阅读说明：本技术 一种支撑装置和自主导引车辆 (Support device and autonomous guided vehicle ) 是由 不公告发明人 于 2019-10-10 设计创作，主要内容包括：本发明公开了一种支撑装置和自主导引车辆,该支撑装置用于安装在车辆主体上,支撑装置包括支撑机构和驱动机构；支撑机构包括推送导轨、推送组件和支撑组件；推送导轨用于设置在车辆主体上；推送组件包括支撑杆和推块,支撑杆上设置有滑槽,推块滑动设置于滑槽中,支撑杆滑动设置于推送导轨上,支撑杆在推送导轨上移动时具有由第一位置和第二位置限定的行程；当支撑杆自第一位置移动至第二位置过程中,推送组件推动支撑组件远离车辆主体,且支撑组件自收缩状态调整为支撑状态；驱动机构与推块动力连接,用于驱动推块在滑槽中移动以带动支撑杆在第一位置和第二位置之间运动。通过上述方式,本申请能够对车辆主体进行支撑,以保证车辆主体的稳定性。(The invention discloses a supporting device and an autonomous guided vehicle, wherein the supporting device is used for being installed on a vehicle main body and comprises a supporting mechanism and a driving mechanism; the supporting mechanism comprises a pushing guide rail, a pushing assembly and a supporting assembly; the pushing guide rail is arranged on the vehicle body; the pushing assembly comprises a supporting rod and a pushing block, a sliding groove is formed in the supporting rod, the pushing block is arranged in the sliding groove in a sliding mode, the supporting rod is arranged on the pushing guide rail in a sliding mode, and the supporting rod has a stroke limited by a first position and a second position when moving on the pushing guide rail; when the supporting rod moves from the first position to the second position, the pushing assembly pushes the supporting assembly to be far away from the vehicle body, and the self-contraction state of the supporting assembly is adjusted to be a supporting state; the driving mechanism is in power connection with the push block and is used for driving the push block to move in the sliding groove so as to drive the supporting rod to move between the first position and the second position. Through the mode, the vehicle body can be supported by the vehicle body supporting device, so that the stability of the vehicle body is guaranteed.)

1. A support device for mounting on a vehicle body, the support device comprising:

the supporting mechanism comprises a pushing guide rail, a pushing assembly and a supporting assembly; the push guide rail is arranged on the vehicle body; the pushing assembly comprises a supporting rod and a pushing block, a sliding groove is formed in the supporting rod, the pushing block is arranged in the sliding groove in a sliding mode, the supporting rod is arranged on the pushing guide rail in a sliding mode, and the supporting rod has a stroke limited by a first position and a second position when moving on the pushing guide rail; the supporting component is connected with the pushing component, when the supporting rod moves from the first position to the second position, the pushing component pushes the supporting component to be away from the vehicle body, and the self-contraction state of the supporting component is adjusted to be the supporting state; and

the driving mechanism is in power connection with the push block and is used for driving the push block to move in the sliding groove so as to drive the supporting rod to move between the first position and the second position.

2. The support device of claim 1,

one end of the supporting rod, which is close to the outside of the vehicle main body, is hinged with the supporting component through a first hinge pin, an elastic piece is arranged in the sliding groove, one end of the elastic piece is connected with or abutted against the groove wall of the sliding groove, and the other end of the elastic piece is connected with or abutted against the push block;

the driving mechanism drives the push block to slide towards one side close to the supporting component or one side far away from the supporting component; in the process that the push block slides towards the side close to the support component, the push block drives the support component to be adjusted to a support state after driving the support rod to move from the first position to the second position.

3. The support device of claim 2,

the elastic piece is a spring, a spring guide pin is further arranged in the sliding groove, and the spring is sleeved on the spring guide pin.

4. The support device of claim 2,

the bracing piece with one in the propelling movement guide rail is provided with the spacing groove, the bracing piece with another in the propelling movement guide rail is provided with the stopper, the stopper slide set up in the spacing groove, the spacing groove with the stopper cooperatees in order to realize the bracing piece is relative the propelling movement guide rail is in first position with move between the second position.

5. The support device of claim 4,

the supporting assembly comprises a supporting frame and a supporting wheel, the supporting wheel is arranged at one end of the supporting frame, and the supporting frame is hinged with the supporting rod through the first hinge pin; the pushing assembly further comprises a pushing connecting rod, one end of the pushing connecting rod is hinged to the supporting frame through a second hinge pin, and the other end of the pushing connecting rod is hinged to the pushing block through a third hinge pin.

6. The support device of claim 5, further comprising a detection mechanism, wherein the detection mechanism comprises a sensor and a controller connected with each other, the sensor is used for detecting the position of the push block in the sliding groove, and the controller is used for controlling the driving mechanism to stop driving the push block when the sensor detects that the push block is in a preset position in the sliding groove.

