Robot warehousing high-precision alignment device based on tail end servo sliding table and visual laser feedback

Abstract

The invention belongs to the technical field of AGV charging alignment, and particularly relates to a robot warehousing high-precision alignment device based on a tail end servo sliding table and visual laser feedback, the robot warehousing high-precision alignment device comprises a charging terminal, horizontal traction units are symmetrically arranged in the charging terminal, and balance units are symmetrically arranged in the charging terminal; according to the invention, the oil ratio between the angle cylinder and the double-end spring firing pin is dynamically changed through the relative action difference between the multi-degree-of-freedom charging brush at different ends and the traction wheel, and finally, through the compensation matching between the self elastic variable of the double-end spring firing pin and the elastic variable of the telescopic spring, the charging brush can be charged. The relative compression ratio between the double-end spring firing pins on the two sides of the oil pipeline is dynamically adjusted in real time till oil in the oil pipeline is at a relatively stable value, the clamping acting force between the traction wheel and the multi-freedom-degree charging brush in the relatively distributed state is unified, namely, a floating-elasticity-self-adaption three-stage buffering structure is adopted, and the clamping force between the traction wheel and the multi-freedom-degree charging brush is adjusted. And the charging brush is allowed to realize six-degree-of-freedom adjustment while keeping symmetrical stress.

Description

Technical Field

[0001] This invention belongs to the field of AGV charging and alignment technology, specifically relating to a high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback. Background Technology

[0002] Intelligent AGV Charging Alignment System: An automated charging assistance system integrating multi-sensor perception, high-precision servo control, and dynamic error compensation, designed specifically to solve the problem of accurate docking of charging interfaces for AGVs in industrial warehousing or intelligent manufacturing scenarios; Core logic: Real-time capture of the positional deviation between the AGV charging end and the charging pile by sensors, and dynamic correction of the deviation by the actuator driven by the control unit, realizing automated and high-precision alignment and reliable contact of the charging interface, ultimately achieving a closed loop of unmanned charging for AGVs;

[0003] Background: In existing technologies, the contact between the AGV charging brush and the charging base is completely dynamic, and the charging brush body has a multi-degree-of-freedom flexible adjustment capability.

[0004] In practice, the aforementioned six-degree-of-freedom dynamic adjustment capability of the AGV charging brush is achieved through the coordinated use of multi-stage elastic slide rails + compression springs and elastic hinges + torsion springs. However, during repeated compression or stretching of the springs (e.g., the charging brush and charging base repeatedly contact each other thousands of times), dislocation slip continuously occurs inside the metal lattice. Under the dislocation slip accumulation mechanism, local spring attenuation to below a predetermined extreme value is inevitable, resulting in significant asymmetry in the multi-degree-of-freedom adjustment. Specifically, this manifests as local stress concentration on one side (the dislocation density in the asymmetrical stress area is significantly higher than in other areas, forming a stationary slip band. As the number of cycles increases, micro-cracks form at the slip band, ultimately leading to a decrease in local elastic modulus and a decrease in spring stiffness), which seriously affects the charging alignment accuracy and reliability.

[0005] In addition, there is a problem of uneven stress distribution caused by asymmetric mechanical contact. That is, the positioning error of AGV causes the charging brush to make an angle when it contacts the charging base, resulting in one side of the spring bearing extra pressure and the other side bearing insufficient force, resulting in unilateral force due to charging docking deviation.

[0006] When the AGV charging brush and charging base are docked, the XYZ three-way springs undergo coupling deformation. The actual stress borne by the springs in the asymmetrical areas exceeds the predetermined value, resulting in insufficient spring preload in a certain degree of freedom area. This increases the compensation burden in other degree of freedom areas, creating a domino effect, accelerating overall degradation, reducing docking accuracy, and affecting power transmission efficiency. Summary of the Invention

[0007] To solve the above problems, the present invention adopts the following technical solution: a high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback, including a charging terminal, a horizontal traction unit symmetrically arranged inside the charging terminal, and a balancing unit symmetrically arranged inside the charging terminal in a vertical position distribution with the horizontal traction unit.

[0008] The balancing unit includes:

[0009] There are two corner compartments, which are symmetrically located vertically inside the charging terminal on both sides.

[0010] Angle steel plate, snap-fitted and installed in the middle of the inner wall of the corner compartment;

[0011] The electric telescopic pole is snapped into the middle of the end face of the angle steel plate near the center line of the charging terminal.

[0012] The movable sleeves are symmetrically snapped onto both ends of the angle steel plate near the center line of the charging terminal.

[0013] The adapter groove ring is snapped onto the outer wall of the end of the electric telescopic rod away from the angle steel plate.

[0014] The support plate is snapped onto the end face of the transition groove ring away from the angle steel plate, and the support plate and the movable sleeve are snapped together for assembly.

[0015] Angle tubes are symmetrically installed in the middle of both ends of the support plate using a plug-in snap-fit ​​method.

[0016] The corner sliders are symmetrically snapped onto both ends of the vertical sections on both sides of the support plate, and the corner sliders are slidably snapped onto the charging terminal.

[0017] Preferably, a piston is slidably snapped onto the inner wall of the angle cylinder. An angle ring, which is also snapped onto the outer wall of the piston away from the support plate, is slidably snapped onto the outer wall of the piston. A washer, which is also snapped onto the outer wall of the piston near the support plate, is slidably snapped onto the outer wall of the piston. A telescopic spring sleeved on the outer wall of the piston is snapped onto the angle ring and the washer. Shaft end seats are slidably snapped onto the outer walls of the two angle cylinders in the same group, and the shaft end seats are snapped onto the piston. An angle valve connected to the inside of the angle cylinder is plugged into the middle of the end face of the angle cylinder near the angle steel plate. An oil pipeline is opened inside the charging terminal. The oil pipeline consists of grooved pipelines with U-shaped cross-sections at both ends. A double-headed spring striker is symmetrically snapped onto the horizontal section of the oil pipeline through an installation ring.

[0018] Preferably, the shaft end seat has two sets of ear plates symmetrically snapped onto the end face away from the support plate, with the two ear plates forming a group. The two ear plates in the same group are rotatably fitted with a traction wheel. The support plate has a column symmetrically snapped onto the middle position of the end face away from the angle steel plate, which is slidably snapped onto the coaxial end seat. The column completely penetrates the shaft end seat. The column has a rubber head rollingly fitted onto the end face away from the support plate. The shaft end seat and the support plate are provided with symmetrically distributed corner rings, which are snapped onto the column. The two corner rings in the same group are snapped onto the outer wall of the column with a compression spring.

