Deflection compensation device and AGV vehicle

Abstract

A deflection compensation device (100), comprising: a mounting member (1) configured to mount a material shaft (200); a fixing plate (2), wherein the mounting member (1) is rotatably connected to the fixing plate (2) around the axis in a Y direction; a connecting member (3), rotatably connected to the mounting member (1) around the axis in the Y direction; and a driving mechanism (4), provided on the fixing plate (2), wherein a driving end of the driving mechanism (4) is connected to the connecting member (3), the driving mechanism (4) can drive the connecting member (3) to move in a Z direction, and the mounting member (1) can rotate around the axis in the Y direction. Also disclosed is an AGV vehicle comprising the deflection compensation device. The device can adjust the axis of the material shaft (200) to be in the same horizontal line as a docking shaft (400), thereby facilitating smooth material transfer.

Description

Deflection compensation device and AGV vehicle

[0001] The present disclosure claims priority to the Chinese patent application No. 202410865238.4, filed on June 28, 2024, and entitled "A deflection compensation device and AGV vehicle", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the AGV vehicle technical field, and particularly relates to a deflection compensation device and AGV vehicle. BACKGROUND

[0003] In the related art, when the material shaft is loaded with material, the material shaft will be bent downward under the action of the gravity of the material, that is, the material shaft will have a large deflection. When the material on the material shaft is transferred to the docking shaft, the material shaft and the docking shaft will have a step, thereby causing the material transfer to be blocked. SUMMARY

[0004] An embodiment of the present disclosure provides a deflection compensation device and AGV vehicle.

[0005] According to a first aspect of the present disclosure, a deflection compensation device is provided, comprising:

[0006] a mounting piece configured to mount a material shaft;

[0007] a fixed plate, the mounting piece being rotationally connected to the fixed plate about an axis in the Y direction;

[0008] a connecting piece, the connecting piece being rotationally connected to the mounting piece about an axis in the Y direction;

[0009] a driving mechanism, the driving mechanism being provided on the fixed plate, a driving end of the driving mechanism being connected to the connecting piece, the driving mechanism being capable of driving the connecting piece to move in the Z direction, and the mounting piece being capable of rotating about the axis in the Y direction.

[0010] Optionally, the mounting piece comprises a first mounting plate, a second mounting plate and a third mounting plate, one end of the first mounting plate being angularly connected to the second mounting plate, the other end of the first mounting plate being angularly connected to the third mounting plate, the first mounting plate being configured to mount a material shaft, the second mounting plate being rotationally connected to the fixed plate, and the third mounting plate being rotationally connected to the connecting piece.

[0011] Optionally, the connecting member comprises a first connecting plate and a second connecting plate, the first connecting plate is connected with the driving end of the driving mechanism, one end of the first connecting plate is rotationally connected with one end of the second connecting plate around an axis in the Y direction, and the other end of the second connecting plate is rotationally connected with the third mounting plate around an axis in the Y direction.

[0012] Optionally, the third mounting plate is provided with a groove in the Z direction, and the other end of the second connecting plate is embedded in the groove and rotationally connected with the third mounting plate.

[0013] Optionally, the connecting member further comprises a first sliding block and a second sliding block, the first sliding block and the second sliding block are arranged on one end of the first connecting plate close to the fixed plate, and the first sliding block and the second sliding block are arranged in the Y direction.

[0014] The fixed plate is provided with a first guide rail and a second guide rail on one end thereof facing the connecting member, the first guide rail and the second guide rail are arranged in the Y direction, the first sliding block is slidingly connected with the first guide rail in the Z direction, and the second sliding block is slidingly connected with the second guide rail in the Z direction.

[0015] Optionally, the deflection compensation device further comprises a first limiting member, the first limiting member is arranged on the fixed plate, and the first sliding block or the second sliding block can abut against the first limiting member.

[0016] The deflection compensation device further comprises a first limiting member and a second limiting member, the first limiting member and the second limiting member are arranged on the fixed plate in the Z direction, and the first sliding block and the second sliding block can move between the first limiting member and the second limiting member.

