Precision adjusting mechanism, autonomous moving device and transportation system

Abstract

The utility model provides a precision adjusting mechanism, autonomous mobile device and transportation system, precision adjusting mechanism is used for autonomous mobile device, autonomous mobile device includes autonomous mobile vehicle body and conveying mechanism, precision adjusting mechanism includes: the base is used for installing on the autonomous mobile vehicle body; the rotating platform is rotatably mounted on the base; the sliding rail is mounted on the rotating platform; and the connecting plate is mounted on the sliding rail, can slide along the sliding rail and is used for mounting a conveying mechanism. According to the scheme, the docking precision of the autonomous moving device and other conveying systems can be improved, so that the autonomous moving device can be applied to occasions with higher docking precision requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation systems, in particular, relates to a precision adjustment mechanism, an autonomous mobile device and a transportation system. BACKGROUND

[0002] In the intelligent transportation system, autonomous mobile robots (AMR) or automated guided vehicles (AGV) are often used to realize the loading and unloading of materials. The autonomous mobile device is provided with a conveying mechanism to realize the conveying of materials. When loading and unloading, the conveying mechanism needs to be connected with other conveying systems to ensure the smooth transfer of materials between the autonomous mobile device and other conveying systems.

[0003] In related solutions, the connection between the conveying mechanism and other conveying systems is realized by the movement of the autonomous mobile device. This connection method has low connection accuracy and cannot be applied to occasions with high connection accuracy requirements. UTILITY MODEL CONTENT

[0004] The present application aims to at least solve the problem of low connection accuracy of the autonomous mobile device in the prior art or related art.

[0005] To this end, the first aspect of the present application is to provide a precision adjustment mechanism.

[0006] The second aspect of the present application is to provide an autonomous mobile device.

[0007] The third aspect of the present application is to provide a transportation system.

[0008] The first aspect of the present application provides a precision adjustment mechanism for an autonomous mobile device, the autonomous mobile device comprising an autonomous mobile vehicle body and a conveying mechanism, the precision adjustment mechanism comprising: a base for mounting on the autonomous mobile vehicle body; a rotating platform rotatably mounted on the base; a slide rail mounted on the rotating platform; and a connecting plate mounted on the slide rail and capable of sliding along the slide rail, for mounting the conveying mechanism.

[0009] The precision adjustment mechanism provided in this application is used in an autonomous mobile device. The autonomous mobile device includes an autonomous mobile vehicle body and a conveying mechanism. The precision adjustment mechanism is disposed between the autonomous mobile vehicle body and the conveying mechanism to adjust the position of the conveying mechanism. The precision adjustment mechanism includes a base, a rotating platform, a slide rail, and a connecting plate. The base is used to connect to the autonomous mobile vehicle body to mount the entire precision adjustment mechanism onto the vehicle body. The rotating platform is rotatably mounted on the base, and the slide rail is mounted on the rotating platform. The rotation angle and lateral position of the conveying mechanism can be adjusted via the rotating platform and the slide rail. This allows for fine adjustment of the conveying mechanism's position when the autonomous mobile device docks with other conveying systems, thereby improving the docking precision of the autonomous mobile device with other conveying systems. This enables the autonomous mobile device to be used in applications requiring higher docking precision, thus solving the problem in related solutions where docking between the conveying mechanism and other conveying systems is achieved through the movement of autonomous mobile devices such as AGV transport trolleys, resulting in low docking precision.

[0010] To support the installation of the conveying mechanism, a connecting plate is installed on the slide rail. The connecting plate allows for the connection and fixation between the precision adjustment mechanism and the conveying mechanism. The connecting plate can serve as both the top plate of the precision adjustment mechanism and the bottom plate of the conveying mechanism, meaning that the conveying mechanism and the precision adjustment mechanism can share the same connecting plate.

[0011] Optionally, in any of the above technical solutions, the precision adjustment mechanism further includes a locking component, which includes a locking member movably mounted on the base and having a first position and a second position. When the locking member is in the first position, the rotating platform can drive the connecting plate to rotate, and the connecting plate can slide relative to the slide rail. When the locking member is in the second position, it can lock the connecting plate.

[0012] In this embodiment, the precision adjustment mechanism also includes a locking component. The locking component is used to fix the conveying mechanism via the connecting plate, preventing the conveying mechanism from moving. Simultaneously, the locking component can also release the fixation on the conveying mechanism to unlock it, allowing its position to be adjusted. Specifically, when the autonomous moving device is docked, the connecting plate can be unlocked first via the locking component, and then the conveying mechanism can be rotated and / or moved to achieve fine-tuning of its position. After the conveying mechanism's position is adjusted, the locking component can fix the position of the connecting plate to prevent the conveying mechanism from moving during material transport.

[0013] Optionally, the precision adjustment mechanism further includes a first drive device for driving the locking member to move between a first position and a second position along the height direction of the autonomous moving device.

[0014] Optionally, the precision adjustment mechanism further includes a first detection device for detecting the position of the locking element. The first drive device can control the movement of the locking element based on the detection result of the first detection device.

[0015] In any of the above technical solutions, optionally, the first position and the second position are spaced apart along the height direction of the autonomous mobile device.

[0016] In this embodiment, the first and second positions are spaced apart along the height direction, meaning the locking member can move along the height direction to lock and unlock the connecting plate. This locking method allows the adjusting component to increase in height, reducing the lateral width of the precision adjustment mechanism and thus decreasing the width of the autonomous moving device.

[0017] The locking components are located on opposite sides of the rotating platform, allowing the rotating platform to avoid the locking components so that the locking components can directly engage with the mounting holes on the connecting plate.

[0018] Optionally, in any of the above technical solutions, the connecting plate includes a plate body and a mounting hole disposed on the plate body, and the locking member includes a locking pin, which is capable of moving from a first position to a second position along the height direction of the autonomous moving device. When the locking pin is in the first position, the locking pin is located on one side of the connecting plate, and when the locking pin is in the second position, a portion of the locking pin is inserted into the mounting hole.

[0019] In this embodiment, the locking element is specifically a locking pin. By moving the locking pin along the height direction, the degrees of freedom of the connecting plate in the width and length directions of the autonomous moving device, as well as the rotational degree of freedom of the connecting plate in the horizontal plane, can be restricted or unlocked. Furthermore, the structure of the locking pin and the mounting hole is relatively simple, thereby simplifying the product structure and reducing processing costs.

[0020] In any of the above technical solutions, optionally, the top of the locking pin can be inserted into the mounting hole from the first end of the mounting hole and protrude from the second end of the mounting hole, the first end of the mounting hole is frustoconical, and the top of the locking pin is conical.

[0021] In this embodiment, the top of the locking pin is set to a conical shape and the bottom of the mounting hole is set to a frustum shape, which allows the locking pin to be better inserted into the mounting hole. This reduces the installation accuracy requirements between the locking pin and the mounting hole, so that even if there is a certain error during installation, the locking pin can still be inserted into the mounting hole normally to achieve locking and limiting of the connecting plate.

[0022] In any of the above technical solutions, the connecting plate may optionally include: a receiving hole disposed on the plate body; a pin sleeve disposed on the plate body, at least partially located within the receiving hole, and a mounting hole disposed on the pin sleeve.

[0023] In this embodiment, a dedicated pin sleeve is provided for the locking pin. The pin sleeve has a mounting hole for the locking pin to be inserted. The pin sleeve can be directly installed into the receiving hole of the connecting plate. This structure allows the mounting hole to be set independently of the plate body, thus facilitating the processing of the plate body. After the plate body and the pin sleeve are processed, they can be assembled together to form the connecting plate.

[0024] In any of the above technical solutions, optionally, the locking assembly further includes: a mounting base, mounted on a base; a guide rail, disposed on the mounting base along the height direction of the autonomous moving device; a guide seat, slidably mounted on the guide rail, and the locking element mounted on the guide seat; a first detection device, mounted on the mounting base or base, for detecting the position of the locking element or the guide seat; and a first driving device, connected to the first detection device and the locking element, capable of controlling the movement of the guide seat based on the detection result of the first detection device.

[0025] In this embodiment, the locking assembly further includes a mounting base, a guide rail, and a guide seat. The mounting base is used to fix the locking assembly on the base. The guide rail is used to guide the guide seat. The sliding of the guide seat can drive the locking member to slide along the height direction. This structure, through the cooperation of the guide seat and the guide rail, makes the sliding of the locking member along the height direction more stable and avoids the position of the locking member from shifting.