[0019] Preferably, the shaft end seat is symmetrically fitted with a mouthpiece frame near the vehicle body end, and two mouthpiece frames in the same group are rotatably fitted with a long connecting rod. A connecting plate is fitted with the middle position of the outer wall of the long connecting rod, and an electrostatic shovel is fitted with the outer wall of the connecting plate away from the shaft end seat end. An outer end post is fitted with the long connecting rod near the gravity end, and a torsion spring is fitted with the mouthpiece frame and the outer end post together. An outer corner ring is fitted with the outer wall of the outer end post near the mouthpiece frame end, and a transmission gear is fitted with the outer wall of the outer end post near the gravity end. A helical spring sleeved on the outer wall of the outer end post is fitted with the transmission gear and the outer corner ring together.

[0020] Preferably, a corner post is snapped into the middle of the end face of the shaft end seat near the outer end post, and a supplementary plate is snapped into the end of the corner post away from the shaft end seat. A drive gear meshing with the transmission gear is installed on the end of the supplementary plate away from the axis of the corner post through a connecting shaft. A leaf plate is installed on the end of the drive gear away from the transmission gear through a connecting shaft. A ball head rod that cooperates with the leaf plate is symmetrically snapped into the end of the multi-degree-of-freedom charging brush near the gravity. A dust collection chamber is snapped into the end face of the connecting plate away from the angle steel plate. An outer angle valve is evenly inserted into the end face of the dust collection chamber near the long connecting rod in an array.

[0021] Preferably, a corner seat is slidably snapped onto the middle of the end face of the connecting plate near the angle steel plate, and a bracket is symmetrically snapped onto the end face of the corner seat away from the connecting plate. A corner shovel is snapped onto the end of the bracket away from the corner seat, and a two-stage dust bin is snapped onto the end face of the corner shovel near the connecting plate. A transfer valve connected to the two-stage dust bins is plugged into the two-stage dust bins and the bracket.

[0022] Preferably, the horizontal traction unit includes:

[0023] There are two horizontal slots, which are symmetrically arranged inside the charging terminal; in addition, the horizontal slots are vertically distributed between the corner compartments.

[0024] The horizontal grid panels are symmetrically snapped onto the inner wall of the horizontal grid groove.

[0025] At least two traction columns are slidably snapped together between two of the crossbeams in the same group;

[0026] The traction ball is installed in a rolling fit at the end of the traction column away from the horizontal grid plate.

[0027] The gasket is snapped onto the outer wall of the traction column at the end furthest from the center line of the charging terminal;

[0028] The pressure ring is snapped onto the outer wall of the traction column near the center line of the charging terminal, and both the pressure ring and the gasket are located between the horizontal grid plates.

[0029] The return spring is snapped between the pressure ring and the gasket, and the return spring is sleeved on the outer wall of the traction column.

[0030] Preferably, an annular spray chamber is slidably snapped onto the outer wall of the traction column away from the gasket, and is snapped onto the horizontal grid plate. Air holes are evenly distributed on the side of the annular spray chamber away from the gasket, with the density of the air holes on the side away from the charging terminal being less than the density on the side closer to the charging terminal. A double-pass pipe, also snapped onto the outer wall of the annular spray chamber, is plugged onto the horizontal grid plate. A booster pipe connected to the double-pass pipe is provided on the side of the horizontal grid groove away from the charging terminal. A three-way groove is provided inside the charging terminal. Air intake pipes are plugged into the two horizontal sections of the three-way groove, and an air inlet pipe connected to the air intake pipe is plugged into the vertical section of the three-way groove. A flow butterfly valve is snapped onto the end of the air inlet pipe away from the charging terminal. An air pump is provided outside the charging terminal.

[0031] Preferably, one end of the charging terminal is snapped onto the vehicle body, a wheel is rotatably mounted in the middle of the vehicle body, and a lifting platform is snapped onto the end of the vehicle body away from gravity. In addition, the air pump is snapped onto the lifting platform via a mounting bracket. A cargo platform is snapped onto the end of the lifting platform away from the vehicle body. An AGV charging pile is positioned opposite the side of the charging terminal away from the vehicle body. A collision protection bracket is snapped onto the middle of the end face of the lifting platform near the AGV charging pile. A rubber pad is snapped onto the end of the collision protection bracket away from the vehicle body. A front bumper is snapped onto the end face of the vehicle body away from the charging terminal. A vision laser is plugged into the end of the cargo platform away from the AGV charging pile.

[0032] Preferably, the AGV charging pile has a charging compartment installed inside, and a multi-degree-of-freedom charging brush is installed inside the charging compartment. The charging terminal has a corner compartment that is connected to the horizontal grid groove and the corner compartment at the middle position of the end face away from the vehicle body. The corner compartment has an isosceles trapezoidal cross-sectional shape, and a charging seat is installed at the middle position of the inner wall of the corner compartment near the vehicle body.

[0033] The method for balancing local stress during the docking process of the AGV charging brush and charging base adopts the aforementioned high-precision alignment device for robot entry into the warehouse based on an end-effector servo slide and visual laser feedback. The specific steps are as follows:

[0034] S1: First, the charging terminal is positioned opposite to the charging pile by controlling the vehicle body. Then, the multi-degree-of-freedom charging brush extends towards the charging compartment until it engages with the charging base.

[0035] During this process, the contact form between the traction column and the multi-degree-of-freedom charging brush is changed by the traction ball, reducing the excessive wear caused by contact collision friction. The elastic variable of the reset spring itself provides a predetermined relative force to the traction column and the traction ball, ensuring that the traction ball stably guides the multi-degree-of-freedom charging brush while reducing the radial runout between the traction column and the traction plate, and further reducing the relative contact area between the traction ball and the multi-degree-of-freedom charging brush.

[0036] S2: Then, under the extension of the electric telescopic rod, the adapter groove ring synchronously controls the support plate to move towards the charging compartment until the traction wheel contacts the multi-free charging brush.

[0037] During this process, the shaft end seat generates a relative motion depth with the support plate under the reverse force of the traction wheel. At this time, the telescopic spring is stretched to a certain degree, the relative action depth between the piston and the angle cylinder is increased, and the oil between the angle cylinder and the double-headed spring striker is compressed until the double-headed spring strikers on both sides remain relatively stable, thereby realizing that the relative action force between the opposing traction wheels and the multi-degree-of-freedom charging brush is relatively consistent.

[0038] S3: Finally, through the relative movement between the multi-degree-of-freedom charging brush and the charging base, a certain degree of relative movement is generated between the ball head and the page plate;

[0039] During this process, under the squeezing action of the ball head rod, the blade plate synchronously controls the rotation of the drive gear to a predetermined angle. Subsequently, under the meshing action of the drive gear, the transmission gear synchronously controls the outer end column to change the relative rotation angle between the long connecting rod and the mouth frame, causing the torsion spring to twist to a certain extent, changing the relative elasticity between the connecting plate and the mouth frame, and gradually increasing the relative contact degree between the electrostatic shovel and the vertical end face of the multi-degree-of-freedom charging brush, thereby improving its relative cleaning degree and effect.

