Modular AGV

Abstract

The present invention relates to a modular AGV, including an AGV body and a working module; the AGV body is provided with a connection module, the working module is provided with a locking module, and the locking module cooperates with the connection module to lock; the detachable connection between the AGV body and the working module is achieved by connecting and separating the connection module and the locking module. The above-mentioned modular AGV includes an AGV body and a working module, the AGV body is used to drive the working module to walk, and the working module is used to complete a designated work task. The detachable connection between the AGV body and the working module is achieved by connecting and separating the connection module and the locking module, and the functional structure of the AGV is modularized, so that working modules with different functions can be switched, that is, by detachably connecting working modules with different functions to the AGV body to complete different work tasks, the number of AGV bodies is effectively reduced, which is conducive to reducing costs, and at the same time effectively reduces the occupation of the working space.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV, in particular to a modular AGV. Background Art

[0002] AGV (Automated Guided Vehicle), also commonly known as AGV, is a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, with safety protection and various transfer functions. AGV is a commonly used vehicle in automated production lines and is widely used in industrial production.

[0003] However, the versatility of traditional AGVs can only complete a single task, that is, a single AGV cannot complete multiple types of operations. In automated production lines, multi-position and multi-task parallel processing is generally used. Therefore, when performing multiple different tasks, multiple AGVs are required to cooperate, resulting in high costs and occupying a large working space. Summary of the invention

[0004] Based on this, it is necessary to provide a modular AGV to address the problems of current traditional technologies.

[0005] A modular AGV comprises an AGV body and a working module; the AGV body is provided with a connecting module, the working module is provided with a locking module, and the locking module cooperates with the connecting module to lock; the detachable connection between the AGV body and the working module is achieved by connecting and separating the connecting module and the locking module.

[0006] The above-mentioned modular AGV includes an AGV body and a working module. The AGV body is used to drive the working module to move, and the working module is used to complete the designated work task. The detachable connection between the AGV body and the working module is realized by connecting and separating the connecting module and the locking module. The functional structure of the AGV is modularized, so that working modules with different functions can be switched, that is, by detachably connecting the working modules with different functions to the AGV body to complete different work tasks, the number of AGV bodies can be effectively reduced, which is conducive to reducing costs and effectively reducing the occupation of the working space.

[0007] In one embodiment, the working module is one of a single-arm module, a double-arm module, a roller module and a traction module.

[0008] In one embodiment, there are multiple connection modules, which are spaced apart on the AGV body; there are multiple locking modules, which are spaced apart on the working module, and the locking modules are locked one-to-one with the connection modules.

[0009] In one embodiment, an AGV top plate is provided on the top of the AGV body, and a plurality of the connection modules are mounted on the AGV top plate; a module bottom plate is provided on the bottom of the working module, and a plurality of the locking modules are mounted on the module bottom plate.

[0010] In one embodiment, the locking module includes a male seat and a locking mechanism arranged on the male seat; the connecting module includes a female seat and a snap block, the female seat is provided with a slot for plugging into the male seat, the snap block is arranged on the inner side wall of the slot, and the snap block is used to snap into the locking mechanism.

[0011] In one embodiment, a positioning pin is provided on the top of the male seat, and a positioning hole is provided on the top of the female seat, and the positioning pin is plugged into the positioning hole accordingly.

[0012] In one of the embodiments, the male seat includes a shell and a convex ring arranged on one end of the shell, the interior of the convex ring is connected to the interior of the shell, and a gap is provided on the side wall of the convex ring; the locking mechanism includes a cam block, the cam block is arranged in the gap and is pivotally connected to the convex ring; a buckle groove is provided on the buckle block; when the locking module and the connecting module are in a locked state, the convex ring is inserted into the slot, and one end of the cam block is buckled in the buckle groove.

[0013] In one embodiment, the cam block is arranged in an L shape.

[0014] In one of the embodiments, the locking mechanism also includes an actuating assembly for driving the cam block to rotate, the actuating assembly is disposed in the housing, and one end of the actuating assembly extends into the convex ring, and the other end of the cam block extends into the convex ring and is movably connected to the actuating assembly.