[0026] The first drive unit is a power source used to drive the guide seat to move. Furthermore, during the movement of the guide seat, when the first detection device detects the guide seat, it can send a positioning signal. After receiving the positioning signal, the first drive unit can control the guide seat to stop moving. In this way, the position of the locking element or the guide seat can be controlled by the first detection device to prevent the guide seat from sliding off the guide rail.

[0027] Optionally, in any of the above technical solutions, a detection block is provided on the guide seat, and the first detection device is used to detect the position of the detection block.

[0028] In this embodiment, a detection block is provided on the guide seat, and a first detection device is used to detect the position of the detection block to determine the position of the guide seat, thereby controlling the sliding of the guide seat. The first detection device can be mounted on the mounting base via a bracket.

[0029] Optionally, in any of the above technical solutions, the locking assembly further includes a stop device disposed at both ends in the height direction of the autonomous moving device to limit the sliding range of the guide seat.

[0030] In this embodiment, to prevent the guide seat from sliding off the guide rail during vertical movement, stop devices are provided on both the upper and lower sides of the guide rail. These stop devices limit the guide seat, ensuring it cannot slide off the guide rail.

[0031] In any of the above technical solutions, optionally, the number of mounting bases, guide rails and guide seats are the same, the number of mounting bases, guide rails and guide seats is at least two, at least two mounting bases, at least two guide rails and at least two guide seats are arranged in a one-to-one correspondence, and at least two guide seats are connected by a connecting rod; the number of locking members is at least two, and they are arranged on at least two guide seats; the first driving device is arranged corresponding to one of the guide seats to drive one of the guide seats to slide along its corresponding guide rail.

[0032] In this embodiment, multiple locking elements can be used to achieve multi-point positioning of the connecting plate, thereby preventing rotation of the connecting plate. Each locking element is equipped with a mounting base, a guide rail, and a guide seat. To reduce the number of first drive devices, at least two guide seats can be connected by a connecting rod. During driving, the first drive device can be connected to one of the guide seats, which then acts as the driving seat. The other driven guide seats can then be moved through this guide seat and the connecting rod. This reduces the number of first drive devices, thereby lowering the product cost.

[0033] Furthermore, connecting at least two guide seats via a connecting rod can make the movement of at least two guide seats more synchronized.

[0034] In any of the above technical solutions, optionally, the number of mounting bases, the number of guide rails, and the number of guide seats are three, and the three mounting bases are spaced apart along the first direction of the connecting plate, the first direction being the length direction or the width direction of the connecting plate; the number of locking members is two, and the two locking members are disposed on the two guide seats located on both sides, and the first driving device is disposed corresponding to the guide seat located in the middle, so as to drive the guide seat located in the middle to slide along its corresponding guide rail.

[0035] In this embodiment, two locking components can be specifically configured. Three mounting bases, three guide rails, and three guide seats can be provided, forming three sets of lifting devices. During installation, the first drive device can be connected to the middle guide seat, and the two locking components can be installed on the two side guide seats. In this structure, the first drive device drives the middle guide seat to move up and down, thereby driving the two side guide seats and their locking components to rise and fall via the connecting rod, thus achieving locking and unlocking of the connecting plate.

[0036] In any of the above technical solutions, optionally, the first driving device includes: a first motor, rotatably mounted on a base; a crank, one end of which is mounted on the motor shaft of the first motor, and the rotation of the first motor can drive the crank to rotate axially around the motor shaft of the first motor; a connecting shaft, one end of which is rotatably connected to the other end of the crank, and the other end of which is rotatably connected to the guide seat; wherein, the rotation of the first motor can drive the guide seat to slide along the guide rail through the crank and the connecting shaft.

[0037] In this embodiment, the first driving device is a first motor. A crank-connecting rod structure is provided between the first motor and the guide seat to convert the rotational motion of the first motor into the linear motion of the guide seat.

[0038] In addition, the rotational motion of the first motor can be converted into the linear motion of the guide seat through a lead screw nut, cam mechanism, etc.

[0039] In any of the above technical solutions, optionally, the rotation axis of the rotating platform is set along the height direction of the autonomous moving vehicle body, the locking component is located at the bottom of the connecting plate along the height direction, and the upper part of the connecting plate is used to support the installation of the conveying mechanism.

[0040] In this embodiment, the locking component and the connecting plate are arranged along the height direction, with the locking component located at the bottom and the connecting plate located at the top. This structure allows space above the connecting plate to be reserved for the installation of the conveying mechanism, so that the conveying mechanism and the locking component can be located on the upper and lower sides of the connecting plate. This makes better use of the height space, thereby reducing the width of the autonomous moving device and making the overall structure of the machine more reasonable.

[0041] Of course, in other solutions, the locking components can also be arranged above the connecting plate.

[0042] Optionally, in any of the above technical solutions, the precision adjustment mechanism further includes: multiple support columns mounted on the base, and a rotating platform mounted on the multiple support columns.

[0043] In this embodiment, the rotating platform is mounted on the base via multiple support columns. This allows the rotating platform to be installed at a relatively high height, thus facilitating the provision of space below the rotating platform for installing other components. This makes full use of the height space, thereby reducing the width of the autonomous moving device and resulting in a more rational overall structure.

[0044] Specifically, at least a portion of the first drive unit, connecting rod, mounting base, guide rail, and guide seat of the locking assembly can be positioned lower relative to the rotating platform, thereby facilitating the placement of at least a portion of the locking assembly below the rotating platform. For example, the first drive unit is positioned below the rotating platform.

[0045] In any of the above technical solutions, optionally, the rotating platform includes: a first mounting plate mounted on a base; a rotating device rotatably mounted on the surface of the first mounting plate opposite to the base; a second mounting plate mounted on the surface of the rotating device opposite to the first mounting plate; and a slide rail mounted on the second mounting plate.

[0046] In this embodiment, the rotating platform has a four-layer structure. A first mounting plate is mounted on the base, forming the first layer of the rotating platform. A rotating device is rotatably mounted on the surface of the first mounting plate opposite to the base, forming the second layer of the rotating platform. A second mounting plate is mounted on the surface of the rotating device opposite to the first mounting plate, forming the third layer of the rotating platform. A slide rail is mounted on the second mounting plate, forming the fourth layer of the rotating platform. This arrangement, with the rotating device sandwiched between the first and second mounting plates, facilitates the connection between the rotating device, the base, and the slide rail.

[0047] In any of the above technical solutions, optionally, the rotating platform includes a first gear and a second drive device; the second gear meshes with the first gear and can be driven by the second drive device to rotate the rotating platform.

[0048] In this embodiment, the rotating platform can be driven by a second motor. Torque transmission between the second motor and the rotating platform is achieved through a gear structure. This gear structure includes a first gear mounted on the rotating platform and a second gear mounted on the motor. The gear-driven structure is relatively simple and compact, thus facilitating cost reduction and size reduction in the product.

[0049] The second aspect of this application proposes an autonomous mobile device, including a precision adjustment mechanism provided by any of the technical solutions in the first aspect, which is installed on the autonomous mobile device; and a conveying mechanism, which is installed on the side of the connecting plate away from the slide rail.

[0050] The autonomous moving device proposed according to the technical solution of this application, since it includes the precision adjustment mechanism provided by any of the technical solutions of the first aspect, therefore, it has all the beneficial effects of the precision adjustment mechanism provided by any of the technical solutions of the first aspect. The autonomous moving device further includes a conveying mechanism, installed on the side of the connecting plate opposite to the slide rail. The conveying mechanism is used for conveying materials.

[0051] In any of the above technical solutions, optionally, the conveying mechanism includes a bearing plate, wherein the bearing plate and the connecting plate are an integral structure or the bearing plate and the connecting plate are separate structures.

[0052] In this embodiment, the conveying mechanism and the precision adjustment mechanism can share a single plate, or they can each have their own plate.

[0053] The third aspect of this application proposes a transportation system, including a precision adjustment mechanism provided by any of the technical solutions in the first aspect and / or an autonomous moving device provided by any of the technical solutions in the second aspect.

[0054] The transportation system proposed according to the technical solution of this application, since it includes the precision adjustment mechanism provided by any of the technical solutions of the first aspect and / or the autonomous moving device provided by any of the technical solutions of the second aspect, has all the beneficial effects of the precision adjustment mechanism provided by any of the technical solutions of the first aspect and / or the autonomous moving device provided by any of the technical solutions of the second aspect, which will not be repeated here.

[0055] Optionally, in any of the above technical solutions, the autonomous mobile device can be positioned by an auxiliary positioning device. The auxiliary positioning device is provided with a first plug-in structure. The autonomous mobile device includes a second plug-in structure, which is disposed on the precision adjustment mechanism and / or the conveying mechanism, and is used to plug and cooperate with the first plug-in structure when the autonomous mobile device is positioned by the auxiliary positioning device.