7. The support device of any one of claims 1-6,

the driving mechanism comprises a mounting plate, a motor and a transmission assembly; the mounting plate is used for being mounted on the vehicle body, the motor is arranged on the mounting plate, the driving end of the motor is connected with the transmission assembly, and the transmission assembly is connected with the push block;

the motor is used for driving the transmission assembly to drive the push block to move in the sliding groove.

8. The support device of claim 7,

the transmission assembly comprises a screw rod and a driving block; the drive end of motor with the lead screw is connected, be provided with the lead screw supporting seat on the mounting panel, the lead screw rotate set up in on the lead screw supporting seat, the cover is equipped with screw-nut on the lead screw, screw-nut with the drive block is connected, the drive block with the ejector pad is connected.

9. The support device as claimed in claim 8, wherein the number of the support mechanisms is two, the driving mechanism further comprises a linkage assembly, the linkage assembly comprises a driving wheel, a driven wheel and a transmission belt sleeved on the driving wheel and the driven wheel, and the driving wheel is connected with the driving end of the motor;

the screw rods of the two supporting mechanisms are connected through a coupler, and the driven wheel is arranged on one of the two screw rods; or

The lead screw is a double-screw lead screw, the double-screw lead screw is provided with two threads with opposite rotation directions, the two supporting mechanisms share one double-screw lead screw, lead screw nuts in the two supporting mechanisms are all sleeved on the double-screw lead screw, and the driven wheel is arranged on the double-screw lead screw.

10. An autonomous guided vehicle comprising a vehicle body and a support device mounted on the vehicle body, the support device being as claimed in any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of logistics automation, in particular to a supporting device and an autonomous guided vehicle.

Background

The application field of the current autonomous guided vehicle is continuously widened, the variety is more various, the function is stronger and stronger, the automation and intellectualization level is obviously improved, and the market of the autonomous guided vehicle in China shows a vigorous development situation. From the perspective of industrial application, the application of the autonomous guided vehicle has been expanded to various industries, and besides industrial-level application, the autonomous guided vehicle also starts to be popularized and applied to the business service industry, and it is expected that as the industrial demand increases, the autonomous guided vehicle and various derived mobile robots thereof will meet the explosive development period.

The autonomous guided vehicle may topple over during loading and unloading of the cargo or when the weight distribution of the loaded cargo is uneven or the road surface is uneven, so that damage may be caused to the loaded cargo and the autonomous guided vehicle, causing a serious economic loss, and thus it is necessary to install a support device on the vehicle body of the autonomous guided vehicle to prevent toppling over. The existing supporting device adopts a hydraulic supporting mechanism mode, or adopts a mode of adding a guide wheel on a vehicle main body and adding a guide rail in an external environment, the mode of adopting the hydraulic supporting mechanism is troublesome in hydraulic pipeline arrangement, and the hydraulic station occupies a larger space, and adopts a mode of adding the guide wheel on the vehicle main body and adding the guide rail in the external environment, so that the autonomous guiding vehicle cannot adapt to all external environments, and the application has limitation.

Disclosure of Invention

The invention mainly solves the technical problem of providing a supporting device and an autonomous guided vehicle, which can support a vehicle main body so as to ensure the stability of the vehicle main body.

In order to solve the above technical problem, one technical solution adopted by the present invention is to provide a support device for being mounted on a vehicle body, the support device including: the supporting mechanism comprises a pushing guide rail, a pushing assembly and a supporting assembly; the push guide rail is arranged on the vehicle body; the pushing assembly comprises a supporting rod and a pushing block, a sliding groove is formed in the supporting rod, the pushing block is arranged in the sliding groove in a sliding mode, the supporting rod is arranged on the pushing guide rail in a sliding mode, and the supporting rod has a stroke limited by a first position and a second position when moving on the pushing guide rail; the supporting component is connected with the pushing component, when the supporting rod moves from the first position to the second position, the pushing component pushes the supporting component to be away from the vehicle body, and the self-contraction state of the supporting component is adjusted to be the supporting state; and the driving mechanism is in power connection with the push block and is used for driving the push block to move in the sliding groove so as to drive the supporting rod to move between the first position and the second position.

According to a specific embodiment of the invention, one end of the support rod, which is close to the outside of the vehicle main body, is hinged with the support component through a first hinge pin, an elastic piece is arranged in the chute, one end of the elastic piece is connected with or abutted against a chute wall of the chute, and the other end of the elastic piece is connected with or abutted against the push block; the driving mechanism drives the push block to slide towards one side close to the supporting component or one side far away from the supporting component; in the process that the push block slides towards the side close to the support component, the push block drives the support component to be adjusted to a support state after driving the support rod to move from the first position to the second position.