[0040] In addition, under the synchronous control of the corner base, the corner shovel continuously moves relative to the electrostatic shovel in the power-off state, and through the linkage between the dust collection chamber and the second-stage dust chamber, it performs overall adsorption and collection of the dust that escapes during the aforementioned scraping and cleaning process, thereby ensuring the relative cleanliness of the electrostatic shovel during the overall operation.

[0041] The present invention has the following beneficial effects:

[0042] 1. This invention dynamically changes the oil ratio between the angle cylinder and the double-headed spring striker by varying the relative action difference between the multi-degree-of-freedom charging brushes at different ends and the traction wheel. Ultimately, through the compensation and coordination between the elastic variables of the double-headed spring striker itself and the elastic variables of the extension spring, the relative compression ratio between the double-headed spring strikers on both sides of the oil pipeline is dynamically adjusted in real time until the oil in the oil pipeline reaches a relatively stable value. Under a unified relative distribution state, the clamping force between the traction wheel and the multi-degree-of-freedom charging brush is achieved. That is, a three-level buffer structure of "floating-elastic-adaptive" is adopted, which allows the charging brush to achieve six-degree-of-freedom adjustment while maintaining symmetrical force. Under the condition of real-time monitoring and forced balance of the clamping forces on both sides, the relative spatial position of the multi-degree-of-freedom charging brush is precisely controlled to compensate for the positioning error of the AGV.

[0043] Furthermore, by using two sets of traction wheels for positive symmetrical clamping, the original "single-sided concentrated force" is transformed into "double-sided even distribution," reducing the stress concentration coefficient. When unilateral stress concentration occurs, the aforementioned "symmetrical system" automatically adjusts the relative compression of the telescopic springs on both sides within the aforementioned plane to maintain relative torque balance, forming an auxiliary protection mechanism. Simultaneously, when the multi-degree-of-freedom charging brush body's "spring decays," dynamic compensation is implemented through symmetrically arranged telescopic springs and double-headed spring strikers to maintain overall relative clamping accuracy, forming a "redundant protection" environment, further ensuring the front-to-back relative contact accuracy between the multi-degree-of-freedom charging brush and the charging base.

[0044] 2. This invention dynamically changes the relative motion relationship between the multi-degree-of-freedom charging brush and the charging base, thereby altering the relative interaction between the ball joint and the page plate. Furthermore, by synchronously controlling the drive gear through the page plate to change the meshing degree between it and the transmission gear, it gradient-adjusts the relative angle between the outer end post and the mounting bracket, linearly changing the torsion of the torsion spring. This dynamically deepens the relative contact between the electrostatic shovel and the vertical end face of the multi-degree-of-freedom charging brush, progressively enhancing the cleaning effect of the electrostatic shovel on the dust accumulated on the vertical end face of the multi-degree-of-freedom charging brush. Combined with the aforementioned symmetrical clamping system composed of traction wheels, this forms a protective barrier, reducing the accumulation of external dust into the aforementioned spring system, lowering the risk of wear on the third body, relatively improving the accuracy of repeated insertion and removal between the multi-degree-of-freedom charging brush and the charging base, and further enhancing power transmission efficiency. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0046] Figure 2 This is an appendix to the present invention. Figure 1 Three-dimensional view of a partial structure (AGV charging pile omitted).

[0047] Figure 3 This is a three-dimensional cross-sectional view of the AGV charging pile and its internal structure according to the present invention.

[0048] Figure 4 This is a partial cross-sectional view of the internal structure of the charging terminal of the present invention.

[0049] Figure 5 This is an appendix to the present invention. Figure 4 A magnified schematic diagram of the local structure at point A in the middle.

[0050] Figure 6 This is a further illustration of the internal structure of the charging terminal of the present invention.

[0051] Figure 7 This is a three-dimensional structural diagram of the balancing unit in this invention.

[0052] Figure 8 This is an appendix to the present invention. Figure 7 Enlarged schematic diagram of the local structure at point B.

[0053] Figure 9 This is an appendix to the present invention. Figure 7 A three-dimensional view of the structure from another perspective.

[0054] Figure 10 This is an appendix to the present invention. Figure 9 A three-dimensional view of a partial structural cross-section.

[0055] Figure 11 This is an appendix to the present invention. Figure 10 A magnified schematic diagram of the local structure at point C.

[0056] Figure 12 This is a three-dimensional view of a partial structure of the balancing unit in this invention.

[0057] Figure 13 This is a three-dimensional view of the corner base and its partial structure in this invention.

[0058] The diagram is labeled as follows: 1. Charging terminal; 2. Horizontal traction unit; 3. Balancing unit;

[0059] 11. Vehicle body; 12. Wheels; 13. Lifting platform; 14. Cargo platform; 15. AGV charging pile; 16. Anti-collision bracket; 17. Rubber pad; 18. Front bumper; 19. Vision laser;

[0060] 111. Charging case; 112. Multi-degree-of-freedom charging brush; 113. Angle compartment; 114. Charging base;

[0061] 21. Horizontal grid groove; 22. Horizontal grid plate; 23. Traction column; 24. Traction ball; 25. Gasket; 26. Pressure ring; 27. Return spring;

[0062] 211. Annular spray chamber; 212. Air vent; 213. Two-way pipe; 214. Booster pipe; 215. Three-way groove; 216. Air intake pipe; 217. Air inlet pipe; 218. Flow butterfly valve; 219. Air pump;

[0063] 31. Corner compartment; 32. Angle steel plate; 33. Electric telescopic rod; 34. Movable sleeve; 35. Adapter groove ring; 36. Support plate; 37. Angle cylinder; 38. Angle slider;

[0064] 311. Piston; 312. Angle ring; 313. Washer; 314. Telescopic spring; 315. Shaft end seat; 316. Angle valve; 317. Oil line; 318. Double-ended spring striker;

[0065] 321. Ear plate; 322. Traction wheel; 323. Support column; 324. Rubber head; 325. Corner ring; 326. Compression spring;

[0066] 331. Mouth support frame; 332. Long connecting rod; 333. Connecting plate; 334. Electrostatic shovel; 335. Outer end post; 336. Torsion spring; 337. Corner outer ring; 338. Transmission gear; 339. Helical spring;

[0067] 341. Angle post; 342. Filler plate; 343. Drive gear; 344. Leaf plate; 345. Ball joint rod; 346. Dust collection chamber; 347. External angle valve;

[0068] 351. Corner seat; 352. Bracket; 353. Corner shovel; 354. Secondary dust bin; 355. Transfer valve. Detailed Implementation

[0069] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0070] It should be noted that the terms "vertical," "horizontal," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0071] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0072] Reference Figure 1 and Figure 2 It is known that a high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback includes a charging terminal 1, a horizontal traction unit 2 symmetrically arranged inside the charging terminal 1, and a balancing unit 3 symmetrically arranged inside the charging terminal 1 in a vertical position with the horizontal traction unit 2.

