioning structure;

[0008] The upper and lower ends of the lifting mechanism can be raised and lowered, and the AGV body is placed above the top of the lifting mechanism;

[0009] The driving support structure is set below the top of the AGV body, driving the support structure to roll and maintain contact with the ground;

[0010] The adaptive support structure is spaced around the bottom of the lifting mechanism and can be horizontally displaced and abutted against the ground. The adaptive support structure includes a movable support, an adjustment slide and a compression spring.

[0011] The movable support is connected to the bottom end of the lifting mechanism, and the bottom end of the lifting mechanism forms a downward limit for the movable support. The universal support structure is rotatably connected to the bottom end of the movable support and abuts against the ground.

[0012] The adjusting slide is connected to the top of the lifting mechanism, and the adjusting positioning structure is arranged at the bottom of the lifting mechanism (201) and can vertically position the adjusting slide; the compression spring is compressed and accommodated between the movable support and the adjusting slide;

[0013] The pressure exerted by the compression spring on the movable support is equal to the positive pressure of the friction force required by the entire device on the universal support structure at that location.

[0014] Preferably, the universal support structure includes a support leg screw and a support leg, the support leg screw is vertically passed through and screwed to the movable pillar, and the support leg screw and the compression spring are staggered, the support leg screw extends downward and forms a spherical end; the support leg is rotatably connected to the support leg screw and can abut against the ground.

[0015] Preferably, the adjustment and positioning structure includes a connecting plate and a distance adjusting screw, the connecting plate is fixed to the bottom end of the lifting mechanism; the head of the distance adjusting screw abuts against the connecting plate or the adjusting slide, the threaded end of the distance adjusting screw is screwed to the adjusting slide or the connecting plate, and the distance adjusting screw drives the adjusting slide and the connecting plate to approach each other and compress the compression spring.

[0016] Preferably, the movable pillar is extended along the direction of the compression spring, the compression spring is accommodated in the movable pillar, and a gap is left between the movable pillar and the adjusting slide.

[0017] Preferably, a step is formed at the bottom end of the movable support, the thicker end of the step abuts against the upper end surface of the bottom end of the lifting mechanism, and the thinner end of the step extends vertically through and is slidably connected to the bottom end of the lifting mechanism.

[0018] Preferably, the lifting mechanism is a shear-type lift, which is driven by a motor and a lead screw.

[0019] Preferably, a vertically arranged linear guide rail is fixed to the top of the lifting mechanism, and the adjusting slider is fixed on a slider that rises and falls along the linear guide rail.

[0020] Preferably, the friction coefficient between the supporting feet and the ground is greater than the friction coefficient between the driving support structure and the ground.

[0021] Preferably, the driving support structure includes a driving wheel and a supporting wheel rotatably connected to the top end of the lifting mechanism, and the driving wheel can drive the lifting mechanism to move.

[0022] According to the present invention, a composite AGV chassis adaptive stable support method is provided, comprising the following steps:

[0023] Step S1: The AGV body drives to the target working position and completes precise positioning through the navigation system.

[0024] Step S2: The bottom end of the lifting mechanism drives the universal support structure to descend. The universal support structure adapts to the ground angle and transmits the support force to the compression spring. The compression spring adapts to the ground height difference and the vehicle body load to adaptively bear the load.

[0025] Step S3: The support wheels remain in contact with the ground, and the position of the AGV body does not change before and after the universal support structure contacts the ground.

[0026] Step S4: The universal support structure disperses the pressure on the support wheels, the pressure of the support wheels on the ground is reduced, and the pressure of the universal support structure on the ground is increased. The higher friction coefficient between the universal support structure and the ground keeps the AGV body stable in the horizontal plane.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. During the support process, the lifting mechanism pushes the support legs to fit the ground completely, without leaving the AGV support wheels suspended in the air. This ensures that the accuracy of the AGV itself after movement and posture adjustment does not change, and improves the stable contact between the AGV itself and the ground. At the same time, the posture position and angle of the AGV body do not change, which is conducive to improving the accuracy of the robot's work.