[0017] Optionally, the deflection compensation device further comprises a third limiting member, the third limiting member is arranged on the fixed plate.

[0018] The first connecting plate is provided with a limiting rod, the limiting rod can abut against the third limiting member, and the axis of the connecting shaft between the first connecting plate and the second connecting plate is parallel to the axis of the connecting shaft between the second connecting plate and the third mounting plate in the X plane.

[0019] Optionally, the driving mechanism comprises a motor, a lead screw and a nut seat, the motor can drive the lead screw to rotate around an axis in the Z direction, the nut seat is rotationally connected with the lead screw, and the first connecting plate is connected with the nut seat.

[0020] Optionally, one end of the first connecting plate facing the fixed plate is provided with a receiving groove, and the nut seat is embedded in the receiving groove.

[0021] Optionally, the driving mechanism further comprises a reducer, the reducer being connected to an output end of the motor and the lead screw.

[0022] According to a second aspect of the embodiments of the present application, an AGV vehicle is provided, comprising:

[0023] The deflection compensation device described above;

[0024] A material shaft, one end of the material shaft being arranged at the deflection compensation device;

[0025] A detection mechanism, the detection mechanism being arranged at the other end of the material shaft away from the deflection compensation device, the detection mechanism being configured to detect the deflection of the material shaft.

[0026] Optionally, the AGV vehicle further comprises a control mechanism, the detection mechanism being communicatively connected to the control mechanism, and the driving mechanism being communicatively connected to the control mechanism.

[0027] One technical effect of the embodiments of the present application is that when the driving mechanism drives the connecting member to move downward along the Z direction, the mounting member rotates around the axis of the connection between the mounting member and the connecting member, that is, the mounting member rotates counterclockwise around the Y direction axis, the material shaft is mounted on the mounting member, and the end of the material shaft away from the mounting member will be raised upward in the Z direction, so that the axis of the material shaft is in the same horizontal line as the butt joint shaft, thereby facilitating the smooth transfer of materials.

[0028] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0030] FIG. 1 is a structural schematic view of a deflection compensation device and a material shaft in an embodiment of the present application;

[0031] FIG. 2 is a structural schematic view of a deflection compensation device and a material shaft in an embodiment of the present application;

[0032] FIG. 3 is a sectional view of A-A in FIG. 2;

[0033] FIG. 4 is a structural schematic view of a deflection compensation device and a material shaft in an embodiment of the present application;

[0034] FIG. 5 is a structural schematic view of a deflection compensation device adjusting a material shaft in an embodiment of the present application;

[0035] FIG. 6 is a structural schematic view of a deflection compensation device, a material shaft, and a butt joint shaft in an embodiment of the present application.

[0036] Explanation of signs: deflection compensation device 100; mounting 1; first mounting plate 11; second mounting plate 12; third mounting plate 13; groove 131; first connecting part 132; second connecting part 133; fixing plate 2; first guide rail 21; second guide rail 22; connecting piece 3; first connecting plate 31; limiting rod 311; accommodating groove 312; second connecting plate 32; first sliding block 33; second sliding block 34; driving mechanism 4; motor 41; speed reducer 42; lead screw 43; nut seat 44; bearing 45; bearing seat 46; first connecting shaft 5; second connecting shaft 6; first limiting piece 7; second limiting piece 8; third limiting piece 9; fourth limiting piece 10; material shaft 200; detection mechanism 300; butt joint shaft 400. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of the components and steps set forth in the embodiments, as well as the numerical expressions and values, are merely illustrative and do not limit the scope of the present application, unless otherwise specifically stated.

[0038] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the scope of the application or its application or uses.

[0039] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be viewed as part of the specification and can be claimed as such.

[0040] In all of the examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation on the application. Thus, other examples of the exemplary embodiments can have different values.

[0041] It should be noted that like references and characters herein relate to like items throughout the figures, and once an item is defined in one figure, it need not be discussed further in subsequent figures.