According to a specific embodiment of the present invention, the elastic member is a spring, and the sliding groove is further provided with a spring guide pin, and the spring is sleeved on the spring guide pin.

According to a specific embodiment of the present invention, one of the support rod and the push rail is provided with a limiting groove, the other of the support rod and the push rail is provided with a limiting block, the limiting block is slidably disposed in the limiting groove, and the limiting groove and the limiting block cooperate to enable the support rod to move between the first position and the second position relative to the push rail.

According to a specific embodiment of the present invention, the supporting assembly includes a supporting frame and a supporting wheel, the supporting wheel is disposed at one end of the supporting frame, and the supporting frame is hinged to the supporting rod through the first hinge pin; the pushing assembly further comprises a pushing connecting rod, one end of the pushing connecting rod is hinged to the supporting frame through a second hinge pin, and the other end of the pushing connecting rod is hinged to the pushing block through a third hinge pin.

According to a specific embodiment of the present invention, the supporting device further includes a detecting mechanism, the detecting mechanism includes a sensor and a controller, the sensor is connected to the controller, the sensor is configured to detect a position of the pushing block in the sliding slot, and the controller is configured to control the driving mechanism to stop driving the pushing block when the sensor detects that the pushing block is located at a preset position in the sliding slot.

According to a specific embodiment of the present invention, the driving mechanism includes a mounting plate, a motor and a transmission assembly; the mounting plate is used for being mounted on the vehicle body, the motor is arranged on the mounting plate, the driving end of the motor is connected with the transmission assembly, and the transmission assembly is connected with the push block; the motor is used for driving the transmission assembly to drive the push block to move in the sliding groove.

According to a specific embodiment of the present invention, the transmission assembly includes a screw rod and a driving block; the drive end of motor with the lead screw is connected, be provided with the lead screw supporting seat on the mounting panel, the lead screw rotate set up in on the lead screw supporting seat, the cover is equipped with screw-nut on the lead screw, screw-nut with the drive block is connected, the drive block with the ejector pad is connected.

According to a specific embodiment of the present invention, the number of the supporting mechanisms is two, the driving mechanism further includes a linkage assembly, the linkage assembly includes a driving wheel, a driven wheel and a transmission belt sleeved on the driving wheel and the driven wheel, and the driving wheel is connected with the driving end of the motor; the screw rods of the two supporting mechanisms are connected through a coupler, and the driven wheel is arranged on one of the two screw rods; or the screw rod is a double-screw rod, the double-screw rod is provided with two threads with opposite rotation directions, the two supporting mechanisms share one double-screw rod, screw rod nuts in the two supporting mechanisms are all sleeved on the double-screw rod, and the driven wheel is arranged on the double-screw rod.

In order to solve the technical problem, another technical solution adopted by the present invention is to provide an autonomous guided vehicle, including a vehicle body and a supporting device mounted on the vehicle body, where the supporting device is the supporting device as described above.

The invention has the beneficial effects that: unlike the prior art, the supporting device of the present application comprises a supporting mechanism and a driving mechanism, wherein the supporting mechanism comprises a pushing guide rail, a pushing assembly and a supporting assembly, the pushing guide rail is arranged on the vehicle main body, the pushing assembly comprises a supporting rod and a pushing block, a chute is arranged on the supporting rod, the pushing block is arranged in the chute in a sliding manner, the supporting rod is arranged on the pushing guide rail in a sliding manner, the supporting rod has a stroke limited by a first position and a second position when moving on the pushing guide rail, the supporting assembly is connected with the pushing assembly, when the supporting rod moves from the first position to the second position, the pushing component pushes the supporting component to be far away from the vehicle body, and the self-contraction state of the supporting component is adjusted to be the supporting state, and the driving mechanism is in power connection with the push block and is used for driving the push block to move in the sliding groove so as to drive the supporting rod to move between the first position and the second position. Therefore, strutting arrangement and autonomic guide vehicle of this application, move in the spout through actuating mechanism drive ejector pad in order to drive the bracing piece and move between primary importance and second place, make when the bracing piece removes to the second place in-process from the primary importance, push assembly promotes supporting component and keeps away from the vehicle main part, and supporting component self-contraction state adjustment is the support state, thereby realize supporting the vehicle main part, and when the bracing piece removes to the primary importance in-process from the second place, supporting component can adjust to the contraction state from the support state, thereby can avoid the interference to external environment space when supporting component does not support.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a supporting device provided in the present invention;