[0056] In this embodiment, when the autonomous mobile device docks with other conveying systems, the docking accuracy between the two can be ensured by an auxiliary positioning device. The auxiliary positioning device is equipped with a first insertion structure, and the autonomous mobile device is equipped with a second insertion structure. During docking and positioning of the autonomous mobile device, the first and second insertion structures can be inserted together, thereby achieving precise positioning of the autonomous mobile device through the insertion between the first and second insertion structures.

[0057] Optionally, in any of the above technical solutions, the autonomous moving device further includes: a second detection device, disposed on the precision adjustment mechanism and / or the conveying mechanism, for detecting whether the first insertion structure enters the detection range of the second detection device.

[0058] In this embodiment, during the docking and positioning of the autonomous mobile device, the position of the first insertion structure can be determined by the second detection device. If the second detection device can detect the first insertion structure, it indicates that the coarse alignment of the autonomous mobile device and the auxiliary positioning device is completed, and then the fine alignment of the autonomous mobile device can be carried out.

[0059] Optionally, in any of the above technical solutions, the autonomous mobile device further includes: a third detection device, disposed on the autonomous mobile vehicle body and / or the conveying mechanism, for detecting whether the first plug-in structure and the second plug-in structure are plugged in properly.

[0060] In this embodiment, when the autonomous mobile device performs precise positioning using the first and second insertion structures, a third detection device can be used to determine whether the first and second insertion structures are properly inserted. If both are properly inserted, the precise alignment is complete.

[0061] In any of the above technical solutions, optionally, the first insertion structure includes one of an insertion shaft and an insertion hole, and the second insertion structure includes the other of an insertion shaft and an insertion hole. The autonomous moving device also includes an insertion seat disposed on the precision adjustment mechanism and / or the conveying mechanism, with the insertion hole disposed on the insertion seat.

[0062] In this embodiment, the structures of the first and second plug-in structures can be configured as needed. Ideally, the first and second plug-in structures can be configured as a plug-in hole and a plug-in shaft. Of course, they can also be configured as a plug-in protrusion and a plug-in groove. Furthermore, a plug-in socket can be provided to provide the plug-in hole.

[0063] In any of the above technical solutions, optionally, the top of the plug shaft can be inserted into the plug hole from the first end of the plug hole, the first end of the plug hole is frustoconical, and the top of the plug shaft is conical.

[0064] In this embodiment, the top of the plug shaft is set to a conical shape, and the bottom of the plug hole is set to a frustum shape. This allows the plug shaft to be better inserted into the plug hole, thereby reducing the installation accuracy requirements between the plug shaft and the plug hole. Even if there is a certain error during installation, the plug shaft can still be inserted normally into the plug hole, ensuring that the autonomous moving device can complete the precise alignment operation normally.

[0065] For example, the plug shaft is a plug pin shaft.

[0066] In any of the above technical solutions, optionally, the autonomous mobile device further includes: an electromagnetic component, disposed on one of the base and the connecting plate; and a magnetically conductive component, disposed on the other of the base and the connecting plate; wherein the electromagnetic component has an energized state and an de-energized state, when the electromagnetic component is energized, the electromagnetic component and the magnetically conductive component are attracted to each other, and the connecting plate is in a magnetically locked state; when the electromagnetic component is de-energized, the electromagnetic component and the magnetically conductive component are disconnected, and the connecting plate is in a magnetically unlocked state.

[0067] In this embodiment, the autonomous moving device further includes an electromagnetic locking device. The electromagnetic locking device includes an electromagnetic component and a magnetically conductive component. The magnetically conductive component can be a magnet, a metal sheet, etc. The electromagnetic component can be energized to conduct magnetism or demagnetized by de-energizing. When it is necessary to lock the connecting plate or conveying mechanism, the energizing state of the electromagnetic component can be changed; for example, it can be energized to demagnetize the electromagnetic component, thereby disconnecting the electromagnetic component and the magnetically conductive component, thus unlocking the connecting plate or conveying mechanism. After the connecting plate or conveying mechanism is adjusted to its position, the electromagnetic component can be de-energized, allowing it to conduct magnetism, thereby enabling the electromagnetic component and the magnetically conductive component to magnetically attract each other, thus achieving magnetic locking of the connecting plate or conveying mechanism.

[0068] The electromagnetic locking device also includes a first connecting rod and a second connecting rod. The electromagnetic component is mounted on the connecting plate via the first connecting rod, and the magnetic component is mounted on the base via the second connecting rod. The electromagnetic locking device also includes a linear bearing and a sliding shaft installed within the linear bearing. The magnetic component is mounted on the sliding shaft and can slide up and down with the sliding shaft, thereby achieving attraction and disengagement with the electromagnetic component.

[0069] The autonomous mobile device also includes a first photoelectric sensor, and the auxiliary positioning device includes a second photoelectric sensor. One of the first and second photoelectric sensors is used to transmit signals, and the other is used to receive signals. These signals can be used to confirm whether the auxiliary positioning device and the autonomous mobile vehicle are roughly aligned; if they are roughly aligned, alignment work can begin.

[0070] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0071] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0072] Figure 1 One of the structural schematic diagrams of an autonomous mobile device according to an embodiment of the present invention is shown;

[0073] Figure 2 One of the structural schematic diagrams of the precision adjustment mechanism according to an embodiment of the present invention is shown;

[0074] Figure 3 A second schematic diagram of the precision adjustment mechanism according to an embodiment of the present invention is shown.

[0075] Figure 4 The third schematic diagram shows the structure of the precision adjustment mechanism according to one embodiment of the present invention;

[0076] Figure 5 This diagram illustrates the structural assembly of the base and locking component of the precision adjustment mechanism according to an embodiment of the present invention.

[0077] Figure 6 A partial structural diagram of the locking component of the precision adjustment mechanism according to an embodiment of the present invention is shown;

[0078] Figure 7 A partial structural schematic diagram of a rotating platform according to an embodiment of the present invention is shown;

[0079] Figure 8 A schematic diagram of the drive section of a rotating platform according to an embodiment of the present invention is shown;

[0080] Figure 9 A schematic diagram of the electromagnetic locking device of an autonomous moving device according to an embodiment of the present invention is shown;

[0081] Figure 10 This illustration shows one of the positioning status diagrams of the autonomous mobile device and the auxiliary positioning device according to an embodiment of the present invention;

[0082] Figure 11 This is a second schematic diagram showing the positioning status of the autonomous mobile device and the auxiliary positioning device according to an embodiment of the present invention;

[0083] Figure 12 This diagram illustrates a state of the auxiliary positioning device and the second insertion structure during the insertion process according to an embodiment of the present invention.

[0084] Figure 13 A schematic diagram of the connection mechanism according to an embodiment of the present invention is shown;

[0085] Figure 14 One of the structural schematic diagrams of the conveying mechanism according to an embodiment of the present invention is shown;

[0086] Figure 15 A second schematic diagram of the conveying mechanism according to an embodiment of the present invention is shown;

[0087] Figure 16 A flowchart illustrating the operation of a conveying mechanism according to an embodiment of the present invention is shown.

[0088] Figure label:

[0089] 100 Autonomous moving vehicle body, 200 Precision adjustment mechanism, 1 Base, 2 Rotating platform, 20 First mounting plate, 22 Rotating device, 222 First gear, 24 Second mounting plate, 3 Slide rail, 4 Connecting plate, 42 Plate body, 422 Receiving hole, 44 Pin sleeve, 442 Mounting hole, 5 Locking assembly, 50 Locking part, 501 Locking pin, 51 Mounting seat, 52 Guide rail, 53 Guide seat, 532 Detection block, 54 First detection device, 55 First drive device, 552 First motor, 554 Crank, 556 Connecting shaft, 56 Stop device, 57 Connecting rod, 58 Bracket, 6 Second drive device, 7 Second gear, 8 Support column, 9 Electromagnetic locking device, 90 Electric Magnetic component, 92 magnetic conductor, 94 first connecting rod, 96 second connecting rod, 98 linear bearing, 99 sliding shaft, 300 conveying mechanism, 302 blocking mechanism module, 304 buffer module, 306 material detection sensor, 308 conveying track, 310 drive assembly, 400 connecting mechanism, 402 rear support, 404 front support, 406 rear connecting rod, 408 front shaft, 410 connecting shaft, 500 auxiliary positioning device, 510 first insertion structure, 512 insertion shaft, 520 second photoelectric sensor, 600 second insertion structure, 610 insertion seat, 612 insertion hole, 700 second detection device, 800 third detection device, 900 first photoelectric sensor. Detailed Implementation

[0090] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0091] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0092] The following reference Figures 1 to 16 This application describes a precision adjustment mechanism, an autonomous moving device, and a transportation system provided according to some embodiments of the present application.

