Multi-directional automatic docking AGV and control method

Abstract

The application discloses a multi-direction automatic docking AGV, which comprises an AGV shell, the AGV shell is arranged in a quadrilateral box shape, docking ports are formed in four side walls of the AGV shell, a vertical transmission sleeve is rotationally connected to the central position of the inner bottom side wall of the AGV shell, a limiting device is arranged in the transmission sleeve, a first gear disc, a second gear disc, a third gear disc and a fourth gear disc are rotationally connected to the outer side wall of the transmission sleeve, the diameters of the first gear disc, the second gear disc, the third gear disc and the fourth gear disc are sequentially reduced, and the first gear disc, the second gear disc, the third gear disc and the fourth gear disc are sequentially arranged on the outer side of the transmission sleeve from bottom to top, and a driving device is arranged at the upper end of the transmission sleeve. The application has the advantages of standard specification and diversified combination mode, and is suitable for intelligent storage environment of objects with large quantity, irregular shape and large volume.

Description

Technical Field

[0001] This invention relates to the field of AGV design and manufacturing technology, and in particular to a multi-directional automatic docking AGV and its control method. Background Technology

[0002] AGVs are transport vehicles equipped with electromagnetic or optical automatic guidance devices, enabling them to travel along a predetermined guidance path and providing safety protection and various transfer functions. The control of an AGV system is achieved through the cooperation of three systems: the logistics upper-level scheduling system, the AGV ground control system, and the AGV onboard control system.

[0003] With the development of science and technology, the intelligent development of various industries is progressing rapidly, with the smart logistics industry developing even faster. The AGV manufacturing sector, in particular, has seen rapid intelligentization and is being applied across various industries, playing a crucial role. However, as AGV technology is promoted, it needs to adapt to new environments for different application scenarios. Currently, because AGVs primarily function as transport vehicles and lack more advanced capabilities, their advantages are not fully realized. Given the lack of multi-functional transport and sorting equipment in intelligent logistics warehousing environments, designing multi-functional AGVs is crucial for achieving efficient application of intelligent logistics systems. Summary of the Invention

[0004] This invention provides a multi-directional automatic docking AGV and a control method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multi-directional automatic docking AGV includes an AGV housing, which is a regular quadrilateral box. Each of the four side walls of the AGV housing has a docking interface. A vertically arranged transmission sleeve is rotatably connected to the center of the bottom side wall of the AGV housing. The transmission sleeve has a limiting device inside. A first-stage gear disk, a second-stage gear disk, a third-stage gear disk, and a fourth-stage gear disk are rotatably connected to the outer side wall of the transmission sleeve. The diameters of the first-stage, second-stage, third-stage, and fourth-stage gear disks decrease sequentially and are fitted onto the outside of the transmission sleeve from bottom to top. A driving device is provided at the upper end of the transmission sleeve. First-stage bevel gears, second-stage bevel gears, third-stage bevel gears, and fourth-stage bevel gears are respectively meshed on the side walls of the first-stage, second-stage, third-stage, and fourth-stage gear disks. Each of the first-stage, second-stage, third-stage, and fourth-stage bevel gears has a docking device on its side wall. The four docking devices are located near one side of each of the four docking interfaces. A moving device is provided on the bottom side wall of the AGV housing.

[0007] As a further improvement to this technical solution: the limiting device includes a lead screw motor, which is fixedly connected to the bottom end of the transmission sleeve. The output shaft of the transmission sleeve is fixedly connected to a lead screw, and a lead screw slider is threadedly connected to the lead screw slider. A transmission pin block is fixedly connected to the side wall of the lead screw slider. A long, narrow sliding groove is formed on the side wall of the transmission sleeve, and the transmission pin block is slidably connected in the sliding groove. One end of the transmission pin block extends out of the sliding groove. The first-stage gear disk, the second-stage gear disk, the third-stage gear disk, and the fourth-stage gear disk are installed sequentially from bottom to top on the outside of the sliding groove. A through hole is formed on the central side wall of each of the first-stage gear disk, the second-stage gear disk, the third-stage gear disk, and the fourth-stage gear disk. Multiple keyways arranged in a circular array are formed on the side wall of the through hole.

[0008] As a further improvement to this technical solution: the driving device includes a stepper motor, which is fixedly connected to the upper side of the AGV housing, and the output shaft of the stepper motor is fixedly connected to the upper end of the transmission sleeve through a coupling.