FIGS. 2 to 4 are schematic views of the cross-sectional structure A-A of the supporting mechanism in FIG. 1 in different states;

fig. 5 is a schematic structural diagram of an autonomous guided vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of an embodiment of a supporting device provided by the present invention, fig. 2 to 4 are schematic structural diagrams of a cross-section a-a of the supporting mechanism in fig. 1 in different states, where fig. 2 is a schematic structural diagram of the supporting rod of the supporting mechanism in fig. 1 at a first position, and fig. 3 and 4 are schematic structural diagrams of the supporting rod of the supporting mechanism in fig. 1 at a second position. The support device in the embodiment of the present application is used for being mounted on a vehicle body, and includes a support mechanism 10 and a drive mechanism 12; the support mechanism 10 includes a presenter track 100, a presenter assembly 102 and a support assembly 104; the push rail 100 is for being provided on a vehicle body; the pushing assembly 102 comprises a supporting rod 1020 and a pushing block 1021, the supporting rod 1020 is provided with a sliding groove 1022, the pushing block 1021 is arranged in the sliding groove 1022 in a sliding manner, the supporting rod 1020 is arranged on the pushing guide rail 100 in a sliding manner, and the supporting rod 1020 has a stroke limited by a first position and a second position when moving on the pushing guide rail 100; the supporting member 104 is connected to the pushing member 102, when the supporting rod 1020 moves from the first position to the second position, the pushing member 102 pushes the supporting member 104 away from the vehicle body, and the supporting member 104 is adjusted from a retracted state to a supporting state; the driving mechanism 12 is in power connection with the pushing block 1021, and the driving mechanism 12 is used for driving the pushing block 1021 to move in the sliding groove 1022 to drive the supporting rod 1020 to move between the first position and the second position.

In the supporting device of the present application, the supporting mechanism 10 includes a pushing guide rail 100, a pushing assembly 102 and a supporting assembly 104, wherein the pushing guide rail 100 is configured to be disposed on a vehicle body, the pushing assembly 102 includes a supporting rod 1020 and a pushing block 1021, the supporting rod 1020 is provided with a sliding groove 1022, the pushing block 1021 is slidably disposed in the sliding groove 1022, the supporting rod 1020 is slidably disposed on the pushing guide rail 100, and the supporting rod 1020 has a stroke defined by a first position and a second position when moving on the pushing guide rail 100; it is understood that when the supporting rod 1020 moves to the first position on the push rail 100, the supporting rod 1020 is received in the push rail 100, and when the supporting rod 1020 moves to the second position on the push rail 100, the supporting rod 1020 protrudes out of the push rail 100. Therefore, when the driving mechanism 12 drives the pushing block 1021 to move in the sliding groove 1022 of the supporting rod 1020, the supporting rod 1020 can be driven to move on the pushing guide rail 100; as shown in fig. 3, if the push block 1021 drives the supporting rod 1020 to move on the push rail 100 to the second position, the supporting rod 1020 protrudes out of the push rail 100, and the supporting component 104 is connected to the push component 102, so that the supporting component 104 moves along with the supporting rod 1020 and is far away from the vehicle body, and at this time, the supporting component 104 extends out of the vehicle body far away, and when there is a wall or an obstacle outside the vehicle body, the supporting component 104 can play a supporting role, so that the supporting component 104 is in a supporting state; as shown in fig. 2, when the push block 1021 drives the support rod 1020 to move on the push rail 100 to the first position, the support rod 1020 is accommodated in the push rail 100, and at this time, the support element 104 moves along with the support rod 1020 to be close to or accommodated in the vehicle body, and at this time, the support element 104 is in a retracted state. Therefore, in the supporting device of the embodiment, the driving mechanism 12 drives the pushing block 1021 to move in the sliding groove 1022 to drive the supporting rod 1020 to move between the first position and the second position, so that when the supporting rod 1020 moves from the first position to the second position, the pushing component 102 pushes the supporting component 104 to move away from the vehicle body, at this time, the self-retracting state of the supporting component 104 is adjusted to the supporting state, thereby supporting the vehicle body, and when the supporting rod 1020 moves from the second position to the first position, the supporting component 104 approaches the vehicle body along with the supporting rod 1020, at this time, the self-supporting state of the supporting component 104 is adjusted to the retracting state, thereby avoiding the interference to the external environment space when the supporting component 104 does not support.

