Compound automated guided vehicle and vehicle control method

Abstract

The application relates to the technical field of automatic guided vehicles, and discloses a composite automatic guided vehicle and a vehicle control method.The composite automatic guided vehicle comprises a mechanical arm, a support frame, a support assembly and a vehicle body; the mechanical arm is arranged on the upper surface of the support frame; the support assembly is arranged between the lower surface of the support frame and the upper surface of the vehicle body, is configured to connect the support frame and the vehicle body, and adjusts the distance between the support frame and the vehicle body; the support frame comprises a plurality of support legs, the height of the support legs is greater than a first height and smaller than a second height; the first height is the sum of the height of the vehicle body and the minimum height of the support assembly, and the second height is the sum of the height of the vehicle body and the maximum height of the support assembly.The support legs provide support force when the mechanical arm is working, the support assembly only plays a role in pulling up the vehicle body, cannot bear vibration and eccentric load force, and can greatly improve the working life and reliability.

Description

Technical Field

[0001] This invention relates to the field of automated guided vehicles (AGVs), specifically to a composite automated guided vehicle and a vehicle control method. Background Technology

[0002] With the development of automation and intelligence, in order to adapt to the automatic grasping and conveying of materials, composite robots combining Automated Guided Vehicles (AGVs) and robotic arms have emerged. Composite robots can automatically pick up and place materials, as well as load and unload them, and place them in designated locations. Summary of the Invention

[0003] This application provides a composite automated guided vehicle and vehicle control method to improve the anti-tipping ability of AGV.

[0004] In a first aspect, this application provides a composite automated guided vehicle, including: a robotic arm, a support frame, a support assembly, and a vehicle body;

[0005] The robotic arm is mounted on the upper surface of the support frame;

[0006] The support component is disposed between the lower surface of the support frame and the upper surface of the vehicle body, and is configured to connect the support frame and the vehicle body, and adjust the distance between the support frame and the vehicle body.

[0007] The support frame includes multiple support legs, the height of which is greater than a first height and less than a second height; the first height is the sum of the height of the vehicle body and the minimum height of the support assembly, and the second height is the sum of the height of the vehicle body and the maximum height of the support assembly.

[0008] In some alternative implementations, the upper end of the support assembly is connected to the lower surface of the support frame via a ball joint structure.

[0009] In some alternative embodiments, the support assembly includes: a hinged support plate, a hinged cover plate, and a linear drive device;

[0010] The hinged support plate is used to connect the lower surface of the support frame; the hinged cover plate is disposed on the side of the hinged support plate away from the support frame, and forms a spherical cavity with the hinged support plate.

[0011] The end of the shaft of the linear transmission device is a spherical structure, and the end of the shaft is disposed within the spherical cavity.

[0012] In some alternative embodiments, the linear drive includes: a servo motor, a reducer, an electric cylinder body, and an electric cylinder housing;

[0013] The servo motor is connected to the reducer via a transmission connection.

[0014] The output shaft of the reducer is connected to the shaft of the electric cylinder body; both the reducer and the electric cylinder body are mounted on the electric cylinder housing.

[0015] The electric cylinder body is configured to convert the rotational motion of the reducer output shaft into the linear motion of the shaft body;

[0016] The electric cylinder housing is disposed on the upper surface of the vehicle body.

[0017] In some alternative embodiments, the vehicle body includes at least one steering wheel suspension assembly for driving the vehicle body to move;

[0018] The steering wheel suspension assembly includes a steering wheel assembly and an elastic suspension assembly; the steering wheel assembly is connected to the vehicle body frame via the elastic suspension assembly.

[0019] In some alternative embodiments, the elastic suspension assembly includes: an upper mounting plate, a steering wheel mounting plate, a lower mounting plate, a linear guide rail, and an elastic component;

[0020] The upper mounting plate is connected to the vehicle body frame of the vehicle body;

[0021] The upper mounting plate and the lower mounting plate are connected by the linear slide rail;

[0022] The steering wheel mounting plate is disposed between the upper mounting plate and the lower mounting plate, and is connected to the slider of the linear slide rail;

[0023] One end of the elastic component is connected to the lower surface of the upper mounting plate, and the other end is connected to the upper surface of the steering wheel mounting plate;

[0024] The steering wheel assembly is disposed on the lower surface of the steering wheel mounting plate.

[0025] In some alternative implementations, the elastic component includes a spring and a contraction component;

[0026] One end of the spring is connected to the retraction assembly, and the other end is connected to the upper surface of the steering wheel mounting plate;

[0027] The retraction assembly is disposed on the upper mounting plate and is configured to adjust the height of the side connected to the spring.