[0093] like Figure 1 As shown, the first aspect of this application provides a precision adjustment mechanism 200 for an autonomous mobile device, the autonomous mobile device including an autonomous mobile vehicle body 100 and a conveying mechanism 300, such as... Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, the precision adjustment mechanism 200 includes a base 1, a rotating platform 2, a slide rail 3, and a connecting plate 4. The base 1 is used to mount the autonomous mobile vehicle body 100. The rotating platform 2 is rotatably mounted on the base 1. The slide rail 3 is mounted on the rotating platform 2. The connecting plate 4 is mounted on the slide rail 3 and can slide along the slide rail 3, used to mount the conveying mechanism 300.

[0094] The precision adjustment mechanism 200 provided in this application is used in an autonomous mobile device. The autonomous mobile device includes an autonomous mobile vehicle body 100 and a conveying mechanism 300. The precision adjustment mechanism 200 is disposed between the autonomous mobile vehicle body 100 and the conveying mechanism 300 to adjust the position of the conveying mechanism 300. The precision adjustment mechanism 200 includes a base 1, a rotating platform 2, a slide rail 3, and a connecting plate 4. The base 1 is used to connect to the autonomous mobile vehicle body 100 to mount the entire precision adjustment mechanism 200 onto the autonomous mobile vehicle body 100. The rotating platform 2 is rotatably mounted on the base 1, and the slide rail 3 is mounted on the rotating platform 2. The rotation angle and lateral position of the conveying mechanism 300 can be adjusted by rotating platform 2 and slide rail 3. This allows for precise adjustment of the position of the conveying mechanism 300 when the autonomous moving device docks with other conveying systems, thereby improving the docking accuracy of the autonomous moving device and enabling it to be used in applications requiring higher docking accuracy. This solves the problem in related solutions where docking between the conveying mechanism 300 and other conveying systems is not accurate due to the movement of autonomous moving devices such as AGV transport vehicles.

[0095] To support the installation of the conveying mechanism 300, a connecting plate 4 is installed on the slide rail 3. The connecting plate 4 enables the connection and fixation between the precision adjustment mechanism 200 and the conveying mechanism 300. The connecting plate 4 can serve as the top plate of the precision adjustment mechanism 200 and also as the bottom plate of the conveying mechanism 300, meaning that the conveying mechanism 300 and the precision adjustment mechanism 200 can share the connecting plate 4.

[0096] In any of the above embodiments, optionally, as Figure 3 , Figure 4 and Figure 5 As shown, the precision adjustment mechanism 200 also includes a locking assembly 5, which includes a locking member 50, which is movably mounted on the base 1 and has a first position and a second position. When the locking member 50 is in the first position, the rotating platform 2 can drive the connecting plate 4 to rotate, and the connecting plate 4 can slide relative to the slide rail 3. When the locking member 50 is in the second position, it can lock the connecting plate 4.

[0097] In these embodiments, the precision adjustment mechanism 200 further includes a locking component 5. The locking component 5 is used to fix the conveying mechanism 300 via the connecting plate 4, preventing the conveying mechanism 300 from moving. Simultaneously, the locking component 5 can also release the fixation on the conveying mechanism 300 to unlock it, allowing the position of the conveying mechanism 300 to be adjusted. Specifically, when the autonomous moving device is docked, the connecting plate 4 can be unlocked via the locking component 5 first, and then the conveying mechanism 300 can be rotated and / or moved to achieve fine-tuning of its position. After the position of the conveying mechanism 300 is adjusted, the position of the connecting plate 4 can be fixed by the locking component 5 to prevent the conveying mechanism 300 from moving during material conveying.

[0098] in, Figures 2 to 4 In the middle, the locking element 50 is located in the second position.

[0099] Optionally, such as Figure 5 As shown, the precision adjustment mechanism 200 also includes a first drive device 55 for driving the locking member 50 to move between a first position and a second position along the height direction of the autonomous moving device.

[0100] Optionally, such as Figure 5 As shown, the precision adjustment mechanism 200 also includes a first detection device 54 for detecting the position of the locking member 50. The first drive device 55 can control the movement of the locking member 50 based on the detection result of the first detection device 54.

[0101] In any of the above embodiments, optionally, the first position and the second position are spaced apart along the height direction of the autonomous mobile device.

[0102] In these embodiments, the first and second positions are spaced apart along the height direction, meaning the locking member 50 can move along the height direction to lock and unlock the connecting plate 4. This locking method allows the adjusting component to be raised along the height direction, resulting in a smaller lateral width of the precision adjustment mechanism 200, which in turn reduces the width of the autonomous moving device.

[0103] The locking element 50 is located on both sides of the rotating platform 2, so that the rotating platform 2 can avoid the locking element 50, so that the locking element 50 can directly cooperate with the mounting hole 442 on the connecting plate 4.

[0104] In any of the above embodiments, optionally, as Figure 3 and Figure 4As shown, the connecting plate 4 includes a plate body 42 and a mounting hole 442 provided on the plate body 42. The locking member 50 includes a locking pin 501, which can move from a first position to a second position along the height direction of the autonomous moving device. When the locking pin 501 is in the first position, the locking pin 501 is located on one side of the connecting plate 4. When the locking pin 501 is in the second position, a part of the locking pin 501 is inserted into the mounting hole 442.

[0105] In these embodiments, the locking element 50 is specifically a locking pin 501. By moving the locking pin 501 along the height direction, the degrees of freedom of the connecting plate 4 in the width and length directions of the autonomous moving device, as well as the rotational degrees of freedom of the connecting plate 4 on the horizontal plane, can be restricted or unlocked. Meanwhile, the structure of the locking pin 501 and the mounting hole 442 is relatively simple, thereby simplifying the product structure and reducing the product's processing costs.

[0106] In any of the above embodiments, optionally, as Figure 3 As shown, the top of the locking pin 501 can be inserted into the mounting hole 442 from the first end of the mounting hole 442 and protrude from the second end of the mounting hole 442. The first end of the mounting hole 442 is frustoconical, and the top of the locking pin 501 is conical.

[0107] In these embodiments, the top of the locking pin 501 is set to a conical shape, and the bottom of the mounting hole 442 is set to a frustum shape. This allows the locking pin 501 to be better inserted into the mounting hole 442, thereby reducing the installation accuracy requirements between the locking pin 501 and the mounting hole 442. Even if there is a certain error during installation, the locking pin 501 can still be properly inserted into the mounting hole 442 to achieve locking and limiting of the connecting plate 4.

[0108] In any of the above embodiments, optionally, as Figure 3 As shown, the connecting plate 4 also includes: a receiving hole 422, which is disposed on the plate body 42; a pin sleeve 44, which is disposed on the plate body 42 and is at least partially located in the receiving hole 422; and a mounting hole 442 is disposed on the pin sleeve 44.

[0109] In these embodiments, a dedicated pin sleeve 44 is provided for the locking pin 501. The pin sleeve 44 has a mounting hole 442 for the locking pin 501 to be inserted. The pin sleeve 44 can be directly installed in the receiving hole 422 of the connecting plate 4. This structure allows the mounting hole 442 to be set independently of the plate body 42, thereby facilitating the processing of the plate body 42. After the plate body 42 and the pin sleeve 44 are processed, they can be assembled together to form the connecting plate 4.

[0110] In any of the above embodiments, optionally, as Figure 5As shown, the locking assembly 5 further includes: a mounting base 51, mounted on the base 1; a guide rail 52, disposed on the mounting base 51 along the height direction of the autonomous moving device; a guide seat 53, slidably mounted on the guide rail 52, and the locking member 50 mounted on the guide seat 53; a first detection device 54, mounted on the mounting base 51 or the base 1, for detecting the position of the locking member 50 or the guide seat 53; and a first driving device 55, connected to the first detection device 54 and the locking member 50, capable of controlling the movement of the guide seat 53 based on the detection result of the first detection device 54.

[0111] In these embodiments, the locking assembly 5 further includes a mounting base 51, a guide rail 52, and a guide seat 53. The mounting base 51 is used to fix the locking assembly 5 on the base 1. The guide rail 52 is used to guide the guide seat 53. The locking member 50 can slide along the height direction by sliding the guide seat 53. This structure, through the cooperation of the guide seat 53 and the guide rail 52, makes the sliding of the locking member 50 along the height direction more stable and avoids the position of the locking member 50 from shifting.