[0015] In one embodiment, the actuating assembly includes a lifting drive member and a movable block connected to the lifting drive member, one end of the movable block is provided with a slot, and the end of the movable block provided with the slot is located in the convex ring; the end of the cam block extending into the convex ring is buckled into the slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of a modular AGV according to one embodiment of the present invention, wherein the working module is a single-arm module;

[0017] Figure 2 It is a structural schematic diagram of the modular AGV of the present invention, wherein the working module is a double-arm module;

[0018] Figure 3It is a schematic diagram of the structure of the modular AGV of the present invention, wherein the working module is a roller module;

[0019] Figure 4 It is a structural schematic diagram of the modular AGV of the present invention, wherein the working module is a traction module;

[0020] Figure 5 It is a partial exploded view of the AGV top plate, connection module, module bottom plate and locking module in the modular AGV of the present invention;

[0021] Figure 6 for Figure 5 The structural diagram of the connecting module and the locking module shown;

[0022] Figure 7 for Figure 6 A cross-sectional view of the connecting module and the locking module, wherein the connecting module and the locking module are in a locked state;

[0023] Figure 8 for Figure 6 A cross-sectional view of the connecting module and the locking module, wherein the connecting module and the locking module are in an unlocked state;

[0024] Fig. 9 for Figure 6 A partial structural diagram of the locking module is shown.

[0025] The meanings of the symbols in the accompanying drawings are:

[0026] AGV body 10, AGV top plate 11, working module 20, single-arm module 21, double-arm module 22, roller module 23, traction module 24, module bottom plate 25, locking module 30, male seat 31, shell 311, convex ring 312, gap 313, stop block 314, annular plate 315, mounting plate 316, locking mechanism 32, cam block 33, rotating part 331, swinging part 332, buckling part 333, actuating assembly 34, lifting drive part 341, movable block 342, rotating driver 343, screw 344, limit plate 345, straight edge 346, slot 347, positioning pin 35, circuit board 36, connecting module 40, female seat 41, slot 411, positioning hole 412, buckle block 42, buckle slot 421. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0028] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0029] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0033] Please refer to Figures 1 to 9 , is a modular AGV according to an embodiment of the invention, comprising an AGV body 10 and a working module 20. Please refer to Figure 5 and Figure 6 The AGV body 10 is provided with a connection module 40. The working module 20 is provided above the AGV, and the working module 20 is provided with a locking module 30. The locking module 30 cooperates with the connection module 40 to lock, and the connection and separation of the connection module 40 and the locking module 40 are used to realize the detachable connection between the AGV body 10 and the working module 20.

[0034] The above-mentioned modular AGV includes an AGV body 10 and a working module 20. The AGV body 10 is used to drive the working module 20 to move, and the working module 20 is used to complete the specified work task. The connection and separation of the connecting module 40 and the locking module 40 are used to realize the detachable connection between the AGV body 10 and the working module 20, and the AGV functional structure is modularized, so that the working modules 20 with different functions can be switched, that is, by detachably connecting the working modules 20 with different functions to the AGV body 10 to complete different work tasks, the number of AGV bodies 10 is effectively reduced, which is conducive to reducing costs and effectively reducing the occupation of the working space.

[0035] Please refer to Figures 1 to 4 The working module 20 can be one of a single-arm module 21, a double-arm module 22, a roller module 23 and a traction module 24, and the single-arm module 21 is a single-arm manipulator, and the double-arm module 22 is a double-arm manipulator. It should be noted that a locking module 30 is provided on the top of the single-arm module 21, the double-arm module 22, the roller module 23 and the traction module 24.

[0036] There are multiple connection modules 40, which are spaced apart on the top of the AGV body 10; there are multiple locking modules 30, which are spaced apart on the bottom of the working module 20, and the locking modules 30 are locked one-to-one with the connection modules 40. By providing multiple locking modules 30 and multiple connection modules 40, and locking multiple locking modules 30 with multiple connection modules 40 one-to-one, the stability of the connection between the working module 20 and the AGV body 10 is effectively improved.