Further, one end of the support bar 1020, which is close to the exterior of the vehicle body, is hinged to the support assembly 104 through a first hinge pin 1041, an elastic member 1024 is disposed in the sliding groove 1022, one end of the elastic member 1024 is connected to or abuts against a groove wall of the sliding groove 1022, and the other end of the elastic member 1024 is connected to or abuts against the push block 1021; the driving mechanism 12 drives the pushing block 1021 to slide towards the side close to the supporting component 104 or the side far away from the supporting component 104; during the sliding process of the push block 1021 towards the side close to the support assembly 104, the push block 1021 drives the support assembly 104 to adjust to the support state after driving the support bar 1020 to move from the first position to the second position. It can be understood that during the sliding process of the pushing block 1021 towards the side close to the supporting component 104, the elastic member 1024 and the supporting rod 1020 respectively apply an elastic force and a first frictional resistance to the pushing block 1021 to prevent the pushing block 1021 from moving towards the side close to the supporting component 104, and the pushing rail 100 also applies a second frictional resistance to the supporting rod 1020 to prevent the supporting rod from following the pushing block 1021 towards the side close to the supporting component 104; it can be understood that, since the first frictional resistance between the supporting rod 1020 and the pushing block 1021 is smaller than the second frictional resistance between the pushing rail 100 and the supporting rod 1020, the pushing block 1021 overcomes the first frictional resistance to slide towards the side close to the supporting assembly 104 relative to the supporting rod 1020, and when the pushing block 1021 slides relative to the supporting rod 1020, a certain pushing force is applied to the elastic member 1024, so that the elastic member 1024 is elastically deformed and applies an elastic force to the pushing block 1021 to prevent the pushing block 1021 from moving towards the side close to the supporting assembly 104, when the elastic member 1024 is elastically deformed to the first length, the sum of the pushing force applied to the elastic member 1024 by the pushing block 1021 and the sliding frictional force between the pushing block 1021 and the supporting rod 1020 is larger than the second frictional resistance applied to the supporting rod 1020 by the pushing rail 100, and at this time, the pushing block 1021 can drive the supporting rod 1020 to slide in the pushing rail 100 from the first position towards the direction away from the vehicle body, and gradually extend out of the vehicle main body; after the supporting rod 1020 reaches the second position in a sliding manner, since the supporting rod 1020 has a stroke limited by the first position and the second position when moving on the push rail 100, the supporting rod 1020 cannot continuously slide in a direction away from the vehicle body, at this time, if the push block 1021 continuously slides in the sliding groove 1022 in a direction away from the vehicle body, the elastic deformation of the elastic member 1024 is further increased to the second length, at this time, the push block 1021 can continuously slide in the sliding groove 1022 in a direction away from the vehicle body, and in a process that the push block 1021 changes the elastic deformation of the elastic member 1024 from the first length to the second length, the supporting assembly 104 can be driven to be adjusted to the supporting state; then, if the push block 1021 starts to slide in the slide groove 1022 toward the vehicle body, the elastic deformation of the elastic member 1024 gradually decreases, and the support assembly 104 is adjusted from the support state to the contraction state while the elastic deformation of the elastic member 1024 changes from the second length to the first length; then, the push block 1021 continues to slide in the sliding groove 1022 in the direction close to the vehicle body, if one end of the elastic member 1024 is connected to the groove wall of the sliding groove 1022 and the other end of the elastic member 1024 is connected to the push block 1021, the push block 1021 continuing to slide in the sliding groove 1022 in the direction close to the vehicle body can drive the support rod 1020 to slide in the direction close to the vehicle body until the first position is reached, and at this time, the elastic member 1024 is in a stretched state; if one end of the elastic member 1024 abuts against the groove wall of the sliding groove 1022 and the other end of the elastic member 1024 abuts against the pushing block 1021, only the pushing block 1021 continues to slide in the sliding groove 1022 toward the direction close to the vehicle body until the pushing block 1021 contacts the groove wall of the sliding groove 1022 on the side away from the elastic member 1024, and then the supporting rod 1020 can be driven to slide toward the direction close to the vehicle body until the first position is reached.

In one embodiment, the resilient member 1024 is a spring, and a spring guide pin 1025 is disposed in the slide groove 1022, and the spring is sleeved on the spring guide pin 1025. Because the pushing block 1021 slides in the sliding groove 1022 and applies a second acting force to the spring, the spring is deformed by the second acting force, and the spring guide pin 1025 is disposed in the sliding groove 1022, and the spring is sleeved on the spring guide pin 1025, so that the pushing block 1021 can continuously slide in the sliding groove 1022 along the direction of the spring guide pin 1025, and the sliding direction of the pushing block 1021 is kept not to be deviated. Spring guide pins 1025 also allow the spring to be compressed in a generally linear direction without bending to one side during compression.