[0028] In some alternative embodiments, the retraction assembly includes: a guide post, an adjusting nut, and a nut baffle;

[0029] The upper end of the guide post is a boss structure and passes through the guide through hole of the upper mounting plate; the guide through hole matches the boss structure.

[0030] The adjusting nut is located on the lower side of the upper mounting plate and is threadedly connected to the guide post;

[0031] The nut baffle is fixedly disposed on the lower surface of the upper mounting plate and is configured to restrict the rotation of the adjusting nut.

[0032] In some alternative embodiments, the steering wheel suspension assembly further includes: a slide rail mounting plate;

[0033] The steering wheel mounting plate is connected to the slider of the linear slide rail via the slide rail mounting plate.

[0034] In some alternative implementations, the composite automated guided vehicle further includes: a safety touch edge;

[0035] The safety edge is located on the side of the vehicle body corresponding to the direction of travel.

[0036] Secondly, this application provides a vehicle control method applied to a composite automated guided vehicle according to the first aspect above or any corresponding embodiment thereof, the method comprising:

[0037] In response to a first control command for controlling the vehicle body to leave the ground, the support assembly is controlled to retract;

[0038] In response to a second control command for controlling the vehicle body to contact the ground, the support assembly is controlled to extend.

[0039] The composite automated guided vehicle (AGV) provided in this application mounts a robotic arm on a support frame with supporting legs. A retractable support assembly is installed between the support frame and the vehicle body. This support assembly adjusts the distance between the support frame and the vehicle body, thereby controlling whether the supporting legs contact the ground. Furthermore, when the robotic arm is operating, the vehicle body acts as a counterweight, improving its anti-tipping ability. Also, the supporting legs provide support during robotic arm operation, and the support assembly only serves to lift the vehicle body; that is, it only provides tensile force. Vibrations and off-center loads during robotic arm operation do not act on the support assembly, meaning the support assembly does not bear vibrations or off-center loads, significantly improving its service life and reliability. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is an axonometric drawing of a composite automated guided vehicle according to an embodiment of the present invention;

[0042] Figure 2 This is a bottom view of a composite automated guided vehicle according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of a support component according to an embodiment of the present invention;

[0044] Figure 4 According to an embodiment of the present invention Figure 3 A magnified view of a portion of point A in the middle;

[0045] Figure 5 This is an isometric view of a steering wheel suspension assembly according to an embodiment of the present invention;

[0046] Figure 6 This is a front view of a steering wheel suspension assembly according to an embodiment of the present invention;

[0047] Figure 7 This is a left view of a steering wheel suspension assembly according to an embodiment of the present invention;

[0048] Figure 8 According to an embodiment of the present invention Figure 7 A magnified view of a portion of point B in the middle;

[0049] Figure 9 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0050] Figure 10 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention.

[0051] Explanation of reference numerals in the attached figures:

[0052] 10. Robotic arm; 20. Support frame; 30. Support assembly; 40. Vehicle body; 50. Safety edge; 60. Ground; 21. Support leg; 31. Hinge support plate; 32. Hinge cover plate; 33. Servo motor; 34. Reducer; 35. Electric cylinder body; 36. Electric cylinder housing; 351. Shaft; 41. Vehicle frame; 42. Steering wheel suspension assembly; 43. Caster assembly; 44. Battery compartment; 45. On-board charging module; 46. Obstacle avoidance radar; 47. Positioning camera; 421. Steering wheel assembly; 422. Upper mounting plate; 423. Steering wheel mounting plate; 424. Lower mounting plate; 425. Linear slide rail; 426. Elastic assembly; 427. Slide rail mounting plate; 4261. Spring; 4262. Guide column; 4263. Adjusting nut; 4264. Nut stop. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] In the description of this invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] The terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0056] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0057] AGVs (Automated Guided Vehicles) are industrial vehicles that can automatically travel along a set route or tow a cargo trolley to a designated location, where goods are loaded and unloaded automatically or manually. They typically use a steering wheel as the main drive component, which includes a travel motor and a steering motor.

[0058] The composite robot, formed by combining AGVs and robotic arms, integrates intelligent mobile robots and general-purpose industrial robots. Employing technologies such as visual error compensation, it enables autonomous movement of the robotic arm, allowing it to perform complex tasks such as grasping at multiple workstations. This composite robot meets the stringent requirements of intelligent digital workshops for the precision of the entire mechanical structure, solving the problem of insufficient precision caused by the accumulation of errors from multiple motion units, and greatly expanding the application adaptability of industrial robots.