[0037] Please refer to Figure 1 Further, an AGV top plate 11 is provided on the top of the AGV body 10, and specifically, the AGV top plate 11 is screwed to the top of the AGV body 10. A plurality of connection modules 40 are installed on the AGV top plate 23. A module bottom plate 25 is provided on the bottom of the working module 20, and specifically, the module bottom plate 25 is screwed to the bottom of the working module 20. A plurality of locking modules 30 are installed on the module bottom plate 25. During assembly, a plurality of connection modules 40 are first installed on the AGV top plate 23, and then the AGV top plate 23 is installed on the top of the AGV body 10, and a plurality of locking modules 30 are first installed on the module bottom plate 25, and then the module bottom plate 25 is installed on the bottom of the working module 20. It can be understood that by modularizing multiple connection modules 40 and the AGV top plate 11 and then assembling them onto the AGV body 10, and by modularizing multiple locking modules 30 and the module bottom plate 25 and then assembling them onto the working module 20, the assembly is convenient and efficient.

[0038] Please refer to Figure 6 The locking module 30 includes a male seat 31 and a locking mechanism 32 disposed on the male seat 31. The male seat 31 is fixedly embedded in the module bottom plate 21 and is screwed to the module bottom plate 21. The connecting module 40 includes a female seat 41 and a buckle block 42. The female seat 41 is fixedly embedded in the AGV top plate 11 and is screwed to the AGV top plate 11. The female seat 41 is provided with a slot 411 plugged with the male seat 31. The buckle block 42 is disposed on the inner side wall of the slot 411. The buckle block 42 is used to buckle the locking mechanism 32. Specifically, during the process of installing the working module 20 on the AGV body 10, one end of the male seat 31 is inserted into the slot 411 of the female seat 41, and the locking mechanism 32 is buckled with the buckle block 42, so that the locking module 30 and the connecting module 40 are locked together, thereby locking the working module 20 on the AGV body 10.

[0039] In this embodiment, the cross-sections of the male seat 31 and the female seat 41 are both circular. Of course, in other embodiments, the cross-sections of the male seat 31 and the female seat 41 can also be other shapes, which can be designed according to needs.

[0040] Please refer to Figures 6 to 8Further, the male seat 31 includes a shell 311 and a convex ring 312 arranged on one end of the shell 311, the convex ring 312 is connected to the shell 311, and a gap 313 is provided on the side wall of the convex ring 312, and the gap 313 runs through the inner and outer sides of the convex ring 312. The locking mechanism 32 includes a cam block 33, the cam block 33 is arranged in the gap 313, and the middle part of the cam block 33 is pivotally connected to the convex ring 312, that is, the cam block 33 can rotate relative to the convex ring 312. A buckle groove 421 is provided on the buckle block 42. When the locking module 30 and the connecting module 40 are in a locked state, the convex ring 312 is inserted into the slot 411, the shell 311 and the female seat 41 are fitted, and one end of the cam block 33 is buckled in the buckle groove 421.

[0041] In order to enhance the locking effect between the locking module 30 and the connecting module 40, there are multiple gaps 313, multiple cam blocks 33, multiple buckle blocks 42, multiple cam blocks 33 are respectively arranged in the gaps 313 and pivotally connected with the convex ring 313, multiple buckle blocks 42 are arranged at intervals on the inner side wall of the slot 411, and one end of the multiple cam blocks 33 is respectively buckled with the buckle grooves 421 on the multiple buckle blocks 42. Specifically in this embodiment, there are two gaps 313, two gaps 313 are respectively arranged on opposite sides of the convex ring 313, two cam blocks 33 are respectively arranged in the gaps 313 and pivotally connected with the convex ring 313, and there are also two buckle blocks 42, two buckle blocks 42 are respectively arranged on opposite sides of the slot 411, and one end of the two cam blocks 33 is respectively buckled into the buckle grooves 421 on the two buckle blocks 42.

