An AGV docking system

Abstract

The present invention provides an AGV docking system, which includes a traction mechanism and an adjustable driving device provided on the AGV, and a traction positioning workpiece provided on the in-line docking device. The traction mechanism can extend or contract outward from the AGV, and the adjustable driving device can adjust the ground pressure of the driving wheels; the traction positioning workpiece is used to dock with the traction mechanism; during docking, the traction mechanism extends outward from the AGV to dock and cooperate with the traction positioning workpiece, and the ground pressure of the driving wheels is made zero by the adjustable driving device. Compared with the prior art, the AGV docking system provided by the present invention is provided with a traction mechanism on the AGV. Through the traction mechanism, the guiding movement of the material is mainly provided by the interaction between the traction mechanism and the in-line docking device, making the system suitable for both light-load and heavy-load scenarios, ensuring the stability of the AGV structure, and also guaranteeing the docking accuracy between the AGV and the in-line docking device.

Description

Technical Field

[0001] The present invention relates to the field of automated guided vehicles (AGVs), and more particularly to an AGV docking system. Background Art

[0002] AGV refers to an automated guided vehicle, which transports goods by carrying the weight of the goods on its own body and is mostly used in fields such as assembly and logistics.

[0003] Currently, when materials are docked through translation or lifting, guiding parts such as guide rods and guide blocks can be set on the AGV, the in-line docking equipment, or the materials to be docked. During the docking process, the "flare" formed by the guiding parts will limit the materials, forcing the materials to be guided and centered to adapt to the position of the AGV. However, these methods are generally applicable to light-load scenarios because the guiding movement of the materials is provided by the static friction between the AGV wheel system and the ground. When the materials are heavy, there will be limitations. The lateral force introduced by the materials will cause certain harm to the AGV structure. When the friction between the wheel system and the ground is insufficient, the AGV will also slip and shift laterally, or due to excessive docking errors, the docking power will be overloaded, thus affecting the docking efficiency between the AGV and the in-line docking equipment and reducing the service life of the equipment. Summary of the Invention

[0004] One of the objectives of the present invention is to solve the problem that the existing AGV docking system is not applicable to heavy-load scenarios, which is achieved by setting a traction mechanism and an adjustable driving device on the AGV.

[0005] An AGV docking system includes a traction mechanism and an adjustable driving device provided on the AGV, and a traction positioning workpiece provided on the in-line docking equipment; the traction mechanism can extend or contract outward from the AGV, and the adjustable driving device can actively adjust the ground pressure of the driving wheels; the traction positioning workpiece is used to dock with the traction mechanism; during docking, the traction mechanism extends outward from the AGV to dock and cooperate with the traction positioning workpiece, and the adjustable driving device makes the ground pressure of the driving wheels zero so that the driving wheels are suspended.

[0006] Compared with the prior art, the AGV docking system provided by the present invention sets a traction mechanism on the AGV, makes the driving wheels suspended during docking, and enables the AGV to achieve secondary movement through the traction mechanism, that is, uses the force of interaction between the traction mechanism and the in-line docking equipment to pull the AGV closer to the in-line docking equipment, so that the guiding movement of the materials is mainly provided by the interaction between the traction mechanism and the in-line docking equipment, making the system suitable for heavy-load scenarios, ensuring the stability of the AGV structure, and also guaranteeing the docking efficiency between the AGV and the in-line docking equipment.

[0007] Preferably, the traction mechanism includes a translation component and a tractor. The tractor includes a bottom plate, a push rod, and a traction head. The bottom plate is arranged on the translation component, the push rod is fixed on the bottom plate, the traction head is hinged to the bottom plate through a swing arm component, the movable end of the push rod is connected to the traction head, the push rod extends to drive the traction head to descend, and the push rod retracts to drive the traction head to ascend; a docking cavity is arranged on the in-line docking device, and a traction positioning workpiece is arranged at the top of the docking cavity. When the tractor extends from the AGV to the in-line docking device through the translation component and the push rod drives the traction head to ascend, the upper end of the traction head abuts against the traction positioning workpiece. Specifically, during docking, the AGV arrives in front of the in-line docking device and stops. The translation of the traction mechanism on the AGV is set to extend. After reaching the in-place, the push rod on the tractor acts to drive the traction head to ascend and abut against the traction positioning workpiece. The traction mechanism continues to act, the AGV moves, and the AGV approaches the in-line docking device to achieve docking; in addition, the push rod is not stressed during the traction process, so that a smaller push rod can also complete heavy-load traction.