[0029] 2. Through the elastic design of independent suspension, each leg can adapt to different ground heights, ensuring 100% contact with the ground, eliminating the problem of false feet, and achieving optimal load transfer. The elastic suspension effectively absorbs and cushions the dynamic load and impact generated by the high-speed movement of the manipulator; the high-friction foot pads provide strong dynamic friction, significantly suppressing vehicle body shaking.

[0030] 3. The entire device has multiple adjustment ends, which can be flexibly adjusted according to different working conditions and workloads. Compared with traditional equipment, its improved flexibility means improved adaptability of the equipment, and its vibration suppression and positioning effects are far better than traditional equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0032] Figure 1 It is an overall schematic diagram of the present invention.

[0033] Figure 2 It is a side schematic diagram of the present invention.

[0034] Figure 3 It is a schematic diagram of the lifting mechanism of the present invention.

[0035] Figure 4 It is a cross-sectional view of a single support leg of the present invention.

[0036] The figure shows:

[0037]

[0038] DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0040] like Figure 1 、 2 As shown, a composite AGV chassis adaptive stable support device includes a lifting mechanism 201 that can be raised and lowered at the upper and lower ends. The AGV body 002 is placed above the top of the lifting mechanism 201, and a driving support structure that rolls and maintains contact with the ground is provided below the top. The lifting mechanism 201 is a shear-type lifter, which is driven by a motor and a screw to provide power for the lifting mechanism 201; the driving support structure includes a driving wheel 101 and a support wheel 102 that are rotatably connected to the top of the lifting mechanism 201. The driving wheel 101 can drive the lifting mechanism 201 to move, and the support wheel 102 shares the gravity.

[0041] like Figure 1 、 3As shown, in order to increase the stability of the AGV body 002 during operation and avoid sliding caused by insufficient horizontal friction of the lifting mechanism 201, adaptive support structures that are in contact with the ground are arranged at intervals around the bottom end of the lifting mechanism 201. The adaptive support structure includes a movable pillar 208, an adjustment slide 202 and a compression spring 206. A step is formed at the bottom end of the movable pillar 208. The thicker end of the step is in contact with the upper end surface of the bottom end of the lifting mechanism 201, and the thinner end of the step extends vertically and is slidably connected to the bottom end of the lifting mechanism 201. When the movable pillar 208 is lifted and connected to the bottom end of the lifting mechanism 201, the bottom end of the lifting mechanism 201 forms a downward limit for the movable pillar 208.

[0042] like Figure 1 、 4 As shown, the bottom end of the movable pillar 208 is provided with a universal support structure that abuts the ground. The universal support structure includes a support leg 209 screw 205 and a support leg 209. The support leg 209 screw 205 is vertically penetrated and screwed to the movable pillar 208. The support leg 209 screw 205 extends downward and is formed with a spherical end; the support leg 209 is rotatably connected to the support leg 209 screw 205 and can abut the ground, thereby adapting to changes in the ground angle; the support leg 209 can be adjusted in height by rotating the thread of the support leg 209 screw 205 according to actual conditions.

[0043] Preferably, the driving wheel 101 and the supporting wheel 102 are generally made of polyurethane or hard rubber, and the friction coefficient with the ground is generally 0.22-0.3. The support foot 209 can be made of soft rubber with a rough surface, metal with a texture or composite material, and the friction coefficient is 0.4-0.6, which can greatly improve the horizontal positioning ability on the ground. The friction coefficient between the support foot 209 and the ground is greater than the friction coefficient between the driving wheel 101 or the supporting wheel 102 and the ground, thereby making each component specialized, making the driving wheel 101 and the supporting wheel 102 more suitable for the movement of the driving device, and the support foot 209 more suitable for stabilizing the device.