[0059] The composite robot, which combines AGV and robotic arm, can automatically move to a designated position via the AGV and then automatically pick up and put in materials, as well as perform loading and unloading operations, and place them in the designated location.

[0060] However, most existing composite robots are collaborative robotic arms with generally limited material grasping capabilities, and AGVs equipped with large robotic arms have poor anti-tipping capabilities.

[0061] Some composite robots are equipped with support components. When the AGV chassis moves, the support components retract, and the AGV chassis carries the robotic arm. When the robotic arm is working, the support components lift the ground, raising the AGV as a whole off the ground. When the robotic arm moves, this support component directly supports the ground and directly supports the AGV through guide columns. When the robotic arm is working with a load, it will generate significant vibration and off-center load. The large force and vibration will directly act on the electric actuator of the support component. Since the electric actuator is commonly driven by ball screws or trapezoidal screws, it is easily damaged under large vibrations and loads.

[0062] According to an embodiment of the present invention, a composite automated guided vehicle (AGV) is provided, which can improve the vehicle's anti-tipping ability and effectively reduce damage to support components, thereby increasing service life.

[0063] Figure 1 This is an axonometric drawing of a composite automated guided vehicle according to an embodiment of the present invention. Figure 1 As shown, the composite automated guided vehicle includes: a robotic arm 10, a support frame 20, a support assembly 30, and a vehicle body 40. Figure 1 The 60 in the text represents the ground level.

[0064] The robotic arm 10 is disposed on the upper surface of the support frame 20. For example, the robotic arm 10 is fixedly disposed on the upper surface of the support frame 20.

[0065] The support assembly 30 is disposed between the lower surface of the support frame 20 and the upper surface of the vehicle body 40, and is configured to connect the support frame 20 and the vehicle body 40, and adjust the distance between the support frame 20 and the vehicle body 40. For example, the support assembly 30 is fixedly connected to both the support frame 20 and the vehicle body 40, such as by bolts.

[0066] The support frame 20 includes multiple support legs 21, the height of which is greater than a first height and less than a second height. The first height is the sum of the height of the vehicle body 40 and the minimum height of the support assembly 30, and the second height is the sum of the height of the vehicle body 40 and the maximum height of the support assembly 30. Both the support assembly 30 and the support legs 21 are multiple and can be evenly distributed to provide uniform support performance.

[0067] Unlike other composite AGVs, the robotic arm 10 is not directly mounted on the vehicle body 40, and the support component 30 does not directly support the vehicle body 40. In this embodiment, the support component 30 is provided between the robotic arm 10 and the vehicle body 40, and the support action of the robotic arm 10 is achieved through the support component 30 with support legs 21.

[0068] In this embodiment, the main force provided by the support component 30 to the vehicle body 40 is not a supporting force. Instead, since the support component 30 is located on the upper surface of the vehicle body 40, it mainly provides a contraction force to the vehicle body 40. Each support leg 21 of the support frame 20 is arranged vertically upwards and downwards, and has an appropriate height, which not only does not affect the movement of the composite automated guided vehicle, but also provides overall support.

[0069] Among them, vehicle body 40 is an AGV. Figure 2 This is a bottom view of the composite automated guided vehicle. See also Figure 1 and Figure 2 As shown, the vehicle body 40 specifically includes: a vehicle frame 41, a steering wheel suspension assembly 42, a caster assembly 43, a battery compartment 44, an on-board charging module 45, an obstacle avoidance radar 46, and a positioning camera 47, etc. The battery compartment 44 houses a battery, which can be charged through the on-board charging module 45. When the vehicle body 40 needs to be moved, such as when controlling the steering wheel suspension assembly 42, the battery can provide power to the motor of the steering wheel suspension assembly 42.

[0070] Optionally, such as Figure 1 and Figure 2As shown, the composite automated guided vehicle also includes a safety edge 50; the safety edge 50 is located on the side of the vehicle body 40 corresponding to the direction of travel. It can protect the vehicle body 40 during travel, preventing damage to the vehicle body 40 and personnel due to collisions or other accidents.

[0071] The working principle of this composite automated guided vehicle is as follows:

[0072] When the robotic arm 10 is not needed, the support component 30 extends, meaning the support component 30 has a large height, ensuring a large distance between the support frame 20 and the vehicle body 40. At this time, the support component 30 can lift the robotic arm 10 and the support frame 20. Since the height (i.e., length) of the support leg 21 is less than the sum of the height of the vehicle body 40 and the maximum height of the support component 30 (i.e., less than the second height), the support leg 21 is detached from the ground. In other words, the support leg 21 will not affect the movement process of the composite automated guided vehicle.