[0008] Preferably, the translation component includes a driving motor, a driving gear, and a rack. The driving motor is fixed on the AGV, the output end of the driving motor is in transmission connection with the driving gear, the rack is meshed with the driving gear through a slide rail structure, and the tractor is fixedly connected to the rack. The driving motor drives the driving gear to rotate, so that the rack moves to drive the tractor to extend. After the traction head abuts against the traction positioning workpiece, the driving motor continues to work to drive the driving gear to rotate, so that the rack moves relative to the AGV, that is, the AGV moves closer to the in-line docking device. Its structure is stable and can be simply realized.

[0009] Preferably, it further includes a first plug-in guiding member arranged on the AGV and a second plug-in guiding member arranged on the in-line docking device. When the tractor is docked with the traction positioning workpiece and the AGV moves closer to the in-line docking device through the relative movement between the translation component and the AGV, the first plug-in guiding member is in plug-in cooperation with the second plug-in guiding member, and finally the AGV and the in-line docking device are accurately positioned.

[0010] Furthermore, it further includes a plurality of follower wheels arranged on the AGV. The adjustable driving device includes a plurality of driving units. Each driving unit includes a support frame, a driving wheel, a driving component, and a pressure regulating component. The driving wheel is arranged on the lower side of the support frame, and the driving component is fixed on the support frame and is used to drive the driving wheel; the pressure regulating component is used to adjust the ground pressure of the driving wheel to adjust the height of the driving wheel. During docking, the ground pressure of the driving wheel can be adjusted to zero through the pressure regulating component, that is, the driving wheel is separated from the ground, that is, only the follower wheel group is in contact with the ground, so that the guiding movement of the material is completely provided by the interaction between the traction mechanism and the in-line docking device, eliminating the influence of the ground friction of the driving wheel on the AGV structure during the docking movement of the AGV, further ensuring the stability of the AGV structure and improving the docking efficiency of the AGV and the in-line docking device.

[0011] Preferably, the pressure regulating assembly includes a fixed mounting plate, a floating mounting plate, a rubber buffer and a pressure sensor. The fixed mounting plate is used for connecting with the AGV body; the floating mounting plate is used for connecting with the support frame; the rubber buffer is arranged between the fixed mounting plate and the floating mounting plate, and the ground pressure of the driving wheel is adjusted by filling a fluid medium into the rubber buffer; the pressure sensor is arranged on the rubber buffer, which is used to detect the internal pressure of the rubber buffer. By cooperating with the rubber buffer and the pressure sensor, the feedback data is detected in real time by the pressure sensor and the ground pressure of the driving wheel is adjusted by making the rubber buffer generate a height change by filling a fluid medium into the rubber buffer, so as to realize the dynamic adjustment of the ground pressure of the driving wheel, so that the driving wheel can be in full contact with the ground, and at the same time, the rubber buffer can effectively absorb a large amount of impact energy, playing a better protective role for the overall structure of the AGV and the follower wheel set.

[0012] Preferably, the tractor further includes a buffer, and the lower end of the traction head is connected to the buffer; the traction head is bent so as to facilitate the swinging up and down of the traction head. The bent part of the traction head is connected to the swing arm assembly through a connecting shaft. A torsion spring is arranged between the traction head and the buffer, and the torsion spring is fixed on the connecting shaft. The torsion spring can maintain the stability of the traction head during the ascending and descending processes.