[0042] Please refer to Figure 7 and Figure 8 In some embodiments, the cam block 33 is arranged in an L shape. Specifically, the cam block 33 includes a rotating portion 331, a swinging portion 332 connected to the rotating portion 331, and a buckling portion 333 connected to the rotating portion 331. The rotating portion 331 is arranged in the gap 313 and is pivotally connected to the convex ring 312. The swinging portion 332 and the buckling portion 333 are respectively located at opposite ends of the rotating portion 331, that is, the swinging portion 332, the rotating portion 331 and the buckling portion 333 form an L-shaped structure. The swinging portion 332 extends into the convex ring 312. When the locking module 30 and the connecting module 40 are in a locked state, the buckling portion 333 extends to the outside of the convex ring 312 and buckles in the buckle groove 421. When the locking module 30 and the connecting module 40 are in an unlocked state, the buckling portion 333 is located in the gap 313. In this embodiment, the rotating portion 331, the swinging portion 332 and the buckling portion 333 are integrally formed.

[0043] In some embodiments, the locking mechanism 32 further includes an actuating assembly 34 for driving the cam block 33 to rotate. Specifically, the actuating assembly 34 is disposed in the housing 311, and one end of the actuating assembly 34 extends into the convex ring 312. The other end of the cam block 33 extends into the convex ring 312 and is movably connected to the actuating assembly 34. Specifically, the swinging portion 332 of the cam block 33 is movably connected to the actuating assembly 34. It can be understood that during the locking process, the actuating assembly 34 drives the swinging portion 332 to move, thereby driving the rotating portion 331 to rotate, thereby driving the buckling portion 333 to extend out of the convex ring 312 and buckle into the buckle groove 421.

[0044] Further, the actuating assembly 34 includes a lifting driving member 341 and a movable block 342 connected to the lifting driving member 341, one end of the movable block 342 is provided with a slot 347, the slot 347 is arranged along the circumference of the movable block 342, and the end of the movable block 342 provided with the slot 347 is located in the convex ring 312. The end of the cam block 33 extending into the convex ring 312 is buckled into the slot 347, that is, the swinging portion 332 is movably buckled into the slot 347. It can be understood that when the lifting driving member 341 drives the movable block 342 to make the swinging portion 332 move up and down, the rotating portion 331 rotates counterclockwise or clockwise relative to the convex ring 312, so that the buckling portion 333 of the cam block 33 rotates to the outside of the convex ring 312 and buckles into the buckling slot 421, or the buckling portion 333 of the cam block 33 is separated from the buckling slot 421 and rotated into the gap 313.

[0045] The lifting drive member 341 includes a rotary driver 343 disposed in the housing 311 and a screw rod 344 connected to the rotary driver. The rotary driver 343 is a motor. One end of the screw rod 344 extends into the convex ring 312. The movable block 342 is sleeved on the screw rod 344 and is threadedly connected to the screw rod 344. One end of the movable block 342 away from the slot 347 is movably inserted into the housing 311. A stopper 314 is disposed in the housing 311. The stopper 314 is disposed corresponding to the movable block 342. The stopper 314 is used to limit the rotation of the movable block 342. Therefore, when the rotary driver 343 drives the screw rod 344 to rotate, the movable block 342 has a tendency to rotate synchronously with the screw rod 344. However, due to the restriction of the stopper 314 on the movable block 342, the movable block 342 cannot rotate, so that the movable block 342 moves up and down along the axial direction of the screw rod 344, thereby driving the cam block 33 to rotate clockwise or counterclockwise.

[0046] Please refer to Figure 7 and Fig. 9 Specifically, a limit plate 345 is provided at one end of the movable block 342 away from the slot 347, and the limit plate 345 has straight edges 346 on opposite sides. Fig. 9There are two stop blocks 314, which are arranged on the bottom of the shell 311, and the stop blocks 314 are respectively in contact with the straight edges 346 of the limit plate 345. The limit plate 345 is restricted by the stop blocks 314 so that the limit plate 345 cannot rotate. Even if the movable block 342 cannot rotate with the screw rod 344, the rotational motion is converted into linear motion, so that the movable block 342 moves up and down along the axial direction of the screw rod 344.