[0073] During the movement of this composite automated guided vehicle, the driving force is provided by the steering wheel assembly 421 in the steering wheel suspension assembly 42, while the caster assembly 43 provides overall support to prevent the vehicle from tilting during movement. The number of caster assemblies 43 is generally multiple, such as... Figure 2 As shown, it includes four caster assemblies 43; the number of steering wheel suspension assemblies 42 can be one or more, such as... Figure 2 As shown, it includes two steering wheel suspension assemblies 42.

[0074] Upon receiving a dispatch command for the composite automated guided vehicle, it can automatically avoid obstacles under the drive of the steering wheel suspension assembly 42 and the obstacle avoidance radar 46, and determine whether it has reached the designated location through the positioning camera 47. For example, the positioning camera 47 can determine whether it has reached the designated location by recognizing the ground QR code.

[0075] Upon reaching the designated position, the support assembly 30 retracts, reducing its height. As the support assembly 30 gradually retracts, the distance between the support frame 20 and the vehicle body 40 gradually decreases. If the vehicle body 40 remains in contact with the ground, the lower ends of the support legs 21 gradually approach the ground. After the lower ends of the support legs 21 contact the ground, the support assembly 30 continues to retract. At this point, the support assembly 30 pulls the vehicle body 40 off the ground, providing a pulling force rather than a supporting force.

[0076] In summary, after the support component 30 retracts, the entire composite automated guided vehicle (including the robotic arm 10 and the vehicle body 40) is supported by multiple support legs 21. The vehicle body 40 serves only as a counterweight, fixed to the support frame 20. The robotic arm 10 can then be controlled to begin operations, such as using a camera on the robotic arm 10 to identify the material's location and perform material handling tasks.

[0077] After the robotic arm 10 completes its work, it retracts to its initial state, and the support component 30 extends, allowing the vehicle body 40 to re-contact the ground. Then, the support component 30 continues to extend, which can lift the support frame 20 and the robotic arm 10 off the ground. After that, the composite automated guided vehicle can perform movement tasks, such as moving to a new designated location for further work.

[0078] The composite automated guided vehicle provided in this embodiment has a robotic arm 10 mounted on a support frame 20 with support legs 21. A retractable support component 30 is provided between the support frame 20 and the vehicle body 40. By adjusting the distance between the support frame 20 and the vehicle body 40 through the support component 30, it is possible to control whether the support legs 21 are in contact with the ground. Furthermore, when the robotic arm 10 is operating, the vehicle body 40 can act as a counterweight, improving its anti-overturning ability. Moreover, when the robotic arm 10 is operating, the support legs 21 provide support force. At this time, the support component 30 only plays the role of lifting the vehicle body 40, that is, the support component 30 only provides tensile force. The vibration and off-center load during the operation of the robotic arm 10 will not act on the support component 30, that is, the support component 30 will not bear vibration and off-center load, which can greatly improve its service life and reliability.

[0079] In some alternative implementations, the support assembly 30 can generally be implemented using a transmission device such as a cylinder. If the support assembly 30 is fixedly connected to the support frame 20 by a fastener such as a screw, the transmission device such as the cylinder of the support assembly 30 may be subjected to radial force due to installation or processing. In this embodiment, the upper end of the support assembly 30 is connected to the lower surface of the support frame 20 through a ball joint structure. Connecting the support assembly 30 to the support frame 20 by a ball joint can effectively avoid bearing radial force and further improve its service life.

[0080] Figure 3 A schematic diagram of one structure of the support component 30 is shown. Figure 4 It shows Figure 3 A magnified view of a portion of point A in the diagram. (See diagram below.) Figure 3 and Figure 4 As shown, the support assembly 30 includes: a hinged support plate 31, a hinged cover plate 32, and a linear transmission device; wherein, the linear transmission device specifically includes: a servo motor 33, a reducer 34, an electric cylinder body 35, and an electric cylinder housing 36.

[0081] The hinged support plate 31 is used to connect the lower surface of the support frame 20; the hinged cover plate 32 is disposed on the side of the hinged support plate 31 away from the support frame 20, and forms a spherical cavity with the hinged support plate 31.

[0082] The end of the shaft 351 of the linear transmission device is a spherical structure, and the end of the shaft 351 is located in a spherical cavity.

[0083] The servo motor 33 is connected to the reducer 34 for transmission.

[0084] The output shaft of the reducer 34 is connected to the shaft 351 of the electric cylinder body 35; both the reducer 34 and the electric cylinder body 35 are mounted on the electric cylinder housing 36.