[0042] Firstly, the X direction, the Y direction and the Z direction in the embodiments of the present application are explained with reference to the directions marked in FIG. 1, FIG. 2 and FIG. 4. The X direction, the Y direction and the Z direction are perpendicular to each other.

[0043] The deflection of the material shaft 200 refers to the displacement of the axis of the material shaft 200 in the direction perpendicular to the axis when the material shaft 200 is under stress.

[0044] As shown in FIG. 1-6, the embodiment of the present application provides a deflection compensation device 100, comprising a mounting member 1, a fixed plate 2, a connecting member 3 and a driving mechanism 4, the mounting member 1 is configured to mount a material shaft 200; the mounting member 1 is rotationally connected with the fixed plate 2 around the axis along the Y direction; the connecting member 3 is rotationally connected with the mounting member 1 around the axis along the Y direction; the driving mechanism 4 is arranged on the fixed plate 2, the driving end of the driving mechanism 4 is connected with the connecting member 3, the driving mechanism 4 can drive the connecting member 3 to move along the Z direction, and the mounting member 1 can rotate around the axis along the Y direction.

[0045] The embodiment of the present application provides a deflection compensation device 100, the material shaft 200 is arranged on the deflection compensation device 100, and the deflection compensation device 100 can adjust the axis of the material shaft 200 and the axis of the butt joint shaft 400 to be located on the same horizontal line in the Z direction, so that the material located on the material shaft 200 can be smoothly transferred to the butt joint shaft 400, and the problem of material jamming in the transfer process is prevented.

[0046] As shown in FIG. 1, FIG. 2 and FIG. 5, the deflection compensation device 100 comprises a mounting member 1, a fixed plate 2, a connecting member 3 and a driving mechanism 4.

[0047] The mounting member 1 is rotationally connected with the fixed plate 2 around the axis along the Y direction, the mounting member 1 is rotationally connected with the connecting member 3 around the axis along the Y direction, the material shaft 200 is mounted on the mounting member 1, the mounting member 1 is rotationally connected with the fixed plate 2, and the second connecting portion 322 can improve the mounting stability of the mounting member 1, so as to improve the connection stability of the material shaft 200; the driving mechanism 4 is arranged on the fixed plate 2, the connecting member 3 is connected with the driving end of the driving mechanism 4, and the driving mechanism 4 can drive the connecting member 3 to move along the Z direction. When the material shaft 200 is loaded with material, the end of the material shaft 200 away from the mounting member 1 will bend downward in the Z direction under the action of the gravity of the material, so that the material shaft 200 will have a large deflection, and the butt joint with the butt joint shaft 400 will have a step, so when the driving mechanism 4 drives the connecting member 3 to move downward along the Z direction, the mounting member 1 will rotate around the axis of the connection between the mounting member 1 and the connecting member 3, that is, the mounting member 1 will rotate counterclockwise around the axis along the Y direction, the material shaft 200 is mounted on the mounting member 1, and the end of the material shaft 200 away from the mounting member 1 will be raised upward in the Z direction, so that the axis of the material shaft 200 and the butt joint shaft 400 are located on the same horizontal line, thereby facilitating the smooth transfer of the material.

[0048] In an alternative embodiment, the mounting member 1 comprises a first mounting plate 11, a second mounting plate 12 and a third mounting plate 13, one end of the first mounting plate 11 is connected to the second mounting plate 12 at an angle, the other end of the first mounting plate 11 is connected to the third mounting plate 13 at an angle, the first mounting plate 11 is configured to mount the material shaft 200, the second mounting plate 12 is rotationally connected to the fixed plate 2, and the third mounting plate 13 is rotationally connected to the connecting member 3.

