An AGV conveying device with pallet eccentricity correction

Abstract

The present invention discloses an AGV conveying device with pallet eccentricity correction, which relates to the field of conveying devices, including an AGV conveying device main body, a circular rubber pad for holding the pallet is fixedly installed at the top center of the AGV conveying device main body, a cavity one is opened inside the AGV conveying device main body, and four limiting straight grooves interconnected with the cavity one are opened on the top of the AGV conveying device main body. During the transportation of the pallet by the AGV conveying device main body, the present invention can make the piston push rod intermittently move up and down through the cooperation of a trigger component and a spring one, so that the arc-shaped swing arm frequently swings up and down, and when swinging upward, four correction arc plates equidistantly distributed on the circumference can frequently knock on the extension of the pallet, and the force generated by the knocking can make the correction arc plate continuously move toward the center of the AGV conveying device main body, so as to ensure that the pallet will not be eccentric, and the pallet can be corrected in real time.

Description

Technical Field

[0001] The invention relates to the field of conveying devices, in particular to an AGV conveying device with tray eccentricity correction. Background Art

[0002] The AGV conveyor is an intelligent conveyor with automatic guidance function. The conveyor can travel along the specified route within the factory area to load and transport materials, and can automatically put the materials into the material trough;

[0003] In the existing public document CN213949577U, the basic structure and basic functions of the AGV intelligent conveying device are clearly explained. The AGV conveying device uses a driving structure designed at the bottom to make the AGV conveying device as a whole and the materials placed on the top of the conveying device through the pallet to transport materials on the specified route and transport the materials to the shelves. However, since the route of the AGV conveying device is not just a reciprocating straight line, there are also curves. During the curve, the overall direction of the AGV conveying device will be adjusted. During the adjustment process, since the pallet is placed on the top of the AGV conveying device, the pallet as a whole can easily slide sideways relative to the AGV conveying device. After the pallet slides sideways on the placement table on the top of the AGV conveying device, the AGV conveying device will not be able to accurately and automatically place the pallet and the materials on the pallet on the material rack. For this reason, we propose an AGV conveying device with pallet eccentricity correction. Summary of the invention

[0004] The object of the present invention is to provide an AGV conveying device with pallet eccentricity correction to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an AGV conveying device with pallet eccentricity correction, comprising an AGV conveying device body, a circular rubber pad for holding the pallet is fixedly installed at the top center of the AGV conveying device body, a cavity 1 is opened inside the AGV conveying device body, and four limiting straight grooves interconnected with the cavity 1 are opened on the top of the AGV conveying device body, the four limiting straight grooves are equidistantly distributed around the circumference with the circular rubber pad as the axis, and the periphery of the circular rubber pad is also provided with four Arc-shaped rubber pads are distributed equidistantly, and the arc-shaped rubber pads and the limiting straight grooves are distributed