[0085] The electric cylinder body 35 is configured to convert the rotational motion of the output shaft of the reducer 34 into the linear motion of the shaft 351.

[0086] The electric cylinder housing 36 is disposed on the upper surface of the vehicle body 40.

[0087] In this embodiment, the upper surface of the hinged support plate 31 is fixedly connected to the lower surface of the support frame 20, and the lower surface of the electric cylinder housing 36 in the linear transmission device is fixedly connected to the upper surface of the vehicle body 40 (e.g., the upper surface of the vehicle frame 41). For example, the fixed connection can be achieved by screws.

[0088] This linear transmission device can be specifically implemented using an electric cylinder. For example... Figure 3 As shown, when it is necessary to adjust the distance between the support frame 20 and the vehicle body 40, that is, when it is necessary to extend or retract the support assembly 30, the servo motor 33 drives the reducer 34 to rotate, thereby providing rotational force to the shaft 351 of the electric cylinder body 35; wherein, the electric cylinder body 35 can convert the rotational force into the driving force for the linear motion of the shaft 351, thereby enabling the shaft 351 to move up and down. For example, the electric cylinder body 35 may be equipped with a lead screw, but this embodiment does not limit this.

[0089] like Figure 3 and Figure 4 As shown, the hinged support plate 31 can have a certain spherical cavity (generally not exceeding a hemispherical shape, such as a hemispherical cavity); and the hinged cover plate 32 can also provide a certain cavity. The two combined form a spherical cavity capable of accommodating the ball head of the hinged structure, such as... Figure 4 As shown, the hinged support plate 31 and the hinged cover plate 32 can be locked together with bolts.

[0090] like Figure 3 and Figure 4As shown, the upper end of the shaft 351 is a spherical structure (ball head) and is disposed within the spherical cavity, forming a ball hinge structure. It can be understood that the hinge cover plate 32 has a through hole in the middle for the shaft 351 to pass through.

[0091] In this embodiment, a ball joint connection is achieved between the hinged support plate 31 and the piston rod (i.e., shaft 351) of the electric cylinder, which can move up and down. This reduces the parallelism requirements of the support frame 20 and the vehicle body frame 41. Even if the parallelism at the connection point between the support frame 20 or the vehicle body frame 41 and the support assembly 30 is poor, adaptive adjustment can be achieved through the ball joint, greatly reducing the processing requirements and costs of the support frame 20 and the vehicle body frame 41. Furthermore, the ball joint structure can effectively reduce the radial force borne by the piston rod during installation, effectively reducing the damage of radial force to the electric cylinder and improving its lifespan.

[0092] In some alternative implementations, such as Figure 1 and Figure 2 As shown, the vehicle body 40 includes at least one steering wheel suspension assembly 42 for driving the vehicle body 40 to move.

[0093] Figure 5 An isometric view of the steering wheel suspension assembly 42 is shown. (See figure) Figure 5 As shown, the steering wheel suspension assembly 42 includes a steering wheel assembly 421 and an elastic suspension assembly; the steering wheel assembly 421 is connected to the vehicle body frame 41 of the vehicle body 40 through the elastic suspension assembly.

[0094] In this embodiment, the elastic suspension assembly can provide elasticity between the vehicle body frame 41 and the steering wheel assembly 421 of the vehicle body 40, which is beneficial for adapting to uneven ground.

[0095] Optionally, Figure 6 The front view of the steering wheel suspension assembly 42 is shown. Figure 7 A left view of the steering wheel suspension assembly 42 is shown. See also Figures 5 to 7 As shown, the elastic suspension assembly includes: an upper mounting plate 422, a steering wheel mounting plate 423, a lower mounting plate 424, a linear guide rail 425, and an elastic component 426.

[0096] The upper mounting plate 422 is connected to the vehicle body frame 41 of the vehicle body 40.

[0097] The upper mounting plate 422 and the lower mounting plate 424 are connected by a linear slide rail 425.

[0098] The steering wheel mounting plate 423 is disposed between the upper mounting plate 422 and the lower mounting plate 424, and is connected to the slider of the linear slide rail 425.

[0099] One end of the elastic component 426 is connected to the lower surface of the upper mounting plate 422, and the other end is connected to the upper surface of the steering wheel mounting plate 423.

[0100] The steering wheel assembly 421 is disposed on the lower surface of the steering wheel mounting plate 423.

[0101] like Figure 6 As shown, the steering wheel suspension assembly 42 may further include: a slide rail mounting plate 427; the steering wheel mounting plate 423 is connected to the slider of the linear slide rail 425 through the slide rail mounting plate 427.