[0009] As a further improvement to this technical solution: the first-stage gear disk, the second-stage gear disk, the third-stage gear disk, the fourth-stage gear disk, the first-stage bevel gear, the second-stage bevel gear, the third-stage bevel gear, and the fourth-stage bevel gear are all made of stainless steel.

[0010] As a further improvement to this technical solution: each docking device includes a fixed sliding plate and a rotating block. Each fixed sliding plate is fixedly connected between the upper and lower side walls inside the AGV housing. A mounting hole is provided on the central side wall of each fixed sliding plate, and an arc groove is provided on the side wall of each fixed sliding plate. A transmission gear rod is rotatably connected within the mounting hole. The transmission gear rod includes a rod body, on which a long, cylindrical gear is fixedly connected. One end of the rod body is fixedly connected to the side wall of a corresponding first-stage, second-stage, third-stage, or fourth-stage bevel gear. A grooved slider is slidably connected within the arc groove, and one side of the grooved slider is fixedly connected to... The device has a grooved slider cover, and a sliding gear is threadedly connected to the grooved slider. The sliding gear consists of a flat gear and a threaded rod fixedly connected to the side wall of the flat gear. The threaded rod is threadedly connected to the grooved slider. The flat gear meshes with a cylindrical gear. The flat gear can slide on the side wall of the cylindrical gear. A connecting rod is fixedly connected to the side wall of the flat gear. Each rotating block has a threaded hole and a sliding hole on its side wall. The connecting rod is slidably connected in the sliding hole. A compression spring is sleeved on the side wall of the connecting rod. The two ends of the compression spring abut against the side walls of the flat gear and the rotating block, respectively. One end of the transmission gear rod is threadedly connected to the threaded hole.

[0011] As a further improvement to this technical solution: one end of the transmission gear rod is threaded with a nut, and the nut abuts against the side wall of the rotating block.

[0012] As a further improvement to this technical solution: the mobile device includes four omnidirectional wheels and two drive wheels. The four omnidirectional wheels are located at the four corners of the bottom side wall of the AGV housing, and the two drive wheels are set on the bottom side wall of the AGV housing.

[0013] As a further improvement to this technical solution: one end of each of the interfaces is provided with an annular buffer pad, and the other end of each of the interfaces is provided with a pressure sensor.

[0014] As a further improvement to this technical solution: the upper side of the AGV housing is provided with multiple storage slots.

[0015] This invention also provides a control method for multi-directional automatic docking AGVs, comprising the following steps:

[0016] S1, docking control:

[0017] When it is determined that the two AGV housings have corresponding interfaces that are connected, the docking control can be activated. Then, by controlling the rotation of the lead screw motor, the transmission pin block is moved to the gear transmission disk at the docking position. Then, the stepper motor is started. The stepper motor can drive the gear transmission disk at the docking position to rotate through the transmission sleeve. At this time, the connecting rod can extend and rotate, thereby realizing the locking of the two AGV housings. The pressure sensor on the interface is used as the data monitoring value for whether the locking is tight. When the data value reaches the set value, the stepper motor movement process is stopped.

[0018] S2, Separation Control:

[0019] When the two AGV housings are separated after docking, the stepper motor can be reversed to rotate the connecting rod in the opposite direction, thereby retracting the connecting rod. Finally, the lead screw motor drives the transmission pin block back to the initial position, completing the separation process.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. The square frame design facilitates the combination and connection of multiple AGVs, thereby forming a regular transport vehicle.

[0022] 2. It can achieve multi-directional automatic docking, thereby combining AGVs into different shapes of transport vehicles, which is conducive to transferring different types of objects and has a stronger ability to adapt to the environment;

[0023] 3. The automatic docking device has a simple structure, high reliability, and a relatively simple docking process. It also has stronger anti-interference capabilities for different working conditions.

[0024] 4. The rotation and extension processes of the connecting rod are cleverly combined, allowing one motor to control a fixed connection between two AGVs;

[0025] 5. The selection of different orientations also adopts the traditional mechanical gear disk transmission hierarchical transmission design, using fewer motors to achieve the docking process in different orientations.

[0026] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0028] Figure 1 This is a three-dimensional structural diagram of a multi-directional automatic docking AGV proposed in this invention;

[0029] Figure 2 This is a front cross-sectional view of a multi-directional automatic docking AGV proposed in this invention.