[0044] like Figure 1 、 4 As shown, a vertically arranged linear guide rail 203 is fixed to the top of the lifting mechanism 201, and the adjusting slider is fixed on the slider that is lifted and lowered along the linear guide rail 203 to maintain vertical stability, and the adjusting slider can be vertically positioned on the adjusting positioning structure arranged at the bottom end of the lifting mechanism 201; the adjusting positioning structure includes a connecting plate 210 and a distance adjusting screw 207, and the connecting plate 210 is fixed to the bottom end of the lifting mechanism 201; the head of the distance adjusting screw 207 abuts against the connecting plate 210, and the threaded end of the distance adjusting screw 207 is screwed to the adjusting slide 202; in a variation, the head of the distance adjusting screw 207 abuts against the adjusting slide 202, and the threaded end of the distance adjusting screw 207 is screwed to the connecting plate 210.

[0045] like Figure 1 、 4As shown, the compression spring 206 is compressed and accommodated between the movable support 208 and the adjustment slide 202, and the support leg 209 screw 205 is staggered with the compression spring 206. The movable support 208 extends in the direction of the compression spring 206, and the compression spring 206 is accommodated in the movable support 208, thereby providing lateral support for the compression spring 206, and the compression spring 206 can bear greater pressure; and a gap is left between the movable support 208 and the adjustment slide 202, and the movable support 208 and the spring move upward together; by rotating the spacing screw 207 to shrink, the adjustment slide 202 and the connecting plate 210 approach each other and compress the compression spring 206, thereby giving the spring a pre-compression amount, and the pressure of the compression spring 206 on the movable support 208 is equal to the positive pressure of the friction force required by the entire device for the universal support structure at that location. When the force on the support leg 209 is greater than the preset pressure, the compression spring 206 can be passively contracted. In a variation, the compression spring 206 is rubber or an airbag.

[0046] like Figure 1 、 4 As shown, each support leg 209 is independently extended and retracted according to the height of the ground below it and the load it bears, until all the support legs 209 are completely in contact with the ground and begin to bear part of the gravity of the vehicle body, and the support wheels 102 remain in contact with the ground, thereby providing static and dynamic stability far exceeding that of traditional rigid supports without changing the precise positioning posture of the AGV body 002, laying the foundation for high-precision operation of the manipulator 001.

[0047] This embodiment further provides a composite AGV chassis adaptive stable support method for the composite AGV chassis adaptive stable support device, comprising the following steps:

[0048] Step S1: The AGV body 002 drives to the target working position and completes precise positioning through the navigation system.

[0049] Step S2: The bottom end of the lifting mechanism 201 drives the universal support structure to descend. The universal support structure adapts to the ground angle and transmits the support force to the compression spring 206. The compression spring 206 adapts to the ground height difference and the vehicle body load to adaptively bear the load.

[0050] Step S3: The support wheel 102 remains in contact with the ground, and the position of the AGV body 002 does not change before and after the universal support structure contacts the ground.

[0051] Step S4: The universal support structure disperses the pressure on the support wheel 102, the pressure of the support wheel 102 on the ground is reduced, and the pressure of the universal support structure on the ground is increased. The universal support structure has a higher friction coefficient with the support wheel 102 and the ground to keep the AGV body 002 stable in the horizontal plane.

[0052] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0053] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A composite AGV chassis adaptive stable support device, characterized in that: include: A lifting mechanism (201), a driving support structure, an adaptive support structure, a universal support structure, and an adjustment and positioning structure; The upper and lower ends of the lifting mechanism (201) can be raised and lowered, and the AGV main body (002) is placed above the top of the lifting mechanism (201); The driving support structure is arranged below the top of the AGV body (002), and the driving support structure rolls and keeps in contact with the ground; The adaptive support structure is spaced around the bottom end of the lifting mechanism (201) and can be horizontally displaced and abutted against the ground. The adaptive support structure includes a movable support (208), an adjustment slide (202) and a compression spring (206). The movable pillar (208) is connected to the bottom end of the lifting mechanism (201) in a lifting manner, and the bottom end of the lifting mechanism (201) forms a downward limit for the movable pillar (208). The universal support structure is rotatably connected to the bottom end of the movable pillar (208) and abuts against the ground. The adjusting slide plate (202) is connected to the top of the lifting mechanism (201) in a lifting manner, and the adjusting positioning structure is arranged at the bottom of the lifting mechanism (201) and can vertically position the adjusting slide plate (202); the compression spring (206) is compressed and accommodated between the movable support (208) and the adjusting slide plate (202); The pressure exerted by the compression spring (206) on the movable support (208) is equal to the positive pressure of the friction force required by the entire device on the universal support structure at that location.