[0102] In this embodiment, the upper mounting plate 422 and the lower mounting plate 424 are fixedly connected by a linear slide rail 425. Furthermore, a steering wheel mounting plate 423 is provided between the upper mounting plate 422 and the lower mounting plate 424, and the steering wheel mounting plate 423 is connected to the slider of the linear slide rail 425, so that the steering wheel mounting plate 423 can move along the setting direction (i.e., the up and down direction) of the linear slide rail 425.

[0103] Furthermore, one side (i.e., the upper side) of the steering wheel mounting plate 423 is connected to the upper mounting plate 422 via an elastic component 426, while the other side (i.e., the lower side) is fixedly connected to the steering wheel assembly 421. This allows the steering wheel mounting plate 423 to move up and down along the linear slide rail 425 under the action of the elastic component 426, thereby driving the steering wheel assembly 421 to move up and down as well. Correspondingly, when the ground 60 is uneven, the steering wheel assembly 421 can float up and down along the linear slide rail 425 under the elastic action of the elastic component 426. This allows for adaptive adjustment of the height of the steering wheel assembly 421 to adapt to uneven ground and provide sufficient ground adhesion, ensuring that the steering wheel assembly 421 can maintain contact with the ground during movement. This adapts to uneven ground conditions beyond the pre-designed level, improving the stability of movement.

[0104] Optionally, the elastic component 426 includes a spring 4261 and a contraction component.

[0105] One end of the spring 4261 is connected to the retraction assembly, and the other end is connected to the upper surface of the steering wheel mounting plate 423.

[0106] The retraction assembly is mounted on the upper mounting plate 422 and is configured to adjust the height of the side connected to the spring 4261.

[0107] In this embodiment, the spring 4261 provides elastic force to the elastic component 426, and the elastic component 426 is also provided with a controllable contraction component. By adjusting (adjusting up and down) the degree of contraction of the contraction component, the height of the side of the spring 4261 connected to the elastic component 426 (i.e., the upper side of the spring 4261) can be adjusted, making the steering wheel suspension adjustable. For example, as Figure 5As shown, the steering wheel suspension assembly 42 includes four elastic components 426, which are evenly distributed and each has a retraction component. By manually adjusting the retraction components of each elastic component 426, the plane of the steering wheel mounting plate 423 can be adjusted, making the steering wheel mounting plate 423 parallel to the horizontal plane. Furthermore, by adjusting the retraction components, the elastic force of the spring 4261 can be adjusted, thereby increasing the adhesion between the steering wheel assembly 421 and the ground and increasing its traction while keeping the vehicle body 40 at a constant ground clearance.

[0108] Optionally, Figure 8 yes Figure 7 A magnified view of a section at point B, as shown below. Figure 8 As shown, the shrinkage assembly specifically includes: a guide post 4262, an adjusting nut 4263, and a nut baffle 4264.

[0109] like Figure 8 As shown, the upper end of the guide post 4262 is a boss structure and passes through the guide through hole of the upper mounting plate 422; the guide through hole matches the boss structure, that is, the guide through hole is a countersunk hole.

[0110] The adjusting nut 4263 is located on the lower side of the upper mounting plate 422 and is threadedly connected to the guide post 4262.

[0111] Nut baffle 4264 is fixedly mounted on the lower surface of upper mounting plate 422 and is configured to restrict the rotation of adjusting nut 4263.

[0112] In this embodiment, the upper end of the guide post 4262 is a boss structure, and the lower half is threaded and threadedly connected to the adjusting nut 4263. Furthermore, the distance between the fixed nut baffle 4264 and the side of the adjusting nut 4263 is less than a preset distance; for example, the nut baffle 4264 abuts against the side of the adjusting nut 4263, thereby preventing the adjusting nut 4263 from rotating, meaning the adjusting nut 4263 can only move up and down along the guide post 4262.

[0113] Specifically, when the height of the steering wheel assembly 421 needs to be manually adjusted, the upper end of the guide post 4262 is higher than the upper surface of the upper mounting plate 422, and the user can directly rotate the guide post 4262; under the action of the nut baffle 4264, the adjusting nut 4263 cannot be rotated, so that the adjusting nut 4263 can move up and down.

[0114] The composite automated guided vehicle provided in this embodiment has a steering wheel assembly 421 mounted on the vehicle body (e.g., on the vehicle frame 41 of the vehicle body 40) via a linear slide rail 425. This linear slide rail 425 can withstand large radial forces and bending moments in various directions. Compared to guide columns that require special surface treatment and heat treatment, it improves overall durability and reliability, and reduces the cost of the steering wheel suspension assembly. The steering wheel suspension can be adjusted using a retractable assembly; during adjustment, it is not necessary to tighten nuts inside the vehicle body, but simply tighten the upper end of the guide column 4262 externally, making adjustment simple.