[0073] Reference Figure 2 , Figure 4 and Figure 5 It is known that the horizontal traction unit 2 includes: two horizontal slots 21, which are symmetrically arranged inside the charging terminal 1; in addition, the horizontal slots 21 are vertically distributed with the corner compartments 31; horizontal plates 22, which are symmetrically snapped onto the inner wall of the horizontal slots 21; at least two traction columns 23, which are slidably snapped onto the two horizontal plates 22 in the same group; a traction ball 24, which is rolled onto the end of the traction column 23 away from the horizontal plate 22; a gasket 25, which is snapped onto the outer wall of the end of the traction column 23 away from the centerline of the charging terminal 1; a pressure ring 26, which is snapped onto the outer wall of the end of the traction column 23 near the centerline of the charging terminal 1, and the pressure ring 26 and the gasket 25 are both located between the horizontal plates 22; and a return spring 27, which is snapped onto the pressure ring 26 and the gasket 25, and the return spring 27 is sleeved on the outer wall of the traction column 23.

[0074] Reference Figure 1 and Figure 2 It is known that the charging terminal 1 is snapped onto one end of the vehicle body 11, and a wheel 12 is rotatably mounted in the middle of the vehicle body 11. A lifting platform 13 is snapped onto the end of the vehicle body 11 away from gravity. In addition, the air pump 219 is snapped onto the lifting platform 13 via a mounting bracket 352. A cargo platform 14 is snapped onto the end of the lifting platform 13 away from the vehicle body 11. An AGV charging pile 15 is set opposite to the side of the charging terminal 1 away from the vehicle body 11. A collision protection bracket 16 is snapped onto the middle of the end face of the lifting platform 13 near the AGV charging pile 15. A rubber pad 17 is snapped onto the end of the collision protection bracket 16 away from the vehicle body 11. A front bumper 18 is snapped onto the end face of the vehicle body 11 away from the charging terminal 1. A vision laser 19 is plugged onto the end of the cargo platform 14 away from the AGV charging pile 15.

[0075] Reference Figure 2 and Figure 3 It is known that the AGV charging pile 15 is internally fitted with a charging chamber 111, and the charging chamber 111 is internally fitted with a multi-degree-of-freedom charging brush 112. The charging terminal 1 is provided with a corner compartment 113 at the middle position of the end face away from the vehicle body 11, which is connected to the horizontal grid groove 21 and the corner compartment 31. The corner compartment 113 has an isosceles trapezoidal cross-sectional shape. A charging base 114 is installed at the middle position of the inner wall of the corner compartment 113 near the vehicle body 11.

[0076] Reference Figure 2 , Figure 4 and Figure 5It can be seen that an annular spray chamber 211, which is also snapped onto the outer wall of the traction column 23 away from the gasket 25, is slidably snapped onto the outer wall of the same horizontal grid plate 22. Air holes 212 are evenly distributed on the side of the annular spray chamber 211 away from the gasket 25, and the density of the air holes 212 on the side away from the charging terminal 1 is less than the density on the side closer to the charging terminal 1. A double-through pipe 213, which is also snapped onto the outer wall of the annular spray chamber 211, is plugged onto the same horizontal grid plate 22. The horizontal grid groove 2... A booster pipe 214 connected to a double-pass pipe 213 is provided on the side away from the charging terminal 1. A three-way slot 215 is provided inside the charging terminal. Air intake pipes 216 are inserted into the two horizontal sections of the three-way slot 215. An air intake pipe 217 connected to the air intake pipe 216 is inserted into the vertical section of the three-way slot 215. A flow butterfly valve 218 is snapped onto the end of the air intake pipe 217 away from the charging terminal 1. An air pump 219 is provided outside the charging terminal 1.

[0077] Simplified docking process between the multi-degree-of-freedom charging brush 112 and the charging base 114:

[0078] S1.1: Navigation, Positioning, and Pre-docking Preparations:

[0079] The AGV initially stops near the charging pile using its own navigation system (existing technology). At this time, the vision laser 19 is activated to scan the corner compartment 113 of the charging terminal 1 in real time, obtain the positional deviation (X / Y / Z axis position and θ angle attitude) between the AGV and the charging terminal 1, and feed the data back to the AGV control system until the multi-degree-of-freedom charging brush 112 and the charging base 114 are in a positive relative position.

[0080] At the same time, the AGV control system fine-tunes the position of the vehicle body 11, causing the anti-collision bracket 16 to gradually approach the charging terminal 1 until the rubber pad 17 touches the AGV charging pile 15, providing an initial alignment basis for subsequent docking.

[0081] The purpose of the isosceles trapezoidal cross-section of the corner compartment 113 is to achieve the guiding and pre-positioning effect. By tilting the inner wall, it provides an initial positioning deviation adjustment environment for the AGV charging pile 15 and the vehicle body 11, limiting the initial positioning error to a predetermined reasonable range and reducing the difficulty of subsequent precise docking.

[0082] S1.2: Flexible buffering and contact triggering:

[0083] When the AGV control system controls the vehicle body 11 to continue to approach the AGV charging pile 15, the rubber pad 17 first contacts the charging terminal 1. During this process, the elastic deformation of the rubber pad 17 absorbs the initial impact load of the docking, avoiding rigid collision that could damage the multi-degree-of-freedom charging brush 112 or the charging base 114 (built-in charging plate).

[0084] Meanwhile, in specific implementation, the contact signal of the rubber pad 17 can be used as a "docking start command" to trigger the multi-degree-of-freedom charging brush 112 inside the AGV charging pile 15 to enter the working state (in specific implementation, a corresponding sensor can be added inside the corresponding component and the sensor can be connected to the AGV control system).

[0085] Multi-degree-of-freedom charging brush 112: Six-degree-of-freedom pre-adjustment is initiated through the structure of elastic slide rail + compression spring 326 and elastic hinge + torsion spring 336. In addition, its built-in elastic components are in a state of waiting for compensation, ready to deal with the remaining positioning deviation.

[0086] S1.3: Precise docking with multiple degrees of freedom:

[0087] The vision laser 19 continuously feeds back real-time deviation data. After the AGV charging pile 15 control system drives the multi-degree-of-freedom charging brush 112 to complete the dynamic adjustment and docking of the six degrees of freedom, the pre-charging preparation work is completed. (In specific implementation, the built-in elastic component of the multi-degree-of-freedom charging brush 112 always provides stable contact pressure (controlled by the built-in spring preload) to avoid excessive wear due to excessive pressure or poor contact due to insufficient pressure.)

[0088] S1.4: Stable power supply and relative status monitoring:

[0089] When the multi-degree-of-freedom charging brush 112 and the charging base 114 are fully in contact, a conductive circuit is formed, and the AGV charging pile 15 begins to supply power to the AGV (during the power supply, the system monitors parameters such as contact resistance, charging current and voltage in real time to ensure stable power transmission).

[0090] If an abnormal contact resistance occurs (e.g., momentary disconnection caused by dust), the balance unit 3 will respond quickly and re-attach to the charging base 114 through a slight deformation to maintain the continuity of power supply (and monitor in real time whether the attenuation of the current area reset spring 27 exceeds the range through pressure feedback between the pressure ring 26 and the horizontal plate 22).