[0049] As shown in FIG. 1 and FIG. 2, the mounting member 1 comprises a first mounting plate 11, a second mounting plate 12 and a third mounting plate 13. One end of the first mounting plate 11 is connected to the second mounting plate 12 at an angle, the first mounting plate 11 is spaced apart from the fixed plate 2 along the X direction, and the second mounting plate 12 is rotationally connected to the fixed plate 2 about an axis in the Y direction; the third mounting plate 13 is connected to the other end of the first mounting plate 11 at an angle, and the third mounting plate 13 is rotationally connected to the connecting member 3 about an axis in the Y direction, and the two ends of the first mounting plate 11 are spaced apart along the Z direction, so the third mounting plate 13 is spaced apart from the second mounting plate 12 along the Z direction.

[0050] The material shaft 200 is mounted on the first mounting plate 11, and the second mounting plate 12 is rotationally connected to the fixed plate 2, which can provide support for the material shaft 200 to prevent the material shaft 200 from tilting after being mounted on the first mounting plate 11, and facilitate the rotation of the first mounting plate 11 about an axis in the Y direction to improve the stability of the rotation of the first mounting plate 11. The third mounting plate 13 is connected to the first mounting plate 11 at an angle to facilitate the rotational connection of the third mounting plate 13 to the connecting member 3, and when the connecting member 3 moves along the Z direction, the third mounting plate 13 will rotate about an axis in the Y direction, so that the first mounting plate 11 can rotate about an axis in the Y direction.

[0051] In a preferred embodiment, the third mounting plate 13 has an arc-shaped cross-section in the Z direction, which is curved towards the fixed plate 2 to avoid some parts, so that the structure of the deflection compensation device 100 is more compact.

[0052] In an alternative embodiment, the connecting member 3 comprises a first connecting plate 31 and a second connecting plate 32, the first connecting plate 31 is connected to the driving end of the driving mechanism 4, the first connecting plate 31 is rotationally connected to one end of the second connecting plate 32 about an axis in the Y direction, and the other end of the second connecting plate 32 is rotationally connected to the third mounting plate 13 about an axis in the Y direction.

[0053] As shown in FIG. 1, FIG. 2 and FIG. 5, the connecting piece 3 comprises a first connecting plate 31 and a second connecting plate 32, one end of the second connecting plate 32 is rotationally connected with the first connecting plate 31 around the axis in Y direction, the other end of the second connecting plate 32 is rotationally connected with the third mounting plate 13 around the axis in Y direction, and the first connecting plate 31 is connected with the driving end of the driving mechanism 4; when the driving mechanism 4 drives the first connecting plate 31 to move upward or downward along Z direction, the first mounting plate 11 will rotate counterclockwise around the axis in Y direction, that is, the end of the material shaft 200 away from the first mounting plate 11 will be tilted upward along Z direction, so that the axis of the material shaft 200 is in the same horizontal line with the butt joint shaft 400. With this structure, no matter whether the first connecting plate 31 moves upward or downward along Z direction, the axis of the material shaft 200 can be adjusted to be in the same horizontal line with the axis of the butt joint shaft 400, the misadjustment can be avoided, and the adjustment efficiency can be improved.

[0054] In an alternative embodiment, the third mounting plate 13 is formed with a groove 131 along Z direction, and the other end of the second connecting plate 32 is embedded in the groove 131 and rotationally connected with the third mounting plate 13.

[0055] As shown in FIG. 1 and FIG. 4, the third mounting plate 13 is formed with a groove 131 along Z direction, and in Y direction, two ends of the groove 131 are respectively formed with a first connecting part 132 and a second connecting part 133; the other end of the second connecting plate 32 is embedded in the groove 131, and two ends of the second connecting plate 32 along Y direction are respectively in contact with the first connecting part 132 and the second connecting part 133, the first connecting part 132 and the second connecting part 133 are provided with a first mounting hole, and the other end of the second connecting plate 32 is provided with a second mounting hole along Y direction, and the first connecting shaft 5 passes through the first mounting hole and the second mounting hole, so that the third mounting plate 13 is rotationally connected with the second connecting plate 32.

[0056] Further, the other end of the second connecting plate 32 is embedded in the groove 131; on the one hand, the groove 131 can limit the movement of the second connecting plate 32 along Y direction, and the connection stability between the second connecting plate 32 and the third mounting plate 13 can be improved; on the other hand, in Z direction, the height of the deflection compensation device 100 can be reduced, and the volume of the deflection compensation device 100 can be reduced.