[0030] Figure 3 This is a front cross-sectional view of the transmission sleeve proposed in this invention.

[0031] Figure 4 A schematic diagram of the front cross-sectional structure when two AGV shells are docked;

[0032] Figure 5 This is a front cross-sectional view of the structure near the docking interface in a multi-directional automatic docking AGV proposed in this invention.

[0033] Figure 6 This is a schematic diagram of the connecting rod structure in this invention;

[0034] Figure 7 This is a cross-sectional view of the sliding gear in this invention.

[0035] Figure 8 This is a schematic diagram of the structure of the fixed slide plate in this invention;

[0036] Figure 9 This is a schematic diagram of the grooved slider and grooved slider cover in this invention;

[0037] Figure 10 This is a cross-sectional view of the grooved slider and the grooved slider cover in this invention.

[0038] Figure 11 This is a schematic diagram of the transmission gear rod in this invention;

[0039] Figure 12 This is a side cross-sectional view of the rotating block in this invention;

[0040] Figure 13 This is a front view of the primary gear disk in this invention.

[0041] Figure 14 This is a side sectional view of the primary gear disk in this invention.

[0042] Figure 15 This is a flowchart of the AGV docking control process in this invention.

[0043] The attached diagram lists the components represented by each number as follows:

[0044] 1. Storage tank; 2. AGV housing; 3. Connecting rod; 4. Rotating block; 5. Compression spring; 6. Nut; 7. Transmission gear rod; 8. Sliding gear; 9. Fixed slide plate; 10. Secondary bevel gear; 11. Primary gear plate; 12. Secondary gear plate; 13. Tertiary gear plate; 14. Quaternary gear plate; 15. Primary bevel gear; 16. Drive wheel; 17. Universal wheel; 18. Buffer pad; 19. Stepper motor; 20. Coupling; 21. Transmission sleeve; 22. Lead screw motor; 23. Transmission pin block; 24. Pressure sensor; 25. Grooved slider; 26. Grooved slider cover; 27. Lead screw slider; 28. Lead screw; 29. ​​Sliding groove; 30. Sliding hole; 31. Threaded hole; 32. Mounting hole; 33. Arc groove; 34. Keyway; 35. Interface. Detailed Implementation

[0045] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0046] Please see Figures 1-15In this embodiment of the invention, a multi-directional automatic docking AGV includes an AGV housing 2, which is a regular quadrilateral box. Each of the four side walls of the AGV housing 2 has a docking interface 35. A vertically arranged transmission sleeve 21 is rotatably connected to the center of the bottom side wall inside the AGV housing 2. The transmission sleeve 21 has a limiting device inside, including a lead screw motor 22, which is fixedly connected to the bottom end of the transmission sleeve 21. The output shaft of the transmission sleeve 21 is fixedly connected to a lead screw 28, and a lead screw slider 27 is threadedly connected to the lead screw 28. A transmission pin block 23 is fixedly connected to the side wall of 27. A long sliding groove 29 is provided on the side wall of the transmission sleeve 21. The transmission pin block 23 is slidably connected in the sliding groove 29. One end of the transmission pin block 23 extends out of the sliding groove 29. The first-stage gear disk 11, the second-stage gear disk 12, the third-stage gear disk 13, and the fourth-stage gear disk 14 are installed on the outside of the sliding groove 29 from bottom to top. The central side wall of the first-stage gear disk 11, the second-stage gear disk 12, the third-stage gear disk 13, and the fourth-stage gear disk 14 are all provided with through holes. Multiple keyways 34 arranged in a ring array are provided on the side wall of the through holes.

[0047] A first-stage gear disk 11, a second-stage gear disk 12, a third-stage gear disk 13, and a fourth-stage gear disk 14 are rotatably connected to the outer wall of the transmission sleeve 21. The diameters of the first-stage gear disk 11, the second-stage gear disk 12, the third-stage gear disk 13, and the fourth-stage gear disk 14 decrease sequentially and are fitted onto the outer side of the transmission sleeve 21 from bottom to top. A drive device is provided at the upper end of the transmission sleeve 21. The drive device includes a stepper motor 19, which is fixedly connected to the upper side of the AGV housing 2. The output shaft of the stepper motor 19 is fixedly connected to the upper end of the transmission sleeve 21 through a coupling 20. When the stepper motor 19 is started, it can drive the transmission sleeve 21 to rotate.