[0013] Preferably, a sliding contact member is arranged at the upper end of the traction head, and the upper end of the traction head is in sliding or rolling contact with the traction positioning workpiece through the sliding contact member, which is convenient for correcting the offset generated by the AGV before docking.

[0014] Preferably, the sliding contact member is a roller, which is connected to both sides of the upper end of the traction head through a rotating shaft, and the upper end of the traction head realizes sliding contact with the traction positioning workpiece through the roller; alternatively, the sliding contact member is a universal ball or a bearing, and the upper end of the traction head realizes rolling contact with the traction positioning workpiece through the universal ball or the bearing, so that there is no constraint in the left and right directions for the traction mechanism, and it is further convenient for correcting the offset generated by the AGV before docking.

[0015] Preferably, the traction mechanism is arranged on the central axis of the AGV in the docking direction; or, there are two or more sets of the traction mechanisms, which are evenly and symmetrically arranged on the AGV to ensure the moving balance of the AGV when the traction mechanism is docked with the in-line docking device, and prevent the AGV body from becoming more and more crooked during the traction process, resulting in the jamming phenomenon of the first plug-in guiding member and the second plug-in guiding member, so as to ensure the accuracy of the AGV docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structure of the present invention Figure 1 (State 1);

[0017] Figure 2 It is the structural schematic diagram of the present invention Figure 2 (State 2);

[0018] Figure 3 It is the structural schematic diagram of the present invention Figure 3 (State 3);

[0019] Figure 4 It is the structural schematic diagram of the traction mechanism of the present invention;

[0020] Figure 5 It is Figure 4 the enlarged view of area A in

[0021] Figure 6 It is the schematic diagram of the tractor of the present invention Figure 1 ;

[0022] Figure 7 It is the schematic diagram of the tractor of the present invention Figure 2 ;

[0023] Figure 8 It is Figure 7 the enlarged view of area B in

[0024] Figure 9 It is the bottom view of the AGV of the present invention;

[0025] Figure 10 It is the cross-sectional view of the drive unit of the present invention;

[0026] Figure 11 It is Figure 10 the exploded schematic diagram of

[0027] Figure 12 It is the schematic diagram of the rubber buffer of the present invention.

[0028] Description of reference numerals: AGV101, edge docking device 102, first plug-in guiding member 103, second plug-in guiding member 104, docking cavity 105, traction positioning workpiece 106, traction mechanism 1, translation assembly 2, tractor 3, follower wheel 4, drive unit 5, drive motor 21, drive gear 22, rack 23, moving frame 24, linear slide rail 25, slider 26, bottom plate 31, push rod 32, traction head 33, swing arm assembly 34, buffer 35, connecting rod 36, connecting shaft 37, torsion spring 38, hinge plate 311, sliding contact member 331, first hinge arm 341, second hinge arm 342, third hinge arm 343, support frame 51, drive wheel 52, drive assembly 53, pressure regulating assembly 54, scissor guiding mechanism 55, buffer spring 56, fixed mounting plate 541, floating mounting plate 542, rubber buffer 543, pressure sensor 544, scissor arm 551, upper connecting plate 5431, lower connecting plate 5432, rubber airbag 5433, medium filling port 5434. Detailed implementation manners

[0029] The following describes the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0030] Refer to Figures 1 to 12 , an AGV docking system, which includes a traction mechanism 1 and an adjustable driving device provided on the AGV101, and a traction positioning workpiece 106 provided on the edge docking device 102. The traction mechanism 1 can extend or contract outward from the AGV. The adjustable driving device can adjust the ground pressure of the drive wheel 52. The traction mechanism 1 includes a translation assembly 2 and a tractor 3. The tractor 3 moves back and forth relative to the AGV101 through the translation assembly 2. The traction positioning workpiece 106 is used to dock with the tractor 3. Among them, a first plug-in guiding member 103 is further provided on the AGV, and a second plug-in guiding member 104 is provided on the edge docking device 102. During docking, the traction mechanism 1 extends outward from the AGV to dock and cooperate with the traction positioning workpiece 106, and the ground pressure of the drive wheel 52 is made zero through the adjustable driving device. Specifically, the tractor 3 extends from the AGV101 to the edge docking device 102 through the translation assembly 2 to dock and cooperate with the traction positioning workpiece 106, and relative movement is generated between the translation assembly 2 and the AGV101 to make the AGV101 approach the edge docking device 102. At the same time, the first plug-in guiding member 103 is plugged and cooperated with the second plug-in guiding member 104 on the edge docking device 102, and finally the AGV101 and the edge docking device 102 are accurately positioned.