[0115] This embodiment provides a vehicle control method that can be used in the aforementioned composite automated guided vehicle, such as a controller for composite automated guided vehicles. Figure 9 This is a flowchart of a vehicle control method according to an embodiment of the present invention, such as... Figure 9 As shown, the process includes the following steps.

[0116] In step S901, in response to a first control command for controlling the vehicle body to leave the ground, the support assembly is controlled to retract.

[0117] In step S902, in response to a second control command for controlling the vehicle body to contact the ground, the support assembly is controlled to extend.

[0118] In this embodiment, when the robotic arm 10 needs to perform operations, a first control command can be initiated to control the vehicle body to leave the ground. Based on the first control command, the support component 30 is controlled to retract to reduce the distance between the support frame 20 and the vehicle body 40 until the support leg 21 of the support frame 20 contacts the ground and the vehicle body 40 leaves the ground.

[0119] Conversely, after the robotic arm 10 completes its work, a second control command can be initiated to control the vehicle body 40 to contact the ground. At this time, the control support assembly 30 is extended to increase the distance between the support frame 20 and the vehicle body 40 until the support legs 21 of the support frame 20 leave the ground and the vehicle body 40 contacts the ground.

[0120] Specifically, the operation process of this composite automated guided vehicle can be divided into four stages:

[0121] 1) Driving phase: Driven by the steering wheel suspension assembly 42, the AGV reaches the designated position by recognizing the QR code through the positioning camera 47. At this time, the support assembly 30 extends and lifts the robotic arm 10 and the support frame 20, so that they are off the ground (to avoid frame interference during driving).

[0122] 2) Operation preparation stage: After reaching the position, the support component 30 retracts, and the support frame 20 first contacts the ground (as a "rigid support base" during operation); the support component 30 continues to retract, pulling the AGV vehicle (i.e., the vehicle body 40) off the ground, making the vehicle body 40 a "counterweight" for the robotic arm 10.

[0123] 3) Operation phase: The robotic arm 10 completes material loading and unloading based on the fixed support frame 20 and the vehicle counterweight (operational vibration and off-center load are borne only by the rigid support frame 20, not the support component 30).

[0124] 4) Reset after operation: The robotic arm 10 returns to its initial state, the support component 30 extends, first allowing the AGV body to touch the ground, and then continues to extend to lift the support frame 20, completing the reset. After that, the AGV can receive new instructions to move.

[0125] In this embodiment, only the retraction or extension of the support component 30 is needed to complete the preparation work before the robotic arm moves, making the process simple. Furthermore, the support frame 20 is a rigid structure, requiring no multiple parts, which improves support performance while reducing overall vehicle cost. During control, the support component 30 first lifts the frame (i.e., the support component 30 retracts), and then continues to retract to pull the vehicle body off the ground, a different sequence from the traditional method where the support component 30 needs to support the vehicle (i.e., the support component 30 extends).

[0126] By using the weight of the AGV itself as a counterweight for the robotic arm during operation, combined with the support frame as a rigid support, the "operation mode" eliminates the need for the support components to bear the operating force, fundamentally solving the problems of anti-tipping and easy damage to the support components, and significantly improving the service life and reliability of components such as electric cylinders.

[0127] This embodiment also provides a vehicle control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0128] This embodiment provides a vehicle control device, which includes:

[0129] The first control module is configured to control the support assembly to retract in response to a first control command for controlling the vehicle body to leave the ground;

[0130] The second control module is used to control the support assembly to extend in response to a second control command for controlling the vehicle body to contact the ground.

[0131] The vehicle control device provided in this disclosure can execute the vehicle control method provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0132] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0133] The following is a detailed reference. Figure 10 This diagram illustrates a suitable structural schematic for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from memory 1008 into random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for the operation of the electronic device. The processor 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0134] Typically, the following devices can be connected to the I / O interface 1005: input devices 1006 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory devices 1008 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 10 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0135] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1009, or installed from a memory 1008, or installed from a ROM 1002. When the computer program is executed by the processor 1001, it performs the functions defined in the vehicle control method of the embodiments of the present invention.

[0136] Figure 10The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0137] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the vehicle control method shown in the above embodiments is implemented.