In one embodiment, one of the support bar 1020 and the push rail 100 is provided with a limiting groove 1026, the other of the support bar 1020 and the push rail 100 is provided with a limiting block 1027, the limiting block 1027 is slidably disposed in the limiting groove 1026, and the limiting groove 1026 and the limiting block 1027 cooperate to enable the support bar 1020 to move between the first position and the second position relative to the push rail 100. Specifically, with reference to fig. 2 and fig. 3, a limiting block 1027 is disposed on the pushing guide rail 100, a limiting groove 1026 is disposed on the supporting rod 1020, and the limiting block 1027 is slidably disposed in the limiting groove 1026; when the supporting bar 1020 is located at the first position relative to the push rail 100, the stopper 1027 on the push rail 100 abuts against the groove wall of the stopper groove 1026 of the supporting bar 1020 on the side close to the supporting component 104, and then when the supporting bar 1020 moves to the second position relative to the push rail 100, the groove wall of the stopper groove 1026 of the supporting bar 1020 on the side away from the supporting component 104 abuts against the stopper 1027 on the push rail 100, that is, the stopper groove 1026 and the stopper 1027 cooperate to realize the movement of the supporting bar 1020 relative to the push rail 100 between the first position and the second position.

Further, the support assembly 104 includes a support frame 1040 and a support wheel 1042, the support wheel 1042 is disposed at one end of the support frame 1040, and the support frame 1040 is hinged to the support bar 1020 by a first hinge pin 1041; the pushing assembly 102 further includes a pushing link 1028, one end of the pushing link 1028 is hinged to the supporting frame 1040 by a second hinge pin 1023, and the other end of the pushing link 1028 is hinged to the pushing block 1021 by a third hinge pin 1029. When the pushing block 1021 slides towards the side close to the supporting component 104 relative to the supporting rod 1020 and the elastic component 1024 elastically deforms to a first length, the pushing block 1021 drives the pushing link 1028 to push the supporting frame 1040 to rotate around the first hinge pin 1041 by a first angle; the pushing block 1021 drives the supporting rod 1020 to move from the first position to the second position relative to the pushing guide rail 100, and after the supporting rod 1020 reaches the second position, when the pushing block 1021 continues to slide toward the side close to the supporting component 104, the pushing block 1021 changes the elastic deformation of the elastic component 1024 from the first length to the second length, and drives the pushing link 1028 to push the supporting frame 1040 to rotate around the first hinge pin 1041 by a second angle, so that the supporting wheel 1042 gradually approaches to and abuts against the ground. Please refer to fig. 3 and 4, wherein fig. 3 is a schematic structural diagram of the supporting mechanism in fig. 1 when the supporting rod is located at the second position and the pushing block applies the first acting force to the elastic member, and fig. 4 is a schematic structural diagram of the supporting mechanism in fig. 1 when the supporting rod is located at the second position and the pushing block applies the second acting force to the elastic member. It can be understood that, when the driving mechanism 12 drives the pushing block 1021 to slide in the sliding slot 1022 in a direction away from the vehicle body, at the beginning stage, the pushing block 1021 overcomes the first frictional resistance between the pushing block 1021 and the supporting rod 1020 and slides a distance to a side close to the supporting assembly 104 relative to the supporting rod 1020, at this time, the pushing block 1021 can elastically deform the elastic member 1024 to a first length, and in this process, since the supporting rod 1020 is not moved, the portion of the supporting frame 1040 hinged to the supporting rod 1020 through the first hinge pin 1041 cannot move, since one end of the pushing link 1028 is hinged to the supporting frame 1040 through the second hinge pin 1023, the other end of the pushing link 1028 is hinged to the pushing block 1021 through the third hinge pin 1029, the pushing block 1021 continues to slide in a direction away from the vehicle body to drive the pushing link 1028 to move, and the pushing link 1028 pushes the supporting frame 1040 to move through the portion of the pushing link 1028 hinged to the pushing link 1028 through the second hinge pin 1023, the supporting frame 1040 can then rotate around the first hinge pin 1041 by a first angle, which is understood to be smaller because the first length of deformation of the elastic member 1024 is smaller, i.e. the pushing block 1021 is displaced less; then, when the pushing block 1021 continues to slide towards the side close to the supporting component 104, the pushing block 1021 can drive the supporting rod 1020 to overcome a second frictional resistance between the pushing guide rail 100 and the supporting rod, so that the supporting rod 1020 can be driven to slide from the first position towards the direction away from the vehicle main body and gradually extend out of the vehicle main body until the supporting rod 1020 reaches the second position; after the supporting rod 1020 reaches the second position, when the pushing block 1021 continues to slide toward the side close to the supporting component 104, the pushing block 1021 changes the elastic deformation of the elastic member 1024 from the first length to the second length, and in the process of changing the elastic deformation of the elastic member 1024 from the first length to the second length, similarly, the pushing block 1021 can drive the pushing connecting rod 1028 to push the supporting frame 1040 to rotate around the first hinge pin 1041 by a second angle, and at this time, the deformation of the elastic member 1024 is gradually increased, that is, the displacement of the pushing block 1021 is gradually increased, so that the second angle is gradually increased until the supporting wheel 1042 can gradually approach and abut against the ground, thereby realizing the supporting.