[0031] Specifically, the tractor 3 includes a bottom plate 31, a push rod 32, and a traction head 33. The bottom plate 31 is disposed on the translation assembly 2, the push rod 32 is fixed to the bottom plate 31, the traction head 33 is hinged to the bottom plate 31 through a swing arm assembly 34, the movable end of the push rod 32 is connected to the traction head 33, the extension of the push rod 32 drives the traction head 33 to descend, and the retraction of the push rod 32 drives the traction head 33 to ascend; a docking cavity 105 is provided on the in-line docking device 102, and the traction positioning workpiece 106 is provided at the top of the docking cavity 105. When the tractor 3 extends from the AGV 101 to the in-line docking device 102 through the translation assembly 2 and the push rod 32 drives the traction head 33 to ascend, the upper end of the traction head 33 abuts against the traction positioning workpiece 106.

[0032] The translation assembly 2 includes a driving motor 21, a driving gear 22, and a rack 23. The driving motor 21 is fixed on the AGV 101, the output end of the driving motor 21 is in transmission connection with the driving gear 22, the rack 23 is engaged with the driving gear 22 through a slide rail structure, and the tractor 3 is fixedly connected to the rack 23. The driving motor 21 drives the driving gear 22 to rotate, so that the movement of the rack 23 drives the tractor 3 to extend. After the traction head 33 abuts against the traction positioning workpiece 106, the driving motor 21 continues to work to drive the driving gear 22 to rotate, so that the rack 23 moves relative to the AGV 101, that is, the AGV 101 moves closer to the in-line docking device 102. Its structure is stable and can be simply realized.

[0033] Specifically, the slide rail structure includes a moving frame 24, a linear slide rail 25, and a slider 26 that can move relative to the slide rail on the linear slide rail 25. The moving frame 24 is fixed on the AGV 101, the linear slide rail 25 is fixedly connected to the rack, and the slider 26 is fixedly connected to the moving frame 24.

[0034] During docking, the AGV 101 arrives in front of the in-line docking device 102 and stops. The traction mechanism 1 provided on the AGV 101 translates and extends under the drive of the translation assembly 2. After reaching the in-place position, the push rod 32 on the tractor 3 acts to drive the traction head 33 to ascend and abut against the traction positioning workpiece 106. The translation assembly 2 continues to act, and the AGV 101 moves. The distance between the AGV 101 and the in-line docking device 102 becomes closer. At the same time, the first plug-in guiding member and the second plug-in guiding member of the AGV 101 and the in-line docking device 102 are in plug-in cooperation, and finally the AGV 101 and the in-line docking device 102 are accurately positioned.

[0035] See Figures 1 to 3 , in this embodiment, the first plug-in guiding member 103 is a guiding rod, and the second plug-in guiding member 104 is a guiding block with a notch. The notch is in the shape of a conical notch or a trapezoidal notch in the shape of a flared opening.

[0036] Compared with the prior art, the AGV docking system provided by the present invention is provided with a traction mechanism 1 on the AGV 101. The AGV 101 realizes secondary movement through the traction mechanism 1, that is, the force of interaction between the traction mechanism 1 and the in-line docking device 102 is used to pull the AGV 101 closer to the in-line docking device 102, so that the guiding movement of the material is mainly provided by the interaction between the traction mechanism 1 and the in-line docking device 102. This makes the system suitable for heavy-load scenarios, ensuring the stability of the structure of the AGV 101 and also guaranteeing the docking efficiency and docking accuracy between the AGV 101 and the in-line docking device 102. In addition, during the traction process, the push rod 32 is not stressed, so that a smaller push rod can also complete heavy-load traction.