[0048] The side walls of the first-stage gear disk 11, second-stage gear disk 12, third-stage gear disk 13, and fourth-stage gear disk 14 are respectively meshed with a first-stage bevel gear 15, a second-stage bevel gear 10, a third-stage bevel gear, and a fourth-stage bevel gear. The third-stage and fourth-stage bevel gears (not shown) are also made of stainless steel. The first-stage bevel gear 15 and second-stage bevel gear 10 are also meshed with the side walls of the first-stage gear disk 11, second-stage gear disk 12, third-stage gear disk 13, fourth-stage gear disk 14, first-stage bevel gear 15, second-stage bevel gear 10, third-stage bevel gear, and fourth-stage bevel gear. The third-stage and fourth-stage bevel gears are equipped with docking devices on their side walls. Each docking device is located near one side of a corresponding docking interface 35. Each docking device includes a fixed sliding plate 9 and a rotating block 4. Each fixed sliding plate 9 is fixedly connected between the upper and lower side walls inside the AGV housing 2. A mounting hole 32 is provided on the central side wall of each fixed sliding plate 9, and an arc groove 33 is provided on the side wall of each fixed sliding plate 9. A transmission gear rod 7 is rotatably connected within the mounting hole 32. The transmission gear rod 7 includes a rod body, on which a fixed connection is made. There is a long, cylindrical gear. One end of the shaft is fixedly connected to the side wall of a corresponding first-stage bevel gear 15, second-stage bevel gear 10, third-stage bevel gear, or fourth-stage bevel gear. A grooved slider 25 is slidably connected within the arc groove 33. A grooved slider cover 26 is fixedly connected to one side of the grooved slider 25. A sliding gear 8 is threadedly connected within the grooved slider 25. The sliding gear 8 consists of a flat gear and a threaded rod fixedly connected to the side wall of the flat gear. The threaded rod is threadedly connected within the grooved slider 25. The flat gear meshes with the cylindrical gear. The gear can slide on the side wall of the cylindrical gear. A connecting rod 3 is fixedly connected to the side wall of the flat gear. Each rotating block 4 has a threaded hole 31 and a sliding hole 30 on its side wall. The connecting rod 3 is slidably connected in the sliding hole 30. A compression spring 5 is sleeved on the side wall of the connecting rod 3. The two ends of the compression spring 5 abut against the side walls of the flat gear and the rotating block 4, respectively. One end of the transmission gear rod 7 is threaded into the threaded hole 31. One end of the transmission gear rod 7 is threaded with a nut 6, which abuts against the side wall of the rotating block 4.

[0049] The bottom side wall of the AGV housing 2 is provided with a moving device, which includes four universal wheels 17 and two drive wheels 16. The four universal wheels 17 are located at the four corners of the bottom side wall of the AGV housing 2, and the two drive wheels 16 are set on the bottom side wall of the AGV housing 2. The two drive wheels 16 can be actively rotated by a motor (not shown), thereby driving the AGV housing 2 to move.

[0050] It should be noted that each interface 35 has an annular buffer pad 18 at one end and a pressure sensor 24 at the other end. When the two AGV housings 2 are connected to the corresponding interfaces 35, the buffer pads 18 on the two interfaces 35 can make the two AGV housings 2 fit together tightly. The pressure sensor 24 can be used as a data monitoring value to check whether the connecting rod 3 is locked.

[0051] It should be noted that the upper side of the AGV housing 2 is provided with multiple storage slots 1, which can be used to store objects.

[0052] This invention also provides a control method for multi-directional automatic docking AGVs, comprising the following steps:

[0053] S1, docking control:

[0054] S101, when it is determined that the two corresponding interfaces 35 on the two AGV housings 2 are docked, the docking control can be started;