[0091] When the AGV battery is fully charged or a stop charging command is received, the charging pile first cuts off the power supply circuit (to avoid generating an electric arc when disconnected).

[0092] Note: The charging process ends only after the multi-degree-of-freedom charging brush 112 is fully retracted into the charging compartment 111 and the AGV resumes normal operation.

[0093] The adjustment process for the positioning deviation generated during the contact between the traction ball 24 pairs of multi-degree-of-freedom charging brushes 112 and the charging base 114:

[0094] In practice, during the docking process between the multi-degree-of-freedom charging brush 112 and the charging base 114, the traction column 23 on one side will be continuously squeezed (providing a stable space margin for the aforementioned adjustment through the inclined inner wall of the corner compartment 113).

[0095] Furthermore, through the rolling contact between the traction ball 24 and the multi-degree-of-freedom charging brush 112 (replacing sliding friction with rolling friction, which reduces frictional damage to a certain extent), during this process, the traction column 23 slides along the horizontal grid plate 22, compressing the return spring 27; at the same time, the return spring 27 releases elastic potential energy at the other end, generating a reverse traction force, which drives the multi-degree-of-freedom charging brush 112 to correct towards the horizontal center position, further reducing the aforementioned positioning deviation to within the predetermined reasonable range, thereby forming a "double compensation" environment with the multi-degree-of-freedom charging brush 112;

[0096] The moderating advantages of positional distribution:

[0097] In practice, the two sets of reset springs 27 in the aligned position provide equal and opposite traction forces to ensure that the multi-degree-of-freedom charging brush 112 is subjected to balanced forces on the predetermined plane, avoiding tilting of the multi-degree-of-freedom charging brush 112 or local attenuation of the spring (built-in - used to achieve six degrees of freedom adjustment) due to local stress concentration on one side, thus extending the service life of the multi-degree-of-freedom charging brush 112.

[0098] The synergistic effect between the return spring 27 and the rubber pad 17:

[0099] In the initial docking phase, the return spring 27 of the traction column 23 and the rubber pad 17 form a "double buffer": the rubber pad 17 absorbs macroscopic impacts, while the return spring 27 absorbs microscopic impacts in a predetermined direction through elastic deformation, thus avoiding poor contact or surface wear between the multi-degree-of-freedom charging brush 112 and the charging base 114 due to impact force at the moment of docking.

[0100] The process of arranging air curtains to prevent external dust from entering the interior depths of corner compartment 113:

[0101] The external air pump 219 is connected to the flow butterfly valve 218 (which controls the equivalent gas flow area) via the air pump 219 and the external hose. Then, the gas flows continuously into the annular spray chamber 211 via the air inlet pipe 217, the air vent pipe 216, the pressurization pipe 214 and the dual-pass pipe 213, and finally flows out through the air hole 212 (according to the gas flow, the dust will eventually be biased to the side with a relatively lower density, thus achieving the cutting and separation of the dust).

[0102] Reference Figure 4 , Figure 7 and Figure 9It is known that the balancing unit 3 includes: two corner compartments 31, which are symmetrically arranged vertically inside the two sides of the charging terminal 1; an angle steel plate 32, which is snapped into the middle of the inner wall of the corner compartment 31; an electric telescopic rod 33, which is snapped into the middle of the end face of the angle steel plate 32 near the center line of the charging terminal 1; a movable sleeve 34, which is symmetrically snapped into both ends of the end face of the angle steel plate 32 near the center line of the charging terminal 1; a transition groove ring 35, which is snapped into the outer wall of the end of the electric telescopic rod 33 away from the angle steel plate 32; a support plate 36, which is snapped into the end face of the transition groove ring 35 away from the angle steel plate 32, and the support plate 36 is snapped into the movable sleeve 34; an angle cylinder 37, which is symmetrically inserted and snapped into the middle of both ends of the support plate 36; and an angle slider 38, which is symmetrically snapped into both ends of the vertical section on both sides of the support plate 36, and the angle slider 38 is slidably snapped into the charging terminal 1.

[0103] Reference Figure 4 , Figure 9 and Figure 11 It is known that a piston 311 is slidably and snapped onto the inner wall of the angle cylinder 37. An angle ring 312, which is also snapped onto the outer wall of the piston 311 away from the support plate 36, is slidably and snapped onto the outer wall of the piston 311. A washer 313, which is also slidably and snapped onto the outer wall of the piston 311 near the support plate 36, is also snapped onto the outer wall of the piston 311. A telescopic spring 314, sleeved on the outer wall of the piston 311, is jointly snapped onto the angle ring 312 and the washer 313. The outer walls of the two angle cylinders 37 in the same group share... A shaft end seat 315 is installed in a sliding snap-fit ​​manner, and the shaft end seat 315 is snap-fitted with the piston 311. An angle valve 316, which is connected to the inside of the angle cylinder 37, is installed in a plug-in snap-fit ​​manner at the middle position of the end face of the angle steel plate 32. An oil pipeline 317 is opened inside the charging terminal 1, and the oil pipeline 317 is composed of grooved pipelines with U-shaped cross sections at both ends. A double-headed spring striker 318 is installed in the horizontal section of the oil pipeline 317 in a symmetrical sliding snap-fit ​​manner through the mounting ring.

[0104] Reference Figure 7 and Figure 9It can be seen that the shaft end seat 315 is symmetrically fitted with ear plates 321 on the side away from the support plate 36, with two sets in total. The two ear plates 321 form a set, and the two ear plates 321 in the same set are rotatably fitted with a traction wheel 322. The support plate 36 is symmetrically fitted with a support column 323 that is slidably fitted with the coaxial end seat 315 at the middle position of the side away from the angle steel plate 32. The corner column 341 completely penetrates the shaft end seat 315. The support column 323 is rolled with a rubber head 324 on the side away from the support plate 36. The shaft end seat 315 and the support plate 36 are provided with symmetrically distributed corner rings 325, and the corner rings 325 are fitted with the support column 323. The two corner rings 325 in the same set are fitted with a compression spring 326 sleeved on the outer wall of the support column 323.

[0105] Reference Figure 7 , Figure 8 , Figure 10 and Figure 12 It is known that the shaft end seat 315 is symmetrically fitted with a mouthpiece 331 at the end near the vehicle body 11. The two mouthpieces 331 in the same group are rotatably fitted with a long connecting rod 332. A connecting plate 333 is fitted with the middle position of the outer wall of the long connecting rod 332. An electrostatic shovel 334 is fitted with the outer wall of the connecting plate 333 away from the shaft end seat 315. An outer end post 335 is fitted with the end of the long connecting rod 332 near the gravity. A torsion spring 336 is fitted with the mouthpiece 331 and the outer end post 335. An outer corner ring 337 is fitted with the outer wall of the outer end post 335 near the mouthpiece 331. A transmission gear 338 is fitted with the outer wall of the outer end post 335 near the gravity. A helical spring 339 sleeved on the outer wall of the outer end post 335 is fitted with the transmission gear 338 and the outer corner ring 337.