[0112] The first drive device 55 is a power source used to drive the guide seat 53 to move. Furthermore, during the movement of the guide seat 53, when the first detection device 54 detects the guide seat 53, it can send a positioning signal. Upon receiving the positioning signal, the first drive device 55 can control the guide seat 53 to stop moving. This allows the first detection device 54 to control the position of the locking member 50 or the guide seat 53, preventing the guide seat 53 from sliding off the guide rail 52.

[0113] In any of the above embodiments, optionally, as Figure 6 As shown, a detection block 532 is provided on the guide seat 53, and the first detection device 54 is used to detect the position of the detection block 532.

[0114] In this embodiment, a detection block 532 is provided on the guide seat 53, and a first detection device 54 is used to detect the position of the detection block 532 to determine the position of the guide seat 53, thereby controlling the sliding of the guide seat 53. The first detection device 54 can be mounted on the mounting base 51 via a bracket 58.

[0115] In any of the above embodiments, optionally, as Figure 6 As shown, the locking assembly 5 also includes a stop device 56, which is disposed at both ends in the height direction of the autonomous moving device to limit the sliding range of the guide seat 53.

[0116] In these embodiments, to prevent the guide seat 53 from sliding off the guide rail 52 when it slides up and down, stop devices 56 are provided on the upper and lower sides of the guide rail 52. The stop devices 56 can limit the guide seat 53, so that the guide seat 53 can not slide off the guide rail 52.

[0117] In any of the above embodiments, optionally, as Figure 5 As shown, the number of mounting bases 51, guide rails 52, and guide seats 53 is the same, and there are at least two mounting bases 51, guide rails 52, and guide seats 53. At least two mounting bases 51, at least two guide rails 52, and at least two guide seats 53 are arranged in a one-to-one correspondence. At least two guide seats 53 are connected by connecting rods 57. There are at least two locking members 50, which are arranged on at least two guide seats 53. The first driving device 55 is arranged corresponding to one of the guide seats 53 to drive one of the guide seats 53 to slide along its corresponding guide rail 52.

[0118] In these embodiments, there can be multiple locking members 50 to enable multi-point positioning of the connecting plate 4, thereby preventing the connecting plate 4 from rotating. Each locking member 50 is equipped with a mounting base 51, a guide rail 52, and a guide seat 53. To reduce the number of first drive devices 55, at least two guide seats 53 can be connected by a connecting rod 57. During driving, the first drive device 55 can be connected to one of the guide seats 53, at which point the guide seat 53 becomes the driving seat. Then, the other driven guide seats 53 can be moved through the guide seat 53 and the connecting rod. This reduces the number of first drive devices 55, thereby reducing the product cost.

[0119] Furthermore, the connection of at least two guide seats 53 via connecting rod 57 enables the movement of at least two guide seats 53 to be more synchronized.

[0120] In any of the above embodiments, optionally, as Figure 6 As shown, there are three mounting bases 51, three guide rails 52, and three guide seats 53. The three mounting bases 51 are spaced apart along the first direction of the connecting plate 4, which is the length or width direction of the connecting plate 4. There are two locking members 50, which are set on the two guide seats 53 located on both sides. The first driving device 55 is set on the guide seat 53 located in the middle to drive the guide seat 53 located in the middle to slide along its corresponding guide rail 52.

[0121] In these embodiments, the locking element 50 can be specifically configured as two. In this case, three mounting seats 51, three guide rails 52, and three guide seats 53 can be provided to form three sets of lifting devices. During installation, the first drive device 55 can be connected to the middle guide seat 53, and the two locking elements 50 can be installed on the two side guide seats. In this structure, the first drive device 55 drives the middle guide seat 53 to move up and down, thereby driving the two side guide seats 53 and their locking elements 50 to rise and fall through the connecting rod 57, thus realizing the locking and unlocking of the connecting plate 4.

[0122] In any of the above embodiments, optionally, asFigure 6 As shown, the first drive device 55 includes: a first motor 552, which is rotatably mounted on the base 1; a crank 554, one end of which is mounted on the shaft of the first motor 552, and the rotation of the first motor 552 can drive the crank 554 to rotate axially around the shaft of the first motor 552; and a connecting shaft 556, one end of which is rotatably connected to the other end of the crank 554, and the other end of which is rotatably connected to the guide seat 53; wherein, the rotation of the first motor 552 can drive the guide seat 53 to slide along the guide rail 52 through the crank 554 and the connecting shaft 556.

[0123] In these embodiments, the first drive device 55 is a first motor 552. A crank 554 connecting rod structure is provided between the first motor 552 and the guide seat 53 to convert the rotational motion of the first motor 552 into the linear motion of the guide seat 53.

[0124] In addition, the rotary motion of the first motor 552 can also be converted into the linear motion of the guide seat 53 by means of a lead screw nut, cam mechanism, etc.

[0125] In any of the above embodiments, optionally, as Figure 2 and Figure 7 As shown, the rotation axis of the rotating platform 2 is set along the height direction of the autonomous moving vehicle body 100, the locking component 5 is located at the bottom of the connecting plate 4 along the height direction, and the upper part of the connecting plate 4 is used to support the installation of the conveying mechanism 300.

[0126] In these embodiments, the locking component 5 and the connecting plate 4 are arranged along the height direction, with the locking component 5 located at the bottom and the connecting plate 4 located at the top. This structure allows the space above the connecting plate 4 to be reserved for the installation of the conveying mechanism 300, so that the conveying mechanism 300 and the locking component 5 can be located on the upper and lower sides of the connecting plate 4. This makes better use of the height space, thereby reducing the width of the autonomous moving device and making the overall structure of the machine more reasonable.

[0127] Of course, in other solutions, the locking component 5 can also be arranged above the connecting plate 4.

[0128] In any of the above embodiments, optionally, as Figure 2 and Figure 3 As shown, the precision adjustment mechanism 200 also includes: multiple support columns 8 mounted on the base 1, and a rotating platform 2 mounted on the multiple support columns 8.

[0129] In these embodiments, the rotating platform 2 is mounted on the base 1 via multiple support columns 8. This allows the rotating platform 2 to be mounted at a higher elevation, thus facilitating the provision of space below the rotating platform 2 for the installation of other components. This makes full use of the height space, thereby reducing the width of the autonomous moving device and resulting in a more rational overall structure.

[0130] Specifically, at least a portion of the first drive device 55, connecting rod 57, mounting base 51, guide rail 52, and guide seat 53 of the locking assembly 5 can be positioned lower relative to the rotating platform 2, thereby facilitating the placement of at least a portion of the locking assembly 5 below the rotating platform 2. For example, as... Figure 2 and Figure 3 As shown, the first drive device 55 is located below the rotating platform 2.

[0131] In any of the above embodiments, optionally, as Figure 7 As shown, the rotating platform 2 includes: a first mounting plate 20, mounted on the base 1; a rotating device 22, rotatably mounted on the surface of the first mounting plate 20 opposite to the base 1; a second mounting plate 24, mounted on the surface of the rotating device 22 opposite to the first mounting plate 20; and a slide rail 3 mounted on the second mounting plate 24.

[0132] In these embodiments, the rotating platform 2 has a four-layer structure. A first mounting plate 20 is mounted on the base 1, forming the first layer of the rotating platform 2. A rotating device 22 is rotatably mounted on the surface of the first mounting plate 20 facing away from the base 1, forming the second layer of the rotating platform 2. A second mounting plate 24 is mounted on the surface of the rotating device 22 facing away from the first mounting plate 20, forming the third layer of the rotating platform 2. A slide rail 3 is mounted on the second mounting plate 24, forming the fourth layer of the rotating platform 2. This arrangement, with the rotating device 22 sandwiched between the first mounting plate 20 and the second mounting plate 24, facilitates the connection between the rotating device 22, the base 1, and the slide rail 3.

[0133] In any of the above embodiments, optionally, as Figure 7 and Figure 8 As shown, the rotating platform 2 includes a first gear 222 and a second drive device 6; the second gear 7 meshes with the first gear 222 and can be driven by the second drive device 6 to rotate the rotating platform 2.

[0134] In these embodiments, the rotating platform 2 can be driven by a second motor. Torque transmission between the second motor and the rotating platform 2 can be achieved through a gear structure. This gear structure includes a first gear 222 mounted on the rotating platform 2 and a second gear 7 mounted on the motor. The gear-driven structure is relatively simple and compact, thus facilitating cost reduction and minimizing product size.

[0135] like Figures 1 to 12 As shown, an embodiment of the second aspect of this application proposes an autonomous mobile device, including a precision adjustment mechanism 200 provided in any embodiment of the first aspect, which is installed on the autonomous mobile device; and a conveying mechanism 300, which is installed on the side of the connecting plate 4 away from the slide rail 3.