[0047] Please refer to Figure 6 In some embodiments, a locating pin 35 is provided on the top of the male seat 31, and a locating hole 412 is provided on the female seat 41, and the locating pin 35 is correspondingly plugged into the locating hole 412. Specifically, the locating pin 35 is provided on one end of the shell 311 facing the female seat 41. It can be understood that when the locking module 30 and the working module 20 are in a locked state, the bottom of the shell 311 fits with the top of the female seat 41, and the locating pin 35 is inserted into the corresponding locating hole 412, which effectively improves the stability of the locking between the locking module 30 and the connecting module 40. Further, the number of the locating pins 35 is two, and the two locating pins 35 are respectively arranged on opposite sides of the bottom of the shell 311, that is, the two locating pins 35 are arranged at intervals around the convex ring 312. The number of the locating holes 412 is two, and the two locating holes 412 are relatively arranged on opposite sides of the top of the female seat 41.

[0048] Please refer to Figure 7 The locking module 30 further includes a circuit board 36, which is disposed on the male socket 31. Specifically, the male socket 31 further includes an annular plate 315 and a mounting plate 316. The annular plate 315 is disposed on one end of the housing 311 away from the convex ring 312. The circuit board 36 is disposed in the annular plate 315, and the mounting plate 316 covers one end of the annular plate 315 away from the housing 311. The circuit board 36 is connected to the rotary driver 343 by telecommunication. The circuit board 36 is also used to connect to the remote controller signal, that is, the remote controller remotely sends a signal to the circuit board 36, and the circuit board 36 controls the operation of the actuating assembly 34 according to the signal.

[0049] In order to improve the degree of automation, the working modules 20 with different functions are automatically switched on the automatic changing table, that is, the working modules 20 with different functions are connected to the AGV body 10 through the automatic changing table.

[0050] The specific steps are as follows:

[0051] 1. When the AGV body 10 receives the instruction to switch the working module 20, the AGV body 10 moves to the position of the automatic replacement station, and the connection module 40 on the AGV body 10 is unlocked from the locking module 30 on the working module 20 to be removed. Figure 8Taking the left cam block 33 as an example, the lifting drive member 341 drives the movable block 342 to descend. When the movable block 342 descends, it drives the swinging portion 332 to descend, and the rotating portion 331 rotates clockwise, so that the buckling portion 333 rises. In this way, the buckling portion 333 disengages from the buckling groove 421 and moves into the gap 313. At this time, the locking module 30 and the working module 20 are in an unlocked state.

[0052] 2. The automatic replacement station removes the working module 20 to be removed from the AGV body 10. Figure 6 Specifically, the automatic change station grabs the working module 20 to be removed and rises, so that the convex ring 313 is disengaged from the slot 411, and the positioning pin 35 is disengaged from the positioning hole 412, and then the automatic change station transfers the working module 20 from the AGV body 10.

[0053] 3. The automatic changing table moves the working module 20 to be installed to the top of the AGV body 10, and senses the connection module 40 on the AGV body 10 and the locking module 30 on the working module 20 through multiple inductive sensors on the automatic changing table, so that the connection module 40 on the AGV body 10 and the locking module 30 on the working module 20 correspond one to one.

[0054] 3. The automatic change platform drives the working module 20 to be installed to descend, and the connection module 40 on the AGV body 10 is locked with the locking module 30 on the working module 20 to be installed, so that the working module 20 is firmly installed on the top of the AGV body 10. Figure 7 Specifically, the automatic changing table drives the working module 20 to be installed to be close to the AGV body 10 below until the convex ring 312 of the male seat 31 is inserted into the corresponding slot 411 of the female seat 41, the shell 311 of the male seat 31 fits with the female seat 41, and the module bottom plate 25 on the working module 20 to be installed fits with the AGV top plate 11 of the AGV body 10.

[0055] 4. The lifting drive member 341 drives the movable block 342 to rise. When the movable block 342 rises, it drives the swinging part 332 to rise, and the rotating part 331 rotates counterclockwise, so that the buckling part 333 falls. In this way, the buckling part 333 moves to the outside of the convex ring 312 and buckles into the buckle groove 421, so that the locking module 30 and the working module 20 are locked.

[0056] It should be noted that the automatic change table can be a manipulator, or it can be composed of a horizontal drive mechanism, a longitudinal drive mechanism and a lifting drive mechanism. In addition, in order to achieve the cooperation between the AGV body 10 and the working module 20 to complete the work task, real-time data transmission is required between the AGV body 10 and the working module 20, so different docking interfaces are provided for data transmission, such as power interface, I / O interface, HDMI interface, network port interface and PIN pin, so as to ensure normal communication between the AGV body 10 and the working module 20 when the modular AGV is working.