[0057] In an alternative embodiment, the connecting member 3 further comprises a first sliding block 33 and a second sliding block 34, both of which are arranged at one end of the first connecting plate 31 close to the fixed plate 2, and the first sliding block 33 and the second sliding block 34 are arranged in the Y direction; the fixed plate 2 is provided with a first guide rail 21 and a second guide rail 22 at one end thereof close to the connecting member 3, and the first guide rail 21 and the second guide rail 22 are arranged in the Y direction, the first sliding block 33 is slidably connected with the first guide rail 21 in the Z direction, and the second sliding block 34 is slidably connected with the second guide rail 22 in the Z direction.

[0058] As shown in FIGS. 2 and 4, the connecting member 3 further comprises a first sliding block 33 and a second sliding block 34, both of which are arranged at one end of the first connecting plate 31 close to the fixed plate 2, and the first sliding block 33 and the second sliding block 34 are arranged in the Y direction; the fixed plate 2 is provided with a first guide rail 21 and a second guide rail 22 at one end thereof close to the connecting member 3, and the first guide rail 21 and the second guide rail 22 are arranged in the Y direction, the length direction of the first guide rail 21 is the Z direction, and the length direction of the second guide rail 22 is the Z direction; the first sliding block 33 is slidably connected with the first guide rail 21, and the second sliding block 34 is slidably connected with the second guide rail 22; when the driving mechanism 4 drives the connecting member 3 to move in the Z direction, the first sliding block 33 moves relative to the first guide rail 21 in the Z direction, and the second sliding block 34 moves relative to the second guide rail 22 in the Z direction, so as to provide a guiding effect for the first connecting plate 31 and avoid the first connecting plate 31 from being deflected during movement, thereby improving the stability of the adjustment of the material shaft 200.

[0059] In an alternative embodiment, the deflection compensation device 100 further comprises a first limiting member 7 arranged on the fixed plate 2, and the first sliding block 33 or the second sliding block 34 can abut against the first limiting member 7; or the deflection compensation device 100 further comprises a first limiting member 7 and a second limiting member 8 arranged in the Z direction on the fixed plate 2, and the first sliding block 33 and the second sliding block 34 can move between the first limiting member 7 and the second limiting member 8.

[0060] In a specific embodiment, the deflection compensation device 100 further comprises a first limiting member 7. The first limiting member 7 is arranged on the fixed plate 2; in the Z direction, the first limiting member 7 is above the first guide rail 21 or the second guide rail 22, and if the driving mechanism 4 fails, the first limiting member 7 can limit the range of upward movement of the first slider 33 or the second slider 34 in the Z direction; or, in the Z direction, the first limiting member 7 is below the first guide rail 21 or the second guide rail 22, and if the driving mechanism 4 fails, the first limiting member 7 can limit the range of downward movement of the first slider 33 or the second slider 34 in the Z direction. This avoids the first slider 33 from disengaging from the first guide rail 21 or the second slider 34 from disengaging from the second guide rail 22, further avoiding the material on the material shaft 200 from disengaging from the material shaft 200, so as to avoid safety accidents.

[0061] In another specific embodiment, the deflection compensation device 100 further comprises a first limiting member 7 and a second limiting member 8, both of which are arranged on the fixed plate 2, and the first limiting member 7 and the second limiting member 8 are arranged in the Z direction. In the Z direction, the first limiting member 7 is above the first guide rail 21 or the second guide rail 22, and the second limiting member 8 is below the first guide rail 21 or the second guide rail 22; if the driving mechanism 4 fails, the first limiting member 7 and the second limiting member 8 can limit the first connecting plate 31 between the first limiting member 7 and the second connecting member 3, avoid the first slider 33 from disengaging from the first guide rail 21 or the second slider 34 from disengaging from the second guide rail 22, and further avoid the material on the material shaft 200 from disengaging from the material shaft 200, so as to avoid safety accidents.