[0136] The autonomous mobile device proposed according to the embodiments of this application, since it includes the precision adjustment mechanism 200 provided in any embodiment of the first aspect, has all the beneficial effects of the precision adjustment mechanism 200 provided in any embodiment of the first aspect. The autonomous mobile device further includes a conveying mechanism 300, installed on the side of the connecting plate 4 opposite to the slide rail 3. The conveying mechanism 300 is used for conveying materials.

[0137] In any of the above embodiments, optionally, the conveying mechanism 300 includes a support plate, wherein the support plate and the connecting plate 4 are an integral structure or the support plate and the connecting plate 4 are separate structures.

[0138] In these embodiments, the conveying mechanism 300 and the precision adjustment mechanism 200 may share a single plate or each have its own plate.

[0139] like Figure 10 , Figure 11 and Figure 12 As shown, an embodiment of the third aspect of this application proposes a transportation system including a precision adjustment mechanism 200 provided in any embodiment of the first aspect and / or an autonomous moving device provided in any embodiment of the second aspect.

[0140] The transportation system proposed according to the embodiments of this application, since it includes the precision adjustment mechanism 200 provided in any embodiment of the first aspect and / or the autonomous moving device provided in any embodiment of the second aspect, has all the beneficial effects of the precision adjustment mechanism 200 provided in any embodiment of the first aspect and / or the autonomous moving device provided in any embodiment of the second aspect, which will not be repeated here.

[0141] In any of the above embodiments, optionally, as Figure 10 , Figure 11 and Figure 12 As shown, the autonomous mobile device can be positioned by the auxiliary positioning device 500. The auxiliary positioning device 500 is provided with a first plug-in structure 510. The autonomous mobile device includes a second plug-in structure 600, which is disposed on the precision adjustment mechanism 200 and / or the conveying mechanism 300, and is used to plug and cooperate with the first plug-in structure 510 when the autonomous mobile device is positioned by the auxiliary positioning device 500.

[0142] In these embodiments, when the autonomous mobile device docks with other conveying systems, the docking accuracy between the two can be ensured by an auxiliary positioning device 500. The auxiliary positioning device 500 is equipped with a first insertion structure 510, and the autonomous mobile device is equipped with a second insertion structure 600. During docking and positioning of the autonomous mobile device, the first insertion structure 510 and the second insertion structure 600 can be inserted together, thereby achieving precise positioning of the autonomous mobile device through the insertion between the first insertion structure 510 and the second insertion structure 600.

[0143] In any of the above embodiments, optionally, as Figure 10 , Figure 11 and Figure 12 As shown, the autonomous moving device also includes a second detection device 700, which is disposed on the precision adjustment mechanism 200 and / or the conveying mechanism 300, for detecting whether the first plug-in structure 510 enters the detection range of the second detection device 700.

[0144] In this embodiment, during the docking and positioning of the autonomous mobile device, the position of the first insertion structure 510 can be determined by the second detection device 700. If the second detection device 700 can detect the first insertion structure 510, it indicates that the coarse alignment of the autonomous mobile device and the auxiliary positioning device 500 is completed, and then the fine alignment of the autonomous mobile device can be performed.

[0145] In any of the above embodiments, optionally, as Figure 10 , Figure 11 and Figure 12 As shown, the autonomous mobile device also includes a third detection device 800, which is disposed on the autonomous mobile vehicle body 100 and / or the conveying mechanism 300, for detecting whether the first insertion structure 510 and the second insertion structure 600 are inserted in place.

[0146] In this embodiment, when the autonomous mobile device performs precise positioning using the first insertion structure 510 and the second insertion structure 600, the third detection device 800 can detect and determine whether the first insertion structure 510 and the second insertion structure 600 are properly inserted. If both are properly inserted, the precise alignment is complete.

[0147] In any of the above embodiments, optionally, as Figure 10 , Figure 11 and Figure 12 As shown, the first insertion structure 510 includes one of an insertion shaft 512 and an insertion hole 612, and the second insertion structure 600 includes the other of an insertion shaft 512 and an insertion hole 612. The autonomous moving device also includes an insertion base 610, which is disposed on the precision adjustment mechanism 200 and / or the conveying mechanism 300, and the insertion hole 612 is disposed on the insertion base 610.

[0148] In any of the above embodiments, optionally, as Figure 10 , Figure 11 and Figure 12 As shown, the structures of the first insertion structure 510 and the second insertion structure 600 can be configured as needed. Ideally, the first insertion structure 510 and the second insertion structure 600 can be configured as an insertion hole 612 and an insertion shaft 512. Of course, they can also be configured as an insertion protrusion and an insertion groove. Furthermore, a insertion seat 610 can be provided to provide the insertion hole 612.

[0149] In any of the above embodiments, optionally, as Figure 10 , Figure 11 and Figure 12 As shown, the top of the plug shaft 512 can be inserted into the plug hole 612 from the first end of the plug hole 612. The first end of the plug hole 612 is frustoconical, and the top of the plug shaft 512 is conical.

[0150] In these embodiments, the top of the plug shaft 512 is set in a conical shape, and the bottom of the plug hole 612 is set in a frustum shape. This allows the plug shaft 512 to be better inserted into the plug hole 612, thereby reducing the installation accuracy requirements between the plug shaft 512 and the plug hole 612. Even if there is a certain error during installation, the plug shaft 512 can still be inserted normally into the plug hole 612, ensuring that the autonomous moving device can complete the precise alignment operation normally.

[0151] For example, the plug shaft 512 is a plug pin shaft.

[0152] In any of the above embodiments, optionally, as Figure 10 and Figure 11 As shown, the autonomous mobile device also includes: an electromagnetic component 90, disposed on one of the base 1 and the connecting plate 4; and a magnetically conductive component 92, disposed on the other of the base 1 and the connecting plate 4. The electromagnetic component 90 has an energized state and an de-energized state. When the electromagnetic component 90 is energized, it attracts the magnetically conductive component 92, and the connecting plate 4 is in a magnetically locked state. When the electromagnetic component 90 is de-energized, it disconnects from the magnetically conductive component 92, and the connecting plate 4 is in a magnetically unlocked state.

[0153] In these embodiments, the autonomous moving device further includes an electromagnetic locking device 9. The electromagnetic locking device 9 includes an electromagnetic component 90 and a magnetically conductive component 92. The magnetically conductive component 92 can be a magnet, a metal sheet, etc. The electromagnetic component 90 can be energized to conduct magnetism or demagnetized by de-energizing. When it is necessary to lock the connecting plate 4 or the conveying mechanism 300, the energizing state of the electromagnetic component 90 can be changed; for example, it can be energized to demagnetize the electromagnetic component 90, thereby disconnecting the electromagnetic component 90 and the magnetically conductive component 92, thus unlocking the connecting plate 4 or the conveying mechanism 300. After the connecting plate 4 or the conveying mechanism 300 is adjusted to its position, the electromagnetic component 90 can be de-energized, allowing it to conduct magnetism, thereby enabling the electromagnetic component 90 and the magnetically conductive component 92 to magnetically attract each other, thus achieving magnetic locking of the connecting plate 4 or the conveying mechanism 300.

[0154] like Figure 12 and Figure 2 As shown, the electromagnetic locking device 9 also includes a first connecting rod 94 and a second connecting rod 96. The electromagnetic component 90 is mounted on the connecting plate 4 via the first connecting rod 94, and the magnetic conductive component 92 is mounted on the base 1 via the second connecting rod 96. The electromagnetic locking device 9 also includes a linear bearing 98 and a sliding shaft 99 installed within the linear bearing 98. The magnetic conductive component 92 is mounted on the sliding shaft 99 and can slide up and down together with the sliding shaft 99, thereby achieving attraction and disengagement with the electromagnetic component 90.

[0155] like Figure 9 As shown, the autonomous mobile device also includes a first photoelectric sensor 900, and the auxiliary positioning device 500 also includes a second photoelectric sensor 520. One of the first photoelectric sensor 900 and the second photoelectric sensor 520 is used to transmit signals, and the other is used to receive signals. This signal can confirm whether the auxiliary positioning device 500 and the autonomous mobile vehicle body 100 are approximately aligned; if they are approximately aligned, alignment work can begin.

[0156] The autonomous mobile device includes a segmented chassis. The segmented chassis and the precision adjustment mechanism 200 are connected by a connecting mechanism 400, which solves the installation problem between the segmented chassis and the precision adjustment mechanism 200. If the segmented chassis is supported by a fixed connector, the segmented chassis will lose its hinged rotation capability, thus making it unable to ascend or descend slopes. This support mechanism enables the precision adjustment mechanism 200 and its conveying mechanism 300 to ascend or descend slopes together with the segmented chassis.