2. The composite AGV chassis adaptive stable support device according to claim 1, characterized in that: The universal support structure includes a support foot (209), a screw rod (205) and a support foot (209); The support leg (209) screw rod (205) is vertically penetrated and screwed to the movable support (208), and the support leg (209) screw rod (205) and the compression spring (206) are staggered. The support leg (209) screw rod (205) extends downward and is formed with a spherical end. The support leg (209) is rotatably connected to the support leg (209) screw (205) and can abut against the ground.

3. The composite AGV chassis adaptive stable support device according to claim 1, characterized in that: The adjustment and positioning structure comprises a connecting plate (210) and a distance adjustment screw (207); The connecting plate (210) is fixed to the bottom end of the lifting mechanism (201); The head of the distance adjusting screw (207) abuts against the connecting plate (210) or the adjusting slide plate (202), and the threaded end of the distance adjusting screw (207) is screwed to the adjusting slide plate (202) or the connecting plate (210). The distance adjusting screw (207) drives the adjusting slide plate (202) and the connecting plate (210) to approach each other and compress the compression spring (206).

4. The composite AGV chassis adaptive stable support device according to claim 1, characterized in that: The movable pillar (208) is extended along the direction of the compression spring (206), the compression spring (206) is accommodated in the movable pillar (208), and a gap is left between the movable pillar (208) and the adjustment slide plate (202).

5. The composite AGV chassis adaptive stable support device according to claim 1, characterized in that: The bottom end of the movable support (208) is formed with a step, the thicker end of the step abuts against the upper end surface of the bottom end of the lifting mechanism (201), and the thinner end of the step extends vertically through and is slidably connected to the bottom end of the lifting mechanism (201).

6. The composite AGV chassis adaptive stable support device according to claim 1, characterized in that: The lifting mechanism (201) is a shearing type lifter, which is driven by a motor and a lead screw.

7. The composite AGV chassis adaptive stable support device according to claim 1, characterized in that: A vertically arranged linear guide rail (203) is fixed to the top end of the lifting mechanism (201), and an adjusting slider is fixed on the slider that rises and falls along the linear guide rail (203).

8. The composite AGV chassis adaptive stable support device according to claim 2, characterized in that: The friction coefficient between the support foot (209) and the ground is greater than the friction coefficient between the driving support structure and the ground.

9. The composite AGV chassis adaptive stable support device according to claim 2, characterized in that: The driving support structure comprises a driving wheel (101) and a supporting wheel (102) rotatably connected to the top end of the lifting mechanism (201); the driving wheel (101) can drive the lifting mechanism (201) to move.

10. A composite AGV chassis adaptive stable support method according to any one of claims 1 to 9, characterized in that the steps include: Step S1: The AGV body (002) travels to the target working position and completes precise positioning through the navigation system. Step S2: The bottom end of the lifting mechanism (201) drives the universal support structure to descend, and the universal support structure adapts to the ground angle and transmits the supporting force to the compression spring (206). The compression spring (206) adapts to the ground height difference and the vehicle body load to adaptively bear the load. Step S3: The support wheel (102) remains in contact with the ground, and the position of the AGV body (002) does not change before and after the universal support structure contacts the ground. Step S4: The universal support structure disperses the pressure on the support wheel (102), the pressure of the support wheel (102) on the ground is reduced, and the pressure of the universal support structure on the ground is increased. The universal support structure has a higher friction coefficient with the support wheel (102) and the ground, which keeps the AGV body (002) stable in the horizontal plane.

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