[0037] See Figures 9 to 12 , in a preferred embodiment, it further includes a plurality of follower wheels 4 provided on the AGV 101. The adjustable driving device includes a plurality of driving units 5. The driving unit 5 includes a support frame 51, a driving wheel 52, a driving component 53 and a pressure regulating component 54. The driving wheel 52 is provided on the lower side of the support frame 51. The driving component 53 is fixed on the support frame 51 and is used to drive the driving wheel 52. The pressure regulating component 54 is used to adjust the ground pressure of the driving wheel 52 to adjust the height of the driving wheel 52. During docking, the ground pressure of the driving wheel 52 can be adjusted to zero through the pressure regulating component 54, that is, the driving wheel 52 is separated from the ground. At this time, only the follower wheels 4 are in contact with the ground, so that the guiding movement of the material is completely provided by the interaction between the traction mechanism 1 and the in-line docking device 102, eliminating the influence of the ground friction of the driving wheel 52 on the structure of the AGV 101 during the docking movement of the AGV 101, further ensuring the stability of the structure of the AGV 101 and improving the docking efficiency between the AGV 101 and the in-line docking device 102.

[0038] Specifically, the pressure regulating component 54 includes a fixed mounting plate 541, a floating mounting plate 542, a rubber buffer 543, and a pressure sensor 544. The fixed mounting plate 541 is used to connect with the body of the AGV 101; the floating mounting plate 542 is used to connect with the support frame 51; the rubber buffer 543 is arranged between the fixed mounting plate 541 and the floating mounting plate 542, and the ground pressure of the driving wheel 52 is regulated by filling a fluid medium into the rubber buffer 543; the pressure sensor 544 is arranged on the rubber buffer 543, which is used to detect the internal pressure of the rubber buffer 543. By cooperating with the rubber buffer 543 and the pressure sensor 544, the feedback data is detected in real time through the pressure sensor 544, and the ground pressure of the driving wheel 52 is regulated by making the rubber buffer 543 generate a height change by filling a fluid medium into the rubber buffer 543, so as to realize the dynamic regulation of the ground pressure of the driving wheel 52. When the driving wheel 52 can be in full contact with the ground, the rubber buffer 543 can effectively absorb a large amount of impact energy, playing a better protective role for the overall structure of the AGV 101 and the follower wheel 4. When using this driving unit 5, before docking, the ground pressure of the driving wheel 52 is adjusted to zero by adjusting the rubber buffer 543, that is, the driving wheel 52 is completely off the ground. At this time, only the follower wheel 4 is in contact with the ground.

[0039] See Figure 12 , the rubber buffer 543 includes an upper connecting plate 5431, a lower connecting plate 5432, and a rubber airbag 5433. The rubber airbag 5433 is arranged between the upper connecting plate 5431 and the lower connecting plate 5432. The upper connecting plate 5431 is fixedly connected with the fixed mounting plate 541, and the lower connecting plate 5432 is fixedly connected with the floating mounting plate 542. A medium filling port 5434 is arranged on the upper connecting plate 5431 or the lower connecting plate 5432. The rubber airbag 5433 is inflated or deflated by filling gas through the medium filling port 5434, so as to realize the height change of the rubber buffer 43 to adjust the pressure of the driving wheel 72.

[0040] See Figure 11 , in a preferred embodiment, the pressure regulating component 54 further includes a scissor guiding mechanism 55, which includes a scissor arm 551. The upper and lower connecting parts at one end of the scissor arm 551 are respectively fixedly connected with the fixed mounting plate 541 and the floating mounting plate 542, and the upper and lower connecting parts at the other end of the scissor arm 551 are respectively slidably arranged on the lower side of the fixed mounting plate 541 and the upper side of the floating mounting plate 542. The scissor guiding mechanism 55 can be easily folded, occupies a small space, has a strong scissor structure and stable lifting.