[0157] The following describes an autonomous mobile device.

[0158] The autonomous moving device includes a floating adjustment mechanism. The purpose of the floating adjustment mechanism is to enable the top plate to be adjusted vertically and rotated along the central Z-axis after the locking mechanism is released. In some scenarios, the entire conveying mechanism 300 needs to be able to maintain horizontal balance and rotate along the Z-axis, and return to its original position after the conveying mechanism 300 has finished performing the material conveying action.

[0159] Furthermore, the conveying mechanism 300 is equipped with two electromagnets on each side, which can keep the current position still during the adjustment process and prevent slippage.

[0160] Specifically, the floating adjustment mechanism includes a mounting base plate, with a slewing support connected to the mounting base plate. An upper plate is connected to the slewing support, on which two vertical linear guides are mounted, with sliders mounted on them. The actuator (conveyor mechanism 300) is mounted on the sliders.

[0161] The adjustment method is horizontal; the actuator (conveyor 300) can be adjusted horizontally via a slider. In the Z-axis direction, the entire upper layer can be adjusted along the Z-axis via a rotary support. Through these two adjustments, the upper mechanism can be adjusted in two directions.

[0162] The floating adjustment mechanism also includes a locking structure, which is mounted on the base plate. Both side mounting seats 51 are mounted on the base plate, as is the middle mounting seat 51. Two guide rails 52 on each side are mounted on the mounting seats 51, and one guide rail 52 in the middle is also mounted on the mounting seat 51. Three guide seats 53 are mounted on the guide rails 52. Two pins on the left and right are respectively fixed to the left and right guide seats 53. The three guide seats 53 (left, middle, and right) are connected together by a connecting rod 57, ensuring that the three guide seats 53 can move up and down together, maintaining the same height. A detection sensor is mounted on the mounting seat 51 via a bracket 58 to detect the position of the guide seats 53.

[0163] The entire locking structure is controlled by a first motor 552 to move the pin up and down. Sheet metal (a specific structural form of a stop device 56) is installed on both the top and bottom of the guide rail 52 to prevent the guide seat 53 from moving off the guide rail 52. Controlled by the first motor 552, the middle guide seat 53 moves up and down, driving the guide seats 53 on both sides to move up and down as well. The first motor 552 stops the guide seat 53 after the detection sensor (a specific structural form of the first detection device 54) detects that it has reached its lowest point, preventing the guide seat 53 from moving beyond its lower limit.

[0164] When this type of AGV needs adjustment, the electromagnetic locking device 9 releases, and the lower first motor 552 moves the pin downwards, giving the base plate two degrees of freedom for adjustment—lateral and rotational—until it floats to a suitable position. Then, the electromagnetic locking device 9 locks again. Various operations can then be performed. When it's necessary to return the conveyor mechanism 300 to its original position, the electromagnetic locking device 9 first releases, and then the lower first motor 552 moves the pin upwards, returning the base plate to its original position. Simultaneously, the electromagnetic locking device 9 locks, fixing the base plate in place and preventing further movement.

[0165] Specifically, the guide pin sleeve is connected to the base plate, and there is a flared opening at the bottom of the guide pin sleeve. This ensures that the pin can smoothly guide the base plate back to its original position during the upward process. The top of the pin is also a pointed cone structure, which also helps to smoothly guide the base plate back to the zero point. At the same time, after the base plate returns to the zero point, the guide pin sleeve fixes the pin, thereby achieving the purpose of fixing the base plate.

[0166] The guide rail 52 is mounted on the mounting base 51, and the slider slides up and down along the guide rail 52. The base is mounted on the slider and moves up and down with the slider. The detection sensor is fixed to the mounting base 51 via the bracket 58. The detection block 532 is mounted on the base. The crank 554 is mounted on the motor shaft of the first motor 552, and the base and the crank 554 are connected by a connecting shaft 556. Both ends of the connecting shaft 556 can rotate relative to each other. When the slider moves along the guide rail 52, it is limited by a stop plate to prevent the slider from moving off the guide rail 52. When the guide seat 53 needs to slide up and down, the motor shaft of the first motor 552 rotates, driving the crank 554 to rotate accordingly. Through the intermediate connection of the connecting rod 57, the base moves up and down. When the detection sensor senses the detection block 532, it is the lowest point of the movement, i.e., the zero point. The circular motion of the motor shaft of the first motor 552 is converted into the reciprocating motion of the base.

[0167] like Figure 2 and Figure 9 As shown, the autonomous mobile device also includes a connecting mechanism 400, which is used for the chassis assembly to connect the chassis and the superstructure together. This connecting mechanism 400 solves the installation problem of the superstructure on a segmented autonomous mobile device chassis. If the chassis assembly uses a fixed bracket to support the superstructure, the segmented chassis will lose its articulated rotation capability, thus making it unable to ascend or descend slopes. This connecting mechanism 400 is designed so that, in the case of a segmented chassis, the superstructure can ascend or descend slopes along with the chassis.

[0168] Specifically, the connecting mechanism 400 consists of a rear support 402, a front support 404, a rear connecting rod 406, a front axle 408, and a connecting shaft 410. The rear support 402 and the front support 404 are connected via the front axle 408, allowing the rear support 402 to rotate. The two sides of the rear connecting rod 406 are fixed to the left and right rear supports 402, ensuring that the two rear supports 402 always remain synchronized and increasing the strength and stability of the entire mechanism. The connecting shaft 410 is connected to the front support 404, and the entire mechanism is connected to the chassis via the connecting shaft 410.

[0169] In some embodiments, the connecting mechanism 400 is optionally connected to the chassis assembly via bottom screws. The rear bracket is installed on the rear half of the chassis (rear chassis), and the front bracket is installed on the front half of the chassis (front chassis). During operation, when going uphill or downhill, the front half of the chassis rises or falls, causing the front bracket to rise or fall as well. This ensures that when the superstructure (the component to be loaded) is mounted on the connecting mechanism 400, it can always move uphill or downhill with the chassis.

[0170] like Figure 10 , Figure 1 and Figure 13 As shown, the autonomous mobile device also includes a conveying mechanism 300, comprising a conveying track 308 (specifically, a double-speed chain module), a blocking mechanism module 302, a buffer module 304, a material detection sensor 306, an aluminum alloy profile frame, an oil nozzle, a drive shaft, a servo motor, a coupling, a synchronous belt, and a non-powered support wheel. The servo motor, coupling, synchronous belt, etc., constitute the drive assembly 310.

[0171] The drive chain is placed on an aluminum alloy profile frame, which provides support. Oil nozzles are installed at the front of the module for lubrication. The drive shaft provides power to rotate the chains on both sides. The servo motor is connected to a synchronous pulley via a coupling. Power is transmitted through a synchronous belt. At both ends of the module, two unpowered support wheels are installed to provide auxiliary support when materials are fed onto or removed from the module, preventing material from tipping over before it contacts the chain.

[0172] The entire operation process of the conveying mechanism is as follows: Figure 1As shown, the process begins: conveying starts - the blocking mechanism lowers - the first sensor detects - the second sensor detects - the blocking mechanism rises - the conveying process ends. After the conveying process begins, the blocking plate of the blocking mechanism (limiting component) is normally in the raised state. When docking is needed, the blocking plate is lowered, and then the material is conveyed to the speed-multiplying chain module via a chain. The material is detected sequentially by the first and second sensors. After hitting the buffer, the material gradually stops under the action of the hydraulic buffer to prevent damage from sudden stops or the material from rushing out of the module due to excessive speed. During unloading, the autonomous moving device transports the material to the designated position, lowers the blocking plate of the blocking mechanism, and then the conveyor chain delivers the material.

[0173] The entire mechanism is designed for single-sided loading and unloading, which can effectively handle loading and unloading and provide a certain buffer during the process to prevent material damage.

[0174] like Figure 14 and Figure 15 Figure 16 Figure 2 Figure 9 As shown, the autonomous moving device also includes an electromagnetic locking device, which includes a base plate, a linear bearing, a threaded shaft, an iron block, an electromagnet, and a top plate.

[0175] The linear bearing is fixed to the base plate with screws. The threaded shaft is fixed to the iron block via its upper external thread. The lower end of the threaded shaft is then placed in the linear bearing, allowing it to slide up and down. The electromagnet is fixed under the top plate, with a 1mm gap between the electromagnet and the iron block.