[0106] Reference Figure 3 , Figure 7 , Figure 8 and Figure 10 It is known that a corner post 341 is snapped and installed at the middle position of the end face of the shaft end seat 315 near the outer end post 335. A supplementary plate 342 is snapped and installed at the end of the corner post 341 away from the shaft end seat 315. A drive gear 343 that meshes with the transmission gear 338 is installed at the end of the supplementary plate 342 away from the axis of the corner post 341 through a connecting shaft. A page plate 344 is installed at the end of the drive gear 343 away from the transmission gear 338 through a connecting shaft. A ball head rod 345 that cooperates with the page plate 344 is symmetrically snapped and installed at the end of the multi-degree-of-freedom charging brush 112 near the gravity. A dust collection chamber 346 is snapped and installed at the end face of the connecting plate 333 away from the angle steel plate 32. An outer angle valve 347 is evenly inserted and installed in an array at the end face of the dust collection chamber 346 near the long connecting rod 332.

[0107] Reference Figure 12 and Figure 13 It can be seen that the corner seat 351 is slidably snapped onto the middle position of the end face of the connecting plate 333 near the angle steel plate 32. The bracket 352 is symmetrically snapped onto the end face of the corner seat 351 away from the connecting plate 333. An angle shovel 353 is snapped onto the end of the bracket 352 away from the angle seat 351. A two-stage dust chamber 354 is snapped onto the end face of the angle shovel 353 near the connecting plate 333. The two-stage dust chamber 354 and the bracket 352 are connected by a common plug-in type of transfer valve 355 that is connected to the two-stage dust chamber 354.

[0108] The clamping and guiding process of the traction wheel 322 on the multi-degree-of-freedom charging brush 112:

[0109] With the stable support of the angle steel plate 32 provided by the electric telescopic rod 33 (the angle position compartment 31 provides a stable support environment to the angle steel plate 32), the transition groove ring 35 drives the support plate 36 to move to a predetermined depth in the direction of the angle position compartment 113. (In specific implementation, the free extension and retraction of the movable sleeve 34 provides further relative movable support points to the angle steel plate 32 and the support plate 36, reducing the local stress concentration phenomenon between the transition groove ring 35 and the electric telescopic rod 33 and the angle steel plate 32, and improving the axial movement accuracy of the electric telescopic rod 33; in addition, the movable assembly between the angle slider 38 and the charging terminal 1 further distributes the force state of the support plate 36 during the movement process, indirectly improving the service life of the support plate 36), until the traction wheel 322 contacts the multi-degree-of-freedom charging brush 112 and maintains the predetermined interaction force.

[0110] In practice, a certain amount of rubber sleeve can be added to the surface of the traction wheel 322, which helps to create a buffer contact environment with the multi-degree-of-freedom charging brush 112 and reduce contact loss.

[0111] Support 323, corner ring 325, and compression spring 326: The cooperation between the three components provides relative movement space to the shaft end seat 315, avoiding excessive rigid collision contact between the traction wheel 322 and the multi-degree-of-freedom charging brush 112. In specific implementation, the rubber head 324 provides limit point clamping limitation to the multi-degree-of-freedom charging brush (and the rubber head 324 provides further buffer support to the multi-degree-of-freedom charging brush 112, changing the sliding contact state through rolling cooperation and reducing relative friction).

[0112] The dynamic adjustment process of the relative clamping effect difference between the traction wheel 322 at different ends and the multi-degree-of-freedom charging brush 112:

[0113] First, the traction wheel 322 provides a reverse force support to the shaft end seat 315, causing the shaft end seat 315 to have a relative motion relationship with the angle cylinder 37 under the aforementioned reverse force.

[0114] During this process, under the action of the shaft end seat 315, the piston 311 synchronously controls the washer 313 to move a predetermined distance toward the support plate 36 (the telescopic spring 314 is stretched to a predetermined range, and through the self-recovery property of the telescopic spring 314, when the multi-degree-of-freedom charging brush 112 is disengaged from the corner chamber 113, it provides the piston 311 with a driving force to move to the initial position. In addition, the telescopic spring 314 can relatively reduce the radial runout between the piston 311 and the corner cylinder 37 and the shaft end seat 315, indirectly avoiding the "micro" relative collision between the traction wheel 322 and the multi-degree-of-freedom charging brush 112).

[0115] Next, the three angle valves 316 in the same group and the oil lines 317 at the corresponding positions are connected by an external multi-port pipe. After that, as the relative interaction depth between the piston 311 and the angle cylinder 37 increases, the oil inside the oil line 317 (and the volume of the oil is a predetermined value) is compressed to a predetermined degree (in specific implementation, the degree of compression is determined by the relative force between the traction wheel 322 and the multi-degree-of-freedom charging brush 112).

[0116] Finally, by utilizing the relative incompressibility of the oil, a driving force is provided to the double-ended spring striker 318, causing the double-ended spring strikers 318 on both sides to be stretched or compressed to different degrees (thereafter, combined with the principle of volume conservation in hydraulic transmission and the force balance analysis of piston 311 and oil, after stabilization, the relative movement distance of pistons 311 on both sides is equal, and the vertical distance between the external traction wheel 322 and the multi-degree-of-freedom charging brush 112 of the clamping center is also the same).

[0117] Thus, the symmetrical clamping stabilization system has been established (the symmetrical clamping stabilization structure constructs a healthy immune system for the AGV charging system through the dual mechanisms of "force symmetry and dynamic adjustment coordination," solving the problem of adjustment asymmetry caused by local spring attenuation and significantly improving charging reliability and system lifespan).

[0118] Solution for dust removal from the vertical end face of the multi-degree-of-freedom charging brush 112:

[0119] Prerequisite: When the multi-degree-of-freedom charging brush 112 is docked with the charging base 114;

[0120] By continuously changing the relative motion relationship between the ball joint 345 and the page plate 344, the meshing degree between the drive gear 343 (which provides stable rigid support to the supplementary plate 342 through the corner post 341, and provides a reasonable spatial layout to the drive gear 343 through the supplementary plate 342) and the transmission gear 338 is dynamically adjusted in real time. This linearly changes the relative rotation angle between the outer end post 335 and the mouthpiece frame 331, gradually increases the torque value of the torsion spring 336 (which provides the source driving force to return to the initial position to the drive gear 343 and the transmission gear 338 through the coil spring 339), progressively changes the relative interaction relationship between the connecting plate 333 and the mouthpiece frame 331, continuously strengthens the relative contact degree between the electrostatic shovel 334 and the multi-degree-of-freedom charging brush 112, and improves the cleaning and processing effect of the electrostatic brush on the multi-degree-of-freedom charging brush 112.