[0041] See Figure 11, in a preferred embodiment, the pressure regulating assembly 54 further includes buffer springs 56 respectively disposed on both sides of the rubber buffer 543. The two ends of the buffer spring 56 are respectively connected to the fixed mounting plate 541 and the floating mounting plate 542. The buffer spring 56 functions to tighten. On the one hand, it is used to ensure the smooth upward movement of the floating mounting plate 542. On the other hand, when there is no input fluid medium in the rubber buffer 543, it ensures that the driving wheel 52 is off the ground.

[0042] See Figures 6 to 8 , in a preferred embodiment, the swing arm assembly 34 includes a first articulated arm 341, a second articulated arm 342 and a third articulated arm 343. An upright articulated plate 311 is provided on the bottom plate 31. The two ends of the second articulated arm 342 are respectively articulated to one end of the first articulated arm 341 and one end of the third articulated arm 343. The other end of the first articulated arm 341 is articulated to the articulated plate 311, and the other end of the third articulated arm 343 is articulated to the articulated plate 311. The movable end of the push rod 32 is connected to the first articulated arm 341.

[0043] See Figure 6 and Figure 7 , in a preferred embodiment, the tractor 3 further includes a buffer 35. The lower end of the towing head 33 is connected to the buffer 35, which plays a role in buffering and protecting the towing head 33. The buffer 35 is fixed on the third articulated arm 343. Fixing the buffer 35 on the third articulated arm 343 can save materials.

[0044] See Figures 6 to 8 , in this embodiment, there are two towing heads 33. The swing arm assemblies 34 of the two towing heads 33 are connected by a connecting rod 36. The output end of the push rod 32 is fixedly connected to the connecting rod 36, and each towing head 33 corresponds to two sets of swing arm assemblies 34. A sliding contact member 331 is provided at the upper end of the towing head 33. The upper end of the towing head is in sliding contact with the towing positioning workpiece 106 through the sliding contact member 331, which is convenient for correcting the offset generated before the docking of the AGV. In this embodiment, the sliding contact member 331 is a roller, which is connected to both sides of the upper end of the towing head 33 through a rotating shaft.

[0045] In other embodiments (not shown in the figure), the sliding contact member 331 is a universal ball or a bearing. The upper end of the towing head 33 is in rolling contact with the towing positioning workpiece 106 through the universal ball or the bearing, so that there is no constraint in the left and right directions for the towing mechanism 1, which further facilitates the correction of the offset generated before the docking of the AGV101.

[0046] See Figure 8, in a preferred embodiment, the towing head 33 is bent so as to facilitate the swinging up or down of the towing head 33. The bent portion of the towing head 33 is connected to the swing arm assembly 34 through a connecting shaft 37. A torsion spring 38 is provided between the towing head 33 and the buffer 35. The torsion spring 38 is fixed on the connecting shaft 37, and the torsion spring can maintain the stability of the towing head 33 during the up and down movement.

[0047] In other embodiments, the first plug-in guiding member 103 is a guiding block with a notch, and the notch is in the shape of a flared opening such as a conical notch or a trapezoidal notch. The second plug-in guiding member 104 is a guiding rod. It should be noted that the guiding rod and the guiding block are prior arts and will not be described in detail herein. In addition, the towing mechanism 1 can be arranged on the in-line docking device 102, and the towing and positioning workpiece 106 is arranged on the AGV 101.

[0048] In this embodiment, the towing mechanism 1 is arranged on the central axis of the AGV in the docking direction to ensure the moving balance of the AGV 101 when the towing mechanism 1 is docked with the in-line docking device 102, and prevent the AGV body from becoming increasingly skewed during the towing process, resulting in the jamming phenomenon of the first plug-in guiding member 103 and the second plug-in guiding member 104, thereby ensuring the accuracy of the AGV docking. In other embodiments (not shown in the figure), two or more sets of the towing mechanism 1 are provided, and they are evenly and symmetrically arranged on the AGV 101.