[0176] The electromagnet is a type that demagnetizes when energized. Normally, it is de-energized and magnetic, attracting the iron block and threaded shaft together from the linear bearing, thus maintaining the relative fixation of the top and bottom plates. During operation, the electromagnet is energized and then demagnetized, causing the iron block and threaded shaft to fall along the linear bearing, creating a 1mm gap. At this point, the relative fixation of the top and bottom plates is released, allowing them to move relative to each other.

[0177] The locking mechanism provided in this application is applicable to various types of turntables, especially vehicle-mounted turntables, for locking the rotating shaft. It features a compact structure, repeatable locking and unlocking, and high locking reliability. Furthermore, the installation direction of the magnet base of the electromagnetic device can be adjusted according to different electromagnetic devices, and the tangential force of the rotating shaft is not transmitted to the electromagnet, resulting in high locking reliability, excellent environmental adaptability, and broad application prospects.

[0178] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0179] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A precision adjustment mechanism, characterized in that, For an autonomous mobile device, the autonomous mobile device includes an autonomous mobile vehicle body and a conveying mechanism, and the precision adjustment mechanism includes: A base for mounting on the autonomous mobile vehicle body; A rotating platform is rotatably mounted on the base; The slide rail is mounted on the rotating platform; A connecting plate, mounted on the slide rail, is slidable along the slide rail and is used to mount the conveying mechanism.

2. The precision adjustment mechanism according to claim 1, characterized in that, It also includes a locking component, the locking component comprising: A locking member is movably mounted on the base and has a first position and a second position. When the locking member is in the first position, the rotating platform can drive the connecting plate to rotate and the connecting plate can slide relative to the slide rail. When the locking member is in the second position, it can lock the connecting plate.

3. The precision adjustment mechanism according to claim 2, characterized in that, The first position and the second position are spaced apart along the height direction of the autonomous mobile device; and / or The locking components are located on opposite sides of the rotating platform.

4. The precision adjustment mechanism according to claim 3, characterized in that, The connecting plate includes a plate body and mounting holes disposed on the plate body, and the locking member includes: A locking pin is provided, which can move from the first position to the second position along the height direction of the autonomous moving device. When the locking pin is in the first position, it is located on one side of the connecting plate. When the locking pin is in the second position, a portion of the locking pin is inserted into the mounting hole.

5. The precision adjustment mechanism according to claim 4, characterized in that, The top of the locking pin can be inserted into the mounting hole from the first end of the mounting hole and protrude from the second end of the mounting hole. The first end of the mounting hole is frustoconical, and the top of the locking pin is conical.

6. The precision adjustment mechanism according to claim 4, characterized in that, The connecting plate also includes: A receiving hole is provided on the plate body; A pin sleeve is disposed on the plate body, at least partially located within the receiving hole, and the mounting hole is disposed on the pin sleeve.

7. The precision adjustment mechanism according to any one of claims 3 to 6, characterized in that, The locking component further includes: Mounting bracket, mounted on the base; A guide rail is provided on the mounting base and is positioned along the height direction of the autonomous moving device. The guide seat is slidably mounted on the guide rail, and the locking member is mounted on the guide seat; A first detection device is installed on the mounting base or the base to detect the position of the locking member or the guide seat; A first driving device, connected to the first detection device and the locking member, is capable of controlling the movement of the guide seat based on the detection result of the first detection device.

8. The precision adjustment mechanism according to claim 7, characterized in that, A detection block is provided on the guide seat, and the first detection device is used to detect the position of the detection block; and / or The locking assembly also includes stop devices disposed at both ends of the autonomous moving device in the height direction, for limiting the sliding range of the guide seat.

9. The precision adjustment mechanism according to claim 7, characterized in that, The number of the mounting base, the guide rail, and the guide seat is the same, and the number of the mounting base, the guide rail, and the guide seat is at least two. At least two mounting bases, at least two guide rails, and at least two guide seats are arranged in a one-to-one correspondence, and at least two guide seats are connected by a connecting rod. The number of locking elements is at least two, and they are disposed on at least two of the guide seats; The first driving device is provided for one of the guide seats to drive one of the guide seats to slide along its corresponding guide rail.

10. The precision adjustment mechanism according to claim 9, characterized in that, The number of mounting bases, the number of guide rails, and the number of guide seats are three. The three mounting bases are spaced apart along a first direction of the connecting plate, where the first direction is either the length or width direction of the connecting plate. The number of locking members is two, and the two locking members are disposed on two guide seats located on both sides. The first driving device is disposed corresponding to the guide seat located in the middle, so as to drive the guide seat located in the middle to slide along its corresponding guide rail.

11. The precision adjustment mechanism according to claim 7, characterized in that, The first driving device includes: A first motor is rotatably mounted on the base; A crank, one end of which is mounted on the motor shaft of the first motor, wherein rotation of the first motor can drive the crank to rotate axially around the motor shaft; A connecting shaft, one end of which is rotatably connected to the other end of the crank, and the other end of which is rotatably connected to the guide seat; The first motor rotates, which in turn drives the guide seat to slide along the guide rail via the crank and the connecting shaft.

12. The precision adjustment mechanism according to any one of claims 2 to 6, characterized in that, The rotation axis of the rotating platform is set along the height direction of the autonomous moving vehicle body, the locking assembly is located at the bottom of the connecting plate along the height direction, and the upper part of the connecting plate is used to support and install the conveying mechanism.

13. The precision adjustment mechanism according to any one of claims 1 to 6, characterized in that, Also includes: Multiple support columns are mounted on the base, and the rotating platform is mounted on the multiple support columns.

14. The precision adjustment mechanism according to any one of claims 1 to 6, characterized in that, The rotating platform includes: The first mounting plate is mounted on the base; A rotating device is rotatably mounted on the surface of the first mounting plate opposite to the base; The second mounting plate is mounted on the surface of the rotary device opposite to the first mounting plate, and the slide rail is mounted on the second mounting plate.

15. The precision adjustment mechanism according to any one of claims 1 to 6, characterized in that, The rotating platform includes a first gear, and the precision adjustment mechanism further includes: Second drive unit; The second gear meshes with the first gear and can be driven by the second drive device to rotate the rotating platform.

16. An autonomous mobile device, characterized in that, include: Autonomous moving vehicle body; The precision adjustment mechanism as described in any one of claims 1 to 15 is installed on the autonomous mobile vehicle body; The conveying mechanism is installed on the side of the connecting plate opposite to the slide rail.

17. The autonomous mobile device according to claim 16, characterized in that, The conveying mechanism includes a support plate, which is an integral structure with the connecting plate or a separate structure with the support plate and the connecting plate.

18. The autonomous mobile device according to claim 16, characterized in that, The autonomous mobile device is capable of positioning via an auxiliary positioning device, the auxiliary positioning device being provided with a first plug-in structure, and the autonomous mobile device comprising: The second insertion structure is disposed on the precision adjustment mechanism and / or the conveying mechanism, and is used to insert and cooperate with the first insertion structure when the autonomous moving device is positioned by the auxiliary positioning device.

19. The autonomous mobile device according to claim 18, characterized in that, Also includes: A second detection device, disposed on the precision adjustment mechanism and / or the conveying mechanism, is used to detect whether the first insertion structure enters the detection range of the second detection device; and / or A third detection device is installed on the autonomous mobile vehicle body and / or the conveying mechanism to detect whether the first plug-in structure and the second plug-in structure are plugged in properly.

20. The autonomous mobile device according to claim 18, characterized in that, The first plug-in structure includes one of a plug-in shaft and a plug-in hole, and the second plug-in structure includes the other of the plug-in shaft and the plug-in hole; The autonomous moving device also includes a connector, which is disposed on the precision adjustment mechanism and / or the conveying mechanism, and the connector hole is disposed on the connector.

21. The autonomous mobile device according to claim 20, characterized in that, The top of the plug shaft can be inserted into the plug hole from the first end of the plug hole, the first end of the plug hole is frustoconical, and the top of the plug shaft is conical.

22. The autonomous mobile device according to any one of claims 16 to 21, characterized in that, Also includes: An electromagnetic component is disposed on one of the base and the connecting plate; A magnetic conductive element is disposed on the other of the base and the connecting plate; The electromagnetic component has an energized state and an de-energized state. When the electromagnetic component is energized, it is attracted to the magnetically conductive component, and the connecting plate is in a magnetically locked state. When the electromagnetic component is de-energized, it is disconnected from the magnetically conductive component, and the connecting plate is in a magnetically unlocked state.

23. A transportation system, characterized in that, include: The precision adjustment mechanism as described in any one of claims 1 to 15; and / or The autonomous mobile device as described in any one of claims 16 to 22.

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