[0121] During this process, through the linkage between the dust collection chamber 346 and the external angle valve 347, the dust adsorbed by the electrostatic shovel 334 is continuously collected to the outside (in specific implementation, the external angle valve 347 and the external compressed air pump 219 can be connected through an external hose), reducing the relative escape range of dust and providing a complete dust treatment environment.

[0122] The self-cleaning process of the electrostatic field itself:

[0123] Under the synchronous control of the corner base 351, the corner shovel 353 continuously moves relative to the electrostatic shovel 334 in the power-off state (in specific implementation, the corner base 351 can be moved by an electric slider), and collects the dust emitted during the scraping and cleaning process in an overall manner through the two-stage dust bin 354 and the transfer valve 355 (refer to the aforementioned dust collection bin 346 and outer angle valve 347). At this time, the electrostatic shovel 334 is in the power-off state and can provide the corner shovel 353 with the opposite charge to the electrostatic shovel 334 as appropriate, thereby ensuring the relative cleanliness of the electrostatic shovel 334 in the overall operation process.

[0124] The present invention provides a high-precision alignment device for robot entry into a warehouse based on an end servo slide and visual laser feedback. The working principle is as follows: First step: First, the charging terminal 1 is controlled by the vehicle body 11 to be distributed in a positive and opposite manner with the charging pile. Then, the multi-degree-of-freedom charging brush 112 extends towards the charging chamber 111 until the multi-degree-of-freedom charging brush 112 and the charging base 114 are engaged.

[0125] During this process, the contact form between the traction column 23 and the multi-degree-of-freedom charging brush 112 is changed by the traction ball 24, reducing the excessive wear caused by contact collision friction. The elastic variable of the reset spring 27 provides a predetermined relative force to the traction column and the traction ball 24, ensuring that the traction ball 24 stably guides the multi-degree-of-freedom charging brush 112 while reducing the radial runout between the traction column 23 and the traction plate, and further reducing the relative contact area between the traction ball 24 and the multi-degree-of-freedom charging brush 112.

[0126] Step 2: Then, through the extension action of the electric telescopic rod 33, the support plate 36 is synchronously controlled to move towards the charging compartment 111 until the traction wheel 322 contacts the multiple free charging brushes.

[0127] During this process, the shaft end seat 315 generates a relative motion depth with the support plate 36 under the reverse force of the traction wheel 322. At this time, the telescopic spring 314 is stretched to a predetermined degree, the relative action depth between the piston 311 and the angle cylinder 37 is increased, and the oil between the angle cylinder 37 and the double-headed spring striker 318 is compressed until the double-headed spring strikers 318 on both sides remain relatively stable, thereby realizing that the relative action force between the two opposing traction wheels 322 and the multi-degree-of-freedom charging brush 112 is relatively consistent.

[0128] Step 3: Finally, through the relative movement between the multi-degree-of-freedom charging brush 112 and the charging base 114, a certain degree of relative movement is caused between the ball head rod 345 and the page plate 344.

[0129] During this process, under the squeezing action of the ball head rod 345, the page plate 344 synchronously controls the drive gear 343 to rotate at a predetermined angle. Subsequently, under the meshing action of the drive gear 343, the transmission gear 338 synchronously controls the outer end column 335 to change the relative rotation angle between the long connecting rod 332 and the mouthpiece frame 331, causing the torsion spring 336 to twist to a certain extent, changing the relative elasticity between the connecting plate 333 and the mouthpiece frame 331, and gradually increasing the relative contact degree between the electrostatic shovel 334 and the vertical end face of the multi-degree-of-freedom charging brush 112, thereby improving its relative cleaning processing degree and effect.

[0130] In addition, under the synchronous control of the corner base 351, the corner shovel 353 continuously moves relative to the electrostatic shovel 334 in the power-off state, and through the linkage between the dust collection chamber 346 and the second-stage dust chamber 354, it performs overall adsorption and collection of the dust that escapes during the aforementioned scraping and cleaning process, thereby ensuring the relative cleanliness of the electrostatic shovel 334 during the overall operation.

[0131] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0132] The above are merely embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback, comprising a charging terminal (1), characterized in that: The charging terminal (1) has a horizontal traction unit (2) arranged symmetrically inside, and a balance unit (3) arranged symmetrically inside the charging terminal (1) in a vertical position with the horizontal traction unit (2). The balancing unit (3) includes: There are two corner compartments (31), which are symmetrically located inside the vertical compartments on both sides of the charging terminal (1); Angle steel plate (32) is snapped and installed in the middle of the inner wall of the corner compartment (31); The electric telescopic pole (33) is snapped into the middle of the end face of the angle steel plate (32) near the center line of the charging terminal (1); The movable sleeve (34) is symmetrically snapped onto both ends of the angle steel plate (32) near the center line of the charging terminal (1); The adapter groove ring (35) is snapped onto the outer wall of the end of the electric telescopic rod (33) away from the angle steel plate (32); The support plate (36) is snapped onto the end face of the transition groove ring (35) away from the angle steel plate (32), and the support plate (36) is snapped into the movable sleeve (34) for assembly. Angle tube (37) is symmetrically plugged into and snapped into the middle position at both ends of the support plate (36); Angle sliders (38) are symmetrically snapped onto both ends of the vertical sections on both sides of the support plate (36), and the angle sliders (38) are slidably snapped onto the charging terminal (1).

2. The high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback as described in claim 1, characterized in that: A piston (311) is slidably mounted on the inner wall of the angle cylinder (37). An angle ring (312) that is also slidably mounted on the outer wall of the piston (311) away from the support plate (36) is also slidably mounted on the outer wall of the piston (311) away from the support plate (36). A washer (313) that is also slidably mounted on the outer wall of the piston (311) near the support plate (36) is also slidably mounted on the outer wall of the piston (37). A telescopic spring (314) that is sleeved on the outer wall of the piston (311) is slidably mounted between the angle ring (312) and the washer (313). The outer walls of the two angle cylinders (37) in the same group are also slidably mounted on the outer wall of the piston (311). A shaft end seat (315) is installed in a common sliding snap-fit ​​configuration, and the shaft end seat (315) is snap-fitted with the piston (311). An angle valve (316) connected to the inside of the angle cylinder (37) is installed in the middle of the end face of the angle steel plate (32) by a plug-in snap-fit ​​configuration. An oil pipeline (317) is opened inside the charging terminal (1), and the oil pipeline (317) is composed of grooved pipelines with U-shaped cross sections at both ends. A double-headed spring striker (318) is installed in the horizontal section of the oil pipeline (317) in a symmetrical sliding snap-fit ​​configuration through an installation ring.