[0062] Among them, the first limiting member 7 can adopt a limiting block or a limiting plate; the second limiting member 8 can adopt a limiting block or a limiting plate. The structure of the first limiting member 7 and the second limiting member 8 can be the same or different.

[0063] In an optional embodiment, the deflection compensation device 100 further comprises a third limiting member 9 arranged on the fixed plate 2; the first connecting plate 31 is provided with a limiting rod 311 capable of abutting against the third limiting member 9, and the axis of the connecting shaft between the first connecting plate 31 and the second connecting plate 32 is parallel to the axis of the connecting shaft between the second connecting plate 32 and the third mounting plate 13 in the X plane.

[0064] As shown in FIG. 1 and FIG. 4, the deflection compensation device 100 further comprises a third limiting member 9; the third limiting member 9 is arranged on one end of the fixed plate 2 facing the connecting member 3; and the first connecting plate 31 is provided with a limiting rod 311.

[0065] The second connecting plate 32 is rotationally connected with the third mounting plate 13 through the first connecting shaft 5, and the axis of the first connecting shaft 5 is the first axis; the first connecting plate 31 is rotationally connected with the second connecting plate 32 through the second connecting shaft 6, and the axis of the second connecting shaft 6 is the second axis. When the driving mechanism 4 drives the first connecting plate 31 to move along the Z direction, the first axis and the second axis form a plane which is inclined to the X plane, and the first axis is parallel to the second axis. When the first axis is parallel to the second axis, the axis of the material shaft 200 on the first mounting plate 11 extends along the X direction when the material shaft 200 is not loaded with materials; when the material shaft 200 is unloaded, the driving mechanism 4 drives the first connecting plate 31 to move along the Z direction so that the limiting rod 311 abuts against the third limiting piece 9, thereby quickly adjusting the material shaft 200 to a horizontal state, so as to improve the feeding efficiency.

[0066] In a preferred embodiment, the deflection compensation device 100 further comprises a fourth limiting piece 10 which is spaced apart from the third limiting piece 9 along the Z direction, and the limiting rod 311 can move between the third limiting piece 9 and the fourth limiting piece 10; when the limiting rod 311 abuts against the fourth limiting piece 10, the end of the material shaft 200 away from the first mounting plate 11 will be tilted in the Z direction, so as to adjust the axis of the material shaft 200 so that the axis of the material shaft 200 is on the same horizontal line as the axis of the butt joint shaft 400.

[0067] In a specific embodiment, the driving mechanism 4 can adopt a hydraulic cylinder or an electric cylinder. The connecting piece 3 is connected with the piston rod of the hydraulic cylinder, or the connecting piece 3 is connected with the piston rod of the electric cylinder.

[0068] In another alternative embodiment, the driving mechanism 4 comprises a motor 41, a lead screw 43 and a nut seat 44, the motor 41 can drive the lead screw 43 to rotate around the axis along the Z direction, the nut seat 44 is rotationally connected with the lead screw 43, and the first connecting plate 31 is connected with the nut seat 44.

[0069] As shown in FIG. 3, the driving mechanism 4 comprises a motor 41, a lead screw 43 and a nut seat 44. Among them, the motor 41 and the lead screw 43 are installed on the fixed plate 2, the nut seat 44 is rotationally connected with the lead screw 43, and the motor 41 can drive the lead screw 43 to rotate, so that the nut seat 44 can move along the Z direction. The first connecting plate 31 is connected with the nut seat 44, and when the nut seat 44 moves along the Z direction, the first connecting plate 31 also moves along the Z direction. This structure is simple and has high stability.

[0070] In a preferred embodiment, the driving mechanism 4 further comprises a bearing seat 46 and a bearing 45, the bearing seat 46 is arranged on the fixed plate 2, the bearing seat 46 is provided with a bearing hole, the bearing 45 is arranged in the bearing hole, the end of the lead screw 43 away from the motor 41 is rotatably connected with the bearing 45, and the bearing seat 46 can provide support for the lead screw 43.