[0049] According to the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. An AGV docking system, comprising: A traction mechanism and an adjustable drive device provided on the AGV, wherein the traction mechanism can be extended or retracted outside the AGV, and the adjustable drive device can adjust the pressure of the driving wheel on the ground; and A traction positioning workpiece provided on the line-side docking device, the traction positioning workpiece is used to dock with the traction mechanism; when docking, the traction mechanism extends to the outside of the AGV and docks with the traction positioning workpiece, and the adjustable driving device makes the pressure of the driving wheel on the ground zero so that the driving wheel is suspended; The traction mechanism includes a translation assembly and a tractor, the tractor includes a base plate, a push rod and a traction head, the base plate is arranged on the translation assembly, the push rod is fixed on the base plate, the traction head is hinged to the base plate through a swing arm assembly, the moving end of the push rod is connected to the traction head, the push rod is extended to drive the traction head to descend, and the push rod is retracted to drive the traction head to rise; the line-side docking device is provided with a docking cavity, the top of the docking cavity is provided with the traction positioning workpiece, the tractor is extended from the AGV to the line-side docking device through the translation assembly, and when the push rod drives the traction head to rise, the upper end of the traction head abuts against the traction positioning workpiece; The translation assembly includes a drive motor, a drive gear and a rack. The drive motor is fixed on the AGV. The output end of the drive motor is connected to the drive gear. The rack is meshed with the drive gear through a slide rail structure. The tractor is fixedly connected to the rack and moves relative to the AGV through the translation assembly so that the AGV approaches the line-side docking equipment. It also includes a plurality of follower wheels arranged on the AGV, the adjustable driving device includes a plurality of driving units, the driving unit includes a support frame, a driving wheel, a driving assembly and a pressure regulating assembly, the driving wheel is arranged on the lower side of the support frame, the driving assembly is fixed on the support frame, and is used to drive the driving wheel; the pressure regulating assembly is used to adjust the pressure of the driving wheel on the ground to adjust the height of the driving wheel; The pressure regulating assembly includes a fixed mounting plate, a floating mounting plate, a rubber buffer and a pressure sensor. The fixed mounting plate is used to be connected to the AGV body; the floating mounting plate is used to be connected to the support frame; the rubber buffer is arranged between the fixed mounting plate and the floating mounting plate, and the pressure of the driving wheel on the ground is adjusted by filling the rubber buffer with fluid medium; the pressure sensor is arranged on the rubber buffer, and is used to detect the internal pressure of the rubber buffer.

2. The AGV docking system according to claim 1, wherein It also includes a first plug-in guide member arranged on the AGV and a second plug-in guide member arranged on the line-side docking device. When the tractor docks with the traction positioning workpiece and generates relative movement with the AGV through a translation component so that the AGV approaches the line-side docking device, the first plug-in guide member is plugged and matched with the second plug-in guide member.

3. The AGV docking system according to claim 1, wherein, The tractor also includes a buffer, and the lower end of the traction head is connected to the buffer; the traction head is bent, and the bent part of the traction head is connected to the swing arm assembly through a connecting shaft. A torsion spring is provided between the traction head and the buffer, and the torsion spring is fixed on the connecting shaft.

4. The AGV docking system according to claim 2, characterized in that, The upper end of the traction head is provided with a sliding contact piece, and the upper end of the traction head is in sliding or rolling contact with the traction positioning workpiece through the sliding contact piece.

5. The AGV docking system according to claim 4, characterized in that The sliding contact member is a roller, which is connected to both sides of the upper end of the towing head through a rotating shaft, and the upper end of the towing head realizes sliding contact with the towing positioning workpiece through the roller; Alternatively, the sliding contact member is a universal ball or a bearing, and the upper end of the towing head realizes rolling contact with the towing positioning workpiece through the universal ball or the bearing.

6. The AGV docking system according to any one of claims 1 to 5, characterized in that The towing mechanism is arranged on the central axis of the AGV in the docking direction; Alternatively, there are two or more sets of the towing mechanisms, which are evenly and symmetrically arranged on the AGV.

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