With reference to fig. 4, the supporting apparatus further includes a detecting mechanism (not shown), the detecting mechanism includes a sensor (not shown) and a controller (not shown), the sensor is used for detecting a position of the pushing block 1021 in the sliding slot 1022, and the controller is used for controlling the driving mechanism 12 to stop driving the pushing block 1021 when the sensor detects that the pushing block 1021 is at a preset position in the sliding slot 1022. It can be understood that when the push block 1021 is at the preset position in the slide groove 1022, the included angle α between the line from the center of the supporting wheel 1042 to the center of the first connecting pin 1041 and the ground is not less than 90 degrees, that is, the supporting fulcrum of the supporting frame 1040 is located at the side of the center of the first connecting pin 1041 close to the vehicle body, so that the position of the supporting frame 1040 can be ensured to be locked without being reversed during supporting. In other embodiments, a sensor is used to detect the size of the included angle α between the line from the center of the supporting wheel 1042 to the center of the first connecting pin 1041 and the ground, and the controller is used to control the driving mechanism 12 to stop driving the slider 1021 when the sensor detects that the included angle α is greater than or equal to 90 degrees.

As an embodiment, the driving mechanism 12 includes a mounting plate 120, a motor 121 and a transmission assembly 122; the mounting plate 120 is used for being mounted on a vehicle body, the motor 121 is arranged on the mounting plate 120, the driving end of the motor 121 is connected with the transmission assembly 122, and the transmission assembly 122 is connected with the push block 1021; the motor 121 is used for driving the transmission assembly 122 to drive the push block 1021 to move in the sliding groove 1022. It can be understood that the motor 121 may be directly mounted on the mounting plate 120, or the motor fixing seat 123 may be disposed on the mounting plate 120, and the motor 121 is disposed on the motor fixing seat 123; for example, when the mounting plate 120 is used for being mounted on a vehicle body, the motor 121 is disposed on the mounting plate 120 through the motor fixing seat 123, and the driving end of the motor 121 is connected to the transmission assembly 122, the transmission assembly 122 can be driven by the motor 121 to drive the push block 1021 to move in the sliding groove 1022; the motor drive is adopted, so that the response speed of the supporting device is high.

Further, the transmission assembly 122 includes a screw 1220 and a driving block 1221; the driving end of the motor 121 is connected with the screw rod 1220, the mounting plate 120 is provided with the screw rod supporting seat 124, the screw rod 1220 is rotatably arranged on the screw rod supporting seat 124, the screw rod 1220 is sleeved with a screw rod nut 1222, the screw rod nut 1222 is connected with the driving block 1221, and the driving block 1221 is connected with the pushing block 1021. It can be understood that, the extending direction of the screw 1220 is the same as the extending direction of the push rail 100, since the driving end of the motor 121 is connected to the screw 1220, the screw 1220 rotates the screw supporting seat 124 disposed on the mounting plate 120, the motor 121 drives the screw 1220 to rotate, so that the screw nut 1222 sleeved on the screw 1220 moves, the screw nut 1222 is connected to the driving block 1221, and the driving block 1221 is connected to the push block 1021, so as to drive the push block 1021 to move in the sliding groove 1022.

Further, the number of the supporting mechanisms 10 is two, the driving mechanism 12 further includes a linkage assembly 126, the linkage assembly 126 includes a driving wheel 1260, a driven wheel 1262 and a transmission belt 1264 sleeved on the driving wheel 1260 and the driven wheel 1262, and the driving wheel 1260 is connected with the driving end of the motor 121; the screw rods 1220 of the two support mechanisms 10 are connected through the coupling 125, and the driven wheel 1262 is arranged on one of the two screw rods 1220; or the screw mandrel 1220 is a double-screw mandrel, the double-screw mandrel is provided with two sections of threads with opposite rotation directions, the two support mechanisms 10 share one double-screw mandrel, the screw mandrel nuts 1222 in the two support mechanisms 10 are sleeved on the double-screw mandrel, and the driven wheel 1262 is arranged on the double-screw mandrel.