[0071] In an alternative embodiment, the first connecting plate 31 is provided with a receiving groove 312 at one end thereof facing the fixed plate 2, and the nut seat 44 is embedded in the receiving groove 312.

[0072] As shown in FIG. 2, the first connecting plate 31 is provided with a receiving groove 312 at one end thereof facing the fixed plate 2, and the nut seat 44 is embedded in the receiving groove 312, so that the first connecting plate 31 and the nut seat 44 are connected, the connection strength between the first connecting plate 31 and the nut seat 44 is improved, and the connection stability between the first connecting plate 31 and the nut seat 44 is further improved.

[0073] In a specific embodiment, the first connecting plate 31 is provided with a receiving groove 312 at one end thereof facing the fixed plate 2; in another specific embodiment, the first connecting plate 31 is provided with a U-shaped block at one end thereof facing the fixed plate 2, the receiving groove 312 is located in the U-shaped block, the opening of the U-shaped block faces the fixed plate 2, and the opening is in communication with the receiving groove 312, so as to facilitate embedding the nut seat 44 in the receiving groove 312.

[0074] In an alternative embodiment, the driving mechanism 4 further comprises a speed reducer 42, the speed reducer 42 is connected with the output end of the motor 41 and the lead screw 43.

[0075] As shown in FIG. 3, the driving mechanism 4 further comprises a speed reducer 42, the input end of the speed reducer 42 is connected with the output end of the motor 41, and the output end of the speed reducer 42 is connected with the lead screw 43, so that the motor 41 can drive the lead screw 43 to rotate, and the speed of the lead screw 43 can be reduced through the speed reducer 42, and the torque of the lead screw 43 is improved.

[0076] According to a second aspect of the embodiments of the present application, an AGV vehicle is provided, comprising a deflection compensation device 100, a material shaft 200, and a detection mechanism 300; one end of the material shaft 200 is arranged in the deflection compensation device 100; the detection mechanism 300 is arranged at one end of the material shaft 200 away from the deflection compensation device 100, and the detection mechanism 300 is configured to detect the deflection of the material shaft 200.

[0077] AGV is the abbreviation of Automated Guided Vehicle, which refers to an unmanned and automated vehicle with magnetic strip, track or laser automatic guiding device, traveling along the planned path, powered by battery, and equipped with safety protection and various auxiliary mechanisms (such as moving and assembling mechanisms).

[0078] As shown in FIG. 6, the AGV vehicle comprises a deflection compensation device 100, a material shaft 200 and a detection mechanism 300.

[0079] Specifically, one end of the material shaft 200 is mounted on the first mounting plate 11, and the axis of the material shaft 200 is parallel to the axis of the X direction. The detection mechanism 300 is arranged at the end of the material shaft 200 away from the deflection compensation device 100, and the detection mechanism 300 can detect the deflection of the material shaft 200, so that the deflection compensation device 100 adjusts the material shaft 200.

[0080] Further, the detection mechanism 300 can adopt a displacement sensor or an inclination sensor to measure the linear displacement perpendicular to the axis direction caused by the bending of the axis of the material shaft 200.

[0081] In an alternative embodiment, the AGV vehicle further comprises a control mechanism, the detection mechanism 300 is in communication connection with the control mechanism, and the driving mechanism 4 is in communication connection with the control mechanism.

[0082] Further, the AGV vehicle further comprises a control mechanism; wherein the detection mechanism 300 is in communication connection with the control mechanism, and the driving mechanism 4 is in communication connection with the control mechanism. The detection mechanism 300 can transmit the measured data obtained by detection to the control mechanism, the control mechanism analyzes the obtained measured data, and controls the driving mechanism 4 to work according to the analysis result, so as to compensate the deflection of the material shaft 200. By setting the control mechanism, real-time automatic adjustment can be realized.