[0055] S102, the lead screw motor 22 is started to rotate. The lead screw motor 22 drives the lead screw 22 to rotate, which moves the lead screw slider 27 up and down within the transmission sleeve 21. In turn, the lead screw slider 27 drives the transmission pin block 23 to move to the gear transmission disk at the docking position. The transmission disk is divided into a first-stage gear disk 11, a second-stage gear disk 12, a third-stage gear disk 13, and a fourth-stage gear disk 14. The first-stage gear disk 11, the second-stage gear disk 12, the third-stage gear disk 13, and the fourth-stage gear disk 14 can each correspond to four docking interfaces 35. For example, the right docking interface 35 corresponds to the first-stage gear disk 11. When the right docking interface 35 on the AGV housing 2 docks with the docking interface 35 on another AGV housing 2, the lead screw slider 27 drives the transmission pin block 23 to move into the keyway 34 in the first-stage gear disk 11. At this time, the first-stage gear disk 1... 1. Relative to locking on the transmission sleeve 21, the stepper motor 19 is then started. The stepper motor 19 can drive the first-stage gear disk 11 to rotate through the transmission sleeve 21. At this time, the first-stage gear disk 11 can drive the first-stage bevel gear 15 to rotate. The first-stage bevel gear 15 can then drive the transmission gear rod 7 to rotate. The transmission gear rod 7 can mesh with the sliding gear 8 to drive the sliding gear 8 to rotate. The connecting rod 3 can rotate through the sliding gear 8. At the same time, when the sliding gear 8 rotates, the end of the sliding gear 8 that is threaded in the groove slider 25 can perform telescopic movement. In this way, the sliding gear 8 can drive the connecting rod 3 to extend out of the interface 35. At the same time, the groove slider 25 slides in the arc groove 33 on the fixed slide plate 9. In summary, when the transmission gear rod 7 rotates, it can drive one end of the connecting rod 3 to rotate and extend out of the interface 35.

[0056] S103, one end of the connecting rod 3 rotates out of the interface 35 and can enter the inside of another AGV housing 2. The connecting rod 3 hooks onto the pressure sensor 24 on the inner wall of the other AGV housing 2, thereby realizing the buckle between the two AGV housings 2. The pressure sensor 24 on the interface 35 is used as the data monitoring value for whether it is locked. When the data value reaches the set value, the stepper motor 19 stops moving.

[0057] S2, Separation Control:

[0058] When the two AGV housings 2 are separated after docking, the stepper motor 19 can be reversed to rotate the connecting rod 3 in the opposite direction, thereby retracting the connecting rod 3. Finally, the lead screw motor 22 is controlled to drive the transmission pin block 23 back to the initial position, completing the separation process.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A multi-directional automatic guided vehicle (AGV) comprising an AGV housing (2), characterized in that, The AGV shell (2) is provided in a square box shape, and a docking port (35) is formed on each of the four side walls of the AGV shell (2). A vertically arranged transmission sleeve (21) is rotatably connected to the central position of the inner bottom side wall of the AGV shell (2). The transmission sleeve (21) is internally provided with a limiting device. A first gear disc (11), a second gear disc (12), a third gear disc (13), and a fourth gear disc (14) are rotatably connected to the outer side wall of the transmission sleeve (21). The diameters of the first gear disc (11), the second gear disc (12), the third gear disc (13), and the fourth gear disc (14) gradually decrease from bottom to top, and they are sequentially sleeved on the outer side of the transmission sleeve (21). A driving device is arranged at the upper end of the transmission sleeve (21). The side walls of the first gear disc (11), the second gear disc (12), the third gear disc (13), and the fourth gear disc (14) are respectively meshingly connected with a first bevel gear (15), a second bevel gear (10), a third bevel gear, and a fourth bevel gear. The side walls of the first bevel gear (15), the second bevel gear (10), the third bevel gear, and the fourth bevel gear are all provided with a docking device. The four docking devices are respectively located near one side of the four docking ports (35). The bottom side wall of the AGV shell (2) is provided with a moving device. The limiting device comprises a lead screw motor (22) fixedly connected to the bottom end of the transmission sleeve (21). The output shaft of the transmission sleeve (21) is fixedly connected with a lead screw (28). The lead screw (28) is provided with a lead screw block (27) threadedly connected thereto. The side wall of the lead screw block (27) is fixedly connected with a transmission pin block (23). The side wall of the transmission sleeve (21) is provided with a sliding groove (29) arranged in a strip shape. The transmission pin block (23) is slidably connected in the sliding groove (29). One end of the transmission pin block (23) extends out of the sliding groove (29). The first gear disc (11), the second gear disc (12), the third gear disc (13), and the fourth gear disc (14) are sequentially installed outside the sliding groove (29) from bottom to top. The central side wall of each of the first gear disc (11), the second gear disc (12), the third gear disc (13), and the fourth gear disc (14) is provided with a through hole. The side wall of the through hole is provided with a plurality of key grooves (34) arranged in an annular array. Each docking device includes a fixed chute disc (9) and a rotating block (4), each fixed chute disc (9) is fixedly connected between the upper and lower two side walls inside the AGV shell (2), an installation hole (32) is formed in the central side wall of each fixed chute disc (9), an arc slot (33) is formed in the side wall of each fixed chute disc (9), a transmission gear rod (7) is rotatably connected in the installation hole (32), the transmission gear rod (7) includes a rod body, a cylindrical gear in strip shape is fixedly connected to the rod body, one end of the rod body is fixedly connected to the side wall of the corresponding primary bevel gear (15), secondary bevel gear (10), tertiary bevel gear or fourth bevel gear, a groove sliding block (25) is slidably connected in the arc slot (33), a groove sliding block cover (26) is fixedly connected to one side of the groove sliding block (25), a sliding gear (8) is threadedly connected in the groove sliding block (25), the sliding gear (8) is composed of a flat gear and a threaded rod fixedly connected to the side wall of the flat gear, the threaded rod is threadedly connected in the groove sliding block (25), the flat gear is meshingly connected with the cylindrical gear, the flat gear can slide on the side wall of the cylindrical gear, a connecting buckle rod (3) is fixedly connected to the side wall of the flat gear, each rotating block (4) has a threaded hole (31) and a sliding hole (30) formed in the side wall thereof, the connecting buckle rod (3) is slidably connected in the sliding hole (30), a compression spring (5) is sleeved on the side wall of the connecting buckle rod (3), the two ends of the compression spring (5) abut against the side walls of the flat gear and the rotating block (4), and one end of the transmission gear rod (7) is threadedly connected in the threaded hole (31).