3. The high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback as described in claim 2, characterized in that: The shaft end seat (315) is symmetrically fitted with ear plates (321) on the side away from the support plate (36), in two sets, with two ear plates (321) forming one set. The two ear plates (321) in the same set are rotatably fitted with a traction wheel (322). The support plate (36) is symmetrically fitted with a support column (323) slidably fitted with the coaxial end seat (315) at the middle position of the side away from the angle steel plate (32), and the corner column (341) is fitted with the support column (323). The shaft end seat (315) is completely penetrated. The end face of the support column (323) away from the support plate (36) is rolled and fitted with a rubber head (324). The shaft end seat (315) and the support plate (36) are provided with symmetrically distributed corner rings (325). The corner rings (325) are snapped and fitted with the support column (323). The two corner rings (325) in the same group are snapped and fitted with a compression spring (326) sleeved on the outer wall of the support column (323).

4. The high-precision alignment device for robot warehousing based on an end-effector servo slide and visual laser feedback as described in claim 3, characterized in that: The shaft end seat (315) is symmetrically fitted with a mouthpiece frame (331) at the end near the vehicle body (11). Two mouthpiece frames (331) in the same group are rotatably fitted with a long connecting rod (332). A connecting plate (333) is fitted with the middle position of the outer wall of the long connecting rod (332). An electrostatic shovel (334) is fitted with the outer wall of the connecting plate (333) away from the shaft end seat (315). An outer end post is fitted with the end of the long connecting rod (332) near the gravity. (335) A torsion spring (336) is installed together with the mouth frame (331) and the outer end column (335). An outer corner ring (337) is installed on the outer wall of the outer end column (335) near the mouth frame (331). A transmission gear (338) is installed on the outer wall of the outer end column (335) near the gravity side. A helical spring (339) sleeved on the outer wall of the outer end column (335) is installed together with the transmission gear (338) and the outer corner ring (337).

5. The high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback as described in claim 4, characterized in that: A corner post (341) is snapped onto the middle of the end face of the shaft end seat (315) near the outer end post (335). A replacement plate (342) is snapped onto the end of the corner post (341) away from the shaft end seat (315). A drive gear (343) that meshes with the transmission gear (338) is installed on the end of the replacement plate (342) away from the axis of the corner post (341) through a coupling. The drive gear (343) is further away from the transmission gear (338). 8) One end is fitted with a page plate (344) through a rotating coupling. The multi-degree-of-freedom charging brush (112) is symmetrically fitted with a ball head rod (345) that matches the page plate (344) at the end closest to gravity. The end face of the connecting plate (333) away from the angle steel plate (32) is fitted with a dust collection chamber (346). The end face of the dust collection chamber (346) near the long connecting rod (332) is uniformly fitted with an outer angle valve (347) in an array.

6. The high-precision alignment device for robot warehousing based on an end-effector servo slide and visual laser feedback according to claim 5, characterized in that: The connecting plate (333) is slidably snapped into the middle of the end face near the angle steel plate (32) with an angle face seat (351). The end face of the angle face seat (351) away from the connecting plate (333) is symmetrically snapped into a bracket (352). The end of the bracket (352) away from the angle face seat (351) is snapped into a corner shovel (353). The end face of the corner shovel (353) near the connecting plate (333) is snapped into a two-stage dust chamber (354). The two-stage dust chamber (354) and the bracket (352) are connected by a common plug-in type of transfer valve (355) connected to the two-stage dust chamber (354).

7. The high-precision alignment device for robot warehousing based on an end-effector servo slide and visual laser feedback as described in claim 6, characterized in that: The horizontal traction unit (2) includes: There are two horizontal slots (21) that are symmetrically arranged inside the charging terminal (1); in addition, the horizontal slots (21) are vertically distributed with the corner compartments (31); The horizontal grid plate (22) is symmetrically snapped onto the inner wall of the horizontal grid groove (21); At least two traction columns (23) are slidably snapped together between two of the crossbeams (22) in the same group; The traction ball (24) is rolled and installed at the end of the traction column (23) away from the horizontal grid plate (22); The gasket (25) is snapped onto the outer wall of the end of the traction column (23) away from the centerline of the charging terminal (1); The pressure ring (26) is snapped onto the outer wall of the traction column (23) near the center line of the charging terminal (1), and the pressure ring (26) and the gasket (25) are both located between the horizontal grid plates (22); The return spring (27) is snapped between the pressure ring (26) and the gasket (25), and the return spring (27) is sleeved on the outer wall of the traction column (23).

8. The high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback as described in claim 7, characterized in that: The traction column (23) is slidably snapped onto the outer wall of the end away from the gasket (25) with an annular spray chamber (211) snapped onto the same horizontal grid plate (22). The annular spray chamber (211) has evenly distributed air holes (212) on the side of its end face away from the gasket (25), with the density of the air holes (212) on the side away from the charging terminal (1) being less than the density on the side closer to the charging terminal (1). A double-through pipe (213) is plugged onto the outer wall of one side of the annular spray chamber (211) and is also plugged onto the same horizontal grid plate (22). The horizontal grid groove (21) is far from... A booster pipe (214) connected to a double-pass pipe (213) is provided on one side away from the charging terminal (1). A three-way slot (215) is provided inside the charging terminal. An air intake pipe (216) is inserted into the two horizontal sections of the three-way slot (215). An air inlet pipe (217) connected to the air intake pipe (216) is inserted into the vertical section of the three-way slot (215). A flow butterfly valve (218) is snapped onto the end of the air inlet pipe (217) away from the charging terminal (1). An air pump (219) is provided outside the charging terminal (1).

9. A high-precision alignment device for robot warehousing based on an end-effector servo slide and visual laser feedback as described in claim 8, characterized in that: The charging terminal (1) is attached to a vehicle body (11) at one end. A wheel (12) is mounted on the middle of the vehicle body (11) in a rotating manner. A lifting platform (13) is attached to the end of the vehicle body (11) away from gravity. In addition, the air pump (219) is attached to the lifting platform (13) via a mounting bracket (352). A cargo platform (14) is attached to the end of the lifting platform (13) away from the vehicle body (11). An AGV charging pile (15) is set opposite to the side of the charging terminal (1) away from the vehicle body (11). A collision protection bracket (16) is attached to the middle of the end face of the lifting platform (13) near the AGV charging pile (15). A rubber pad (17) is attached to the end of the collision protection bracket (16) away from the vehicle body (11). A front bumper (18) is attached to the end face of the vehicle body (11) away from the charging terminal (1). A vision laser (19) is plugged into the end of the cargo platform (14) away from the AGV charging pile (15).

10. A high-precision alignment device for robot entry into a warehouse based on an end-effector servo slide and visual laser feedback as described in claim 8, characterized in that: The AGV charging pile (15) is fitted with a charging compartment (111) inside. The charging compartment (111) is fitted with a multi-degree-of-freedom charging brush (112). The charging terminal (1) is provided with a corner compartment (113) in the middle of the end face away from the vehicle body (11), which is connected to the horizontal grid groove (21) and the corner compartment (31). The corner compartment (113) has an isosceles trapezoidal cross-section. A charging seat (114) is fitted with the middle of the inner wall of the corner compartment (113) near the vehicle body (11).

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