[0083] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. Deflection compensation device, characterized in that The deflection compensation device comprises: a mounting piece configured to mount a material shaft; a fixed plate, the mounting piece being rotationally connected with the fixed plate about an axis in the Y direction; a connecting piece, the connecting piece being rotationally connected with the mounting piece about an axis in the Y direction; a driving mechanism provided on the fixed plate, a driving end of the driving mechanism being connected with the connecting piece, the driving mechanism being capable of driving the connecting piece to move in the Z direction, and the mounting piece being capable of rotating about an axis in the Y direction.

2. The deflection compensation device of claim 1, wherein The mounting piece comprises a first mounting plate, a second mounting plate, and a third mounting plate, one end of the first mounting plate being angularly connected with the second mounting plate, the other end of the first mounting plate being angularly connected with the third mounting plate, the first mounting plate being configured to mount a material shaft, the second mounting plate being rotationally connected with the fixed plate, and the third mounting plate being rotationally connected with the connecting piece.

3. The deflection compensation device of claim 2, wherein, The connecting piece comprises a first connecting plate and a second connecting plate, the first connecting plate being connected with the driving end of the driving mechanism, the first connecting plate being rotationally connected with one end of the second connecting plate about an axis in the Y direction, and the other end of the second connecting plate being rotationally connected with the third mounting plate about an axis in the Y direction.

4. The deflection compensation device of claim 3, wherein The third mounting plate is provided with a groove in the Z direction, and the other end of the second connecting plate is embedded in the groove and rotationally connected with the third mounting plate.

5. The deflection compensation device of claim 3, wherein, The connecting piece further comprises a first sliding block and a second sliding block, the first sliding block and the second sliding block being provided on one end of the first connecting plate close to the fixed plate, and the first sliding block and the second sliding block being spaced apart in the Y direction. One end of the fixed plate towards the connecting piece is provided with a first guide rail and a second guide rail, the first guide rail and the second guide rail being spaced apart in the Y direction, the first sliding block being slidingly connected with the first guide rail in the Z direction, and the second sliding block being slidingly connected with the second guide rail in the Z direction.

6. The deflection compensation device of claim 5, wherein, The deflection compensation device further comprises a first limiting piece, the first limiting piece being provided on the fixed plate, and the first sliding block or the second sliding block being capable of abutting against the first limiting piece; or The deflection compensation device further comprises a first limiting piece and a second limiting piece, the first limiting piece and the second limiting piece being spaced apart in the Z direction on the fixed plate, and the first sliding block and the second sliding block being capable of moving between the first limiting piece and the second limiting piece.

7. The deflection compensation device of claim 3, wherein The deflection compensation device further comprises a third limiting piece, the third limiting piece being provided on the fixed plate. The first connecting plate is provided with a limiting rod, the limiting rod being capable of abutting against the third limiting piece, and an axis of a connecting shaft between the first connecting plate and the second connecting plate being parallel to an axis of a connecting shaft between the second connecting plate and the third mounting plate in the X plane.

8. The deflection compensation device of claim 3, wherein, The driving mechanism comprises a motor, a lead screw, and a nut seat, the motor being capable of driving the lead screw to rotate about an axis in the Z direction, the nut seat being rotationally connected with the lead screw, and the first connecting plate being connected with the nut seat.

9. The deflection compensation device of claim 8, wherein, One end of the first connecting plate towards the fixed plate is provided with a receiving groove, and the nut seat is embedded in the receiving groove.

10. The deflection compensation device of claim 8, wherein, The driving mechanism further comprises a speed reducer, the speed reducer being connected with an output end of the motor and the lead screw. 11.An AGV vehicle, characterized in that The application relates to a deflection compensation device for an AGV vehicle. The deflection compensation device comprises: a material shaft, one end of the material shaft being arranged at the deflection compensation device; a detection mechanism arranged at the other end of the material shaft away from the deflection compensation device, the detection mechanism being configured to detect the deflection of the material shaft.

12. The AGV vehicle of claim 11, wherein, The AGV vehicle further comprises a control mechanism, the detection mechanism being in communication connection with the control mechanism, and the driving mechanism being in communication connection with the control mechanism.

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