[0057] The modular AGV of the present invention includes an AGV body 10 and a working module 20. The AGV body 10 is used to drive the working module 20 to move, and the working module 20 is used to complete the specified work task. The connection and separation of the connecting module 40 and the locking module 40 are used to realize the detachable connection between the AGV body 10 and the working module 20, and the AGV functional structure is modularized, so that the working modules 20 with different functions can be switched, that is, by detachably connecting the working modules 20 with different functions to the AGV body 10 to complete different work tasks, the number of AGV bodies 10 is effectively reduced, which is beneficial to reducing costs and effectively reducing the occupation of the working space.

[0058] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A modular AGV, characterized in that: It comprises an AGV body and a working module; the AGV body is provided with a connection module, the working module is provided with a locking module, and the locking module cooperates with the connection module to lock; the detachable connection between the AGV body and the working module is achieved by connecting and separating the connection module and the locking module; Install multiple connection modules on the AGV top plate, and then install the AGV top plate on the top of the AGV body; install multiple locking modules on the module bottom plate, and then install the module bottom plate on the bottom of the working module; The locking module comprises a male seat and a locking mechanism arranged on the male seat, the male seat comprises a shell and a convex ring arranged on one end of the shell, the locking mechanism comprises a cam block and an actuating assembly for driving the cam block to rotate; the actuating assembly comprises a lifting drive member and a movable block connected to the lifting drive member; a slot is arranged at one end of the movable block, and the end of the movable block provided with the slot is located in the convex ring; the end of the cam block extending into the convex ring is buckled into the slot; The lifting drive member includes a rotary driver arranged in the shell and a screw connected to the rotary driver; one end of the screw extends into the convex ring, the movable block is sleeved on the screw, and the end of the movable block away from the slot is movably passed into the shell; a limit plate is provided at the end of the movable block away from the slot, and the opposite sides of the limit plate have straight edges; a stop block is provided in the shell, and the number of the stop blocks is two, and the two stop blocks are arranged on the bottom of the shell, and the stop blocks are respectively in contact with the straight edges of the limit plate, so as to limit the limit plate so that the movable block moves up and down along the axial direction of the screw.

2. The modular AGV according to claim 1, characterized in that: The working module is one of a single-arm module, a double-arm module, a roller module and a traction module.

3. The modular AGV according to claim 1, characterized in that: There are multiple connection modules, which are spaced apart on the AGV body; there are multiple locking modules, which are spaced apart on the working module, and the locking modules are locked one-to-one with the connection modules.

4. The modular AGV according to claim 3, characterized in that: An AGV top plate is arranged on the top of the AGV body, and a plurality of the connection modules are mounted on the AGV top plate; a module bottom plate is arranged on the bottom of the working module, and a plurality of the locking modules are mounted on the module bottom plate.

5. The modular AGV according to claim 1, characterized in that: The connection module includes a female seat and a buckle block. The female seat is provided with a slot plugged with the male seat. The buckle block is arranged on the inner side wall of the slot. The buckle block is used to buckle the locking mechanism.

6. The modular AGV according to claim 5, characterized in that: A positioning pin is arranged on the top of the male seat, and a positioning hole is arranged on the top of the female seat, and the positioning pin is plugged into the positioning hole accordingly.

7. The modular AGV according to claim 5, characterized in that: The inside of the convex ring is connected to the inside of the shell, and a gap is provided on the side wall of the convex ring; the cam block is arranged in the gap and is pivotally connected to the convex ring; a buckle groove is provided on the buckle block; when the locking module and the connecting module are in a locked state, the convex ring is inserted into the slot, and one end of the cam block is buckled in the buckle groove.

8. The modular AGV according to claim 7, characterized in that: The cam block is arranged in an L shape.

9. The modular AGV according to claim 7, characterized in that: The actuating assembly is arranged in the housing, and one end of the actuating assembly extends into the convex ring, and the other end of the cam block extends into the convex ring and is movably connected with the actuating assembly.

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