In a specific application scenario, the driving mechanism 12 includes a mounting plate 120, a motor fixing seat 123 disposed on the mounting plate 120, and a motor 121 disposed on the motor fixing seat 123, wherein a driving end of the motor 121 is connected to a driving wheel 1260; the mounting plate 120 is further provided with a lead screw supporting seat 124, the lead screw supporting seat 124 is rotatably provided with a first lead screw and a second lead screw, the thread turning directions of the first lead screw and the second lead screw are opposite, and the first lead screw and the second lead screw are connected through a coupler 125; a driven wheel 1262 is arranged on one of the first screw rod and the second screw rod, and a driving wheel 1260 and a driving belt 1264 are connected between the driven wheels 1262; the first screw rod is provided with a first screw rod nut in a matching way, the first screw rod nut is connected with a first driving block, and the first driving block is connected with a pushing block 1021 of a supporting mechanism 10; the second screw rod is provided with a second screw rod nut in a matching way, the second screw rod nut is connected with a second driving block, and the second driving block is connected with a pushing block 1021 of another supporting mechanism 10. The motor 121 drives the driving wheel 1260 to rotate to drive the first lead screw and the second lead screw to rotate, and the threads of the first lead screw and the second lead screw are opposite in turning direction, so that the first lead screw nut and the second lead screw nut can be driven to move relatively, and further the first driving block and the second driving block are driven to move relatively, so that the two supporting mechanisms 10 can realize synchronous actions, and the two supporting mechanisms 10 share one driving mechanism 12, so that the two supporting mechanisms 10 can move synchronously and save power sources. Preferably, the screw 1220 of the present application may be a ladder-type screw, and the ladder-type screw has a self-locking function, so that the supporting wheel 1042 is prevented from being forced to rotate reversely when being supported, and the supporting wheel 1042 is prevented from being separated from the ground. In other application scenarios, when the number of the support mechanisms 10 is two, the two support mechanisms 10 can also be implemented by using a double-screw rod as the screw rod 1220, at this time, the two support mechanisms 10 can share one double-screw rod, because the double-screw rod is provided with two threads with opposite turning directions, the double-screw rod can be rotated by sleeving the screw nuts 1222 of the two support mechanisms 10 on the double-screw rod and arranging the driven wheel 1262 on the double-screw rod, when the motor 121 drives the driving wheel 1260 to rotate to drive the driven wheel 1262 to rotate, the double-screw rod is provided with two threads with opposite turning directions, so that the first screw nut and the second screw nut can be driven to move relatively, and further the first driving block and the second driving block are driven to move relatively, so that the two support mechanisms 10 can implement synchronous actions.

Please refer to fig. 5, wherein fig. 5 is a schematic structural diagram of an autonomous guided vehicle according to an embodiment of the present invention. In the present embodiment, the autonomous guided vehicle includes a vehicle body 50 and a support device 52 mounted on the vehicle body 50, and the support device 52 is any one of the support devices described above. For the related structure of the supporting device 52, please refer to the content of the above supporting device embodiment, which is not described herein. It can be understood that, because the supporting device 52 is installed on the vehicle main body 50 of the autonomous guided vehicle, the pushing block can be driven by the driving mechanism to move in the sliding groove to drive the supporting rod to move between the first position and the second position, so that when the supporting rod moves from the first position to the second position, the pushing component pushes the supporting component to be away from the vehicle main body 50, and the self-contraction state of the supporting component is adjusted to the supporting state, thereby realizing that the supporting device 52 supports the vehicle main body 50, and when the supporting rod moves from the second position to the first position, the supporting component can be adjusted to the contraction state from the supporting state, thereby avoiding the interference to the external environment space when the supporting device 52 does not support.

As shown in fig. 5, the chassis of the autonomous guided vehicle has two opposite sides, the supporting device 52 has two supporting mechanisms, each side is provided with at least one supporting mechanism, the supporting mechanisms corresponding to the two sides are in one group, and one group of supporting mechanisms shares one driving mechanism, which can drive the group of supporting mechanisms to be separated from the ground when the autonomous guided vehicle runs, and abut against the ground to support the autonomous guided vehicle when the autonomous guided vehicle stops running. Preferably, the autonomous guided vehicle has two supporting devices 52, and two supporting mechanisms are provided at intervals on each side surface, that is, two groups of supporting mechanisms are provided at intervals on the autonomous guided vehicle, and the two groups of supporting mechanisms are arranged in a rectangular shape, so that the supporting stability can be improved; and the support device 52 can be quickly disassembled and assembled on the autonomous guided vehicle. Of course, the support device 52 of the present application may be used with other equipment and is not limited to autonomous guided vehicles; in addition, when the supporting device 52 has two supporting mechanisms, each supporting mechanism may be driven individually by using one driving mechanism.

In several embodiments provided by the present invention, it should be understood that the disclosed support device and autonomous guided vehicle may be implemented in other ways. For example, the above-described embodiments of the supporting device and the autonomous guided vehicle are merely schematic, and the division of each functional portion is only a logical division, and there may be another division in actual implementation, for example, a plurality of functional portions may be combined or integrated into several modules, or each functional portion may exist alone physically, and so on.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications that can be made by using equivalent structures or equivalent principles in the present specification and drawings, or applied directly or indirectly to other related technical fields are included in the scope of the present invention.