2. The multi-directional automatic docking AGV of claim 1, wherein, The driving device includes a stepping motor (19), the stepping motor (19) is fixedly connected to the upper side of the AGV shell (2), and the output shaft of the stepping motor (19) is connected to the upper end of the transmission sleeve (21) through a shaft coupling (20).

3. The multi-directional automatic docking AGV of claim 2, wherein, The primary gear disc (11), the secondary gear disc (12), the tertiary gear disc (13), the fourth gear disc (14), the primary bevel gear (15), the secondary bevel gear (10), the tertiary bevel gear and the fourth bevel gear are all made of stainless steel.

4. The multi-directional automatic docking AGV of claim 3, wherein, One end of the transmission gear rod (7) is threadedly connected with a nut (6), and the nut (6) abuts against the side wall of the rotating block (4).

5. The multi-directional automatic docking AGV of claim 4, wherein, The moving device includes four universal wheels (17) and two drive wheels (16), the four universal wheels (17) are respectively located at the four corners of the bottom side wall of the AGV shell (2), and the two drive wheels (16) are arranged on the bottom side wall of the AGV shell (2).

6. The multi-directional automatic docking AGV of claim 5, wherein, One end of each docking port (35) is provided with an annular buffer rubber pad (18), and the other end of each docking port (35) is provided with a pressure sensor (24).

7. The multi-directional automatic docking AGV of claim 6, wherein, A plurality of storage grooves (1) are formed in the upper side of the AGV shell (2).

8. The control method of a multi-directional automatic docking AGV according to any one of claims 1-7, characterized in that, The method comprises the following steps: S1, docking control: When it is determined that the two AGV housings (2) are docked with the two docking interfaces (35), the docking control can be started. Then, the rotation of the screw rod motor (22) is controlled to move the transmission pin block (23) to the gear transmission disc at the docking position. Then, the step motor (19) is controlled to start. The step motor (19) can drive the gear transmission disc at the docking position to rotate through the transmission sleeve (21). At this time, the connecting buckle rod (3) can be extended and rotated to realize the buckling of the two AGV housings (2). The pressure sensor (24) on the docking interface (35) is used as the data monitoring value of whether the buckling is tight. When the data value reaches the set value, the movement process of the step motor (19) is stopped. S2, separation control: When the two AGV housings (2) are separated after docking, the step motor (19) is controlled to reverse. The reverse rotation and movement of the connecting buckle rod (3) can be realized to retract the connecting buckle rod (3). Finally, the screw rod motor (22) is controlled to drive the transmission pin block (23) to return to the initial position to complete the separation process.

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