[0138] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0139] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A composite automated guided vehicle, characterized in that, include: Robotic arm (10), support frame (20), support assembly (30) and vehicle body (40); The robotic arm (10) is disposed on the upper surface of the support frame (20); The support component (30) is disposed between the lower surface of the support frame (20) and the upper surface of the vehicle body (40), and is configured to connect the support frame (20) and the vehicle body (40) and adjust the distance between the support frame (20) and the vehicle body (40). The support frame (20) includes a plurality of support legs (21), the height of which is greater than a first height and less than a second height; the first height is the sum of the height of the vehicle body (40) and the minimum height of the support assembly (30), and the second height is the sum of the height of the vehicle body (40) and the maximum height of the support assembly (30); The upper end of the support component (30) is connected to the lower surface of the support frame (20) via a ball joint structure; The support assembly (30) includes: a hinged support plate (31), a hinged cover plate (32), and a linear transmission device; The hinged support plate (31) is used to connect the lower surface of the support frame (20); the hinged cover plate (32) is disposed on the side of the hinged support plate (31) away from the support frame (20) and forms a spherical cavity with the hinged support plate (31). The end of the shaft (351) of the linear transmission device is a spherical structure, and the end of the shaft (351) is disposed in the spherical cavity. The linear transmission device includes: a servo motor (33), a reducer (34), an electric cylinder body (35), and an electric cylinder housing (36). The servo motor (33) is connected to the reducer (34) in a transmission connection; The output shaft of the reducer (34) is connected to the shaft (351) of the electric cylinder body (35); both the reducer (34) and the electric cylinder body (35) are mounted on the electric cylinder housing (36). The electric cylinder body (35) is configured to convert the rotational motion of the output shaft of the reducer (34) into the linear motion of the shaft body (351); The electric cylinder housing (36) is disposed on the upper surface of the vehicle body (40).

2. The composite automated guided vehicle according to claim 1, characterized in that, The vehicle body (40) includes at least one steering wheel suspension assembly (42) for driving the vehicle body (40) to move. The steering wheel suspension assembly (42) includes a steering wheel assembly (421) and an elastic suspension assembly; the steering wheel assembly (421) is connected to the vehicle body frame (41) of the vehicle body (40) through the elastic suspension assembly.

3. The composite automated guided vehicle according to claim 2, characterized in that, The elastic suspension assembly includes: an upper mounting plate (422), a steering wheel mounting plate (423), a lower mounting plate (424), a linear slide rail (425), and an elastic component (426). The upper mounting plate (422) is connected to the vehicle body frame (41) of the vehicle body (40); The upper mounting plate (422) and the lower mounting plate (424) are connected by the linear slide rail (425); The steering wheel mounting plate (423) is disposed between the upper mounting plate (422) and the lower mounting plate (424) and is connected to the slider of the linear slide rail (425); One end of the elastic component (426) is connected to the lower surface of the upper mounting plate (422), and the other end is connected to the upper surface of the steering wheel mounting plate (423); The steering wheel assembly (421) is disposed on the lower surface of the steering wheel mounting plate (423).

4. The composite automated guided vehicle according to claim 3, characterized in that, The elastic component (426) includes: a spring (4261) and a contraction component; One end of the spring (4261) is connected to the retraction assembly, and the other end is connected to the upper surface of the steering wheel mounting plate (423); The retraction assembly is disposed on the upper mounting plate (422) and is configured to adjust the height of the side connected to the spring (4261).

5. The composite automated guided vehicle according to claim 4, characterized in that, The shrinkage assembly includes: a guide post (4262), an adjusting nut (4263), and a nut baffle (4264). The upper end of the guide post (4262) is a boss structure and passes through the guide through hole of the upper mounting plate (422); the guide through hole matches the boss structure. The adjusting nut (4263) is located on the lower side of the upper mounting plate (422) and is threadedly connected to the guide post (4262); The nut baffle (4264) is fixedly disposed on the lower surface of the upper mounting plate (422) and is configured to restrict the rotation of the adjusting nut (4263).

6. The composite automated guided vehicle according to claim 3, characterized in that, The steering wheel suspension assembly (42) also includes: a slide rail mounting plate (427); The steering wheel mounting plate (423) is connected to the slider of the linear slide rail (425) via the slide rail mounting plate (427).

7. The composite automated guided vehicle according to claim 1, characterized in that, Also includes: Safety contact edge (50); The safety contact edge (50) is provided on the side of the vehicle body (40) corresponding to the direction of travel.

8. A vehicle control method, characterized in that, Applied to the composite automated guided vehicle according to any one of claims 1 to 7, the method comprises: In response to a first control command for controlling the vehicle body (40) to leave the ground, the support assembly (30) is controlled to retract; In response to a second control command for controlling the vehicle body (40) to contact the ground, the support assembly (30) is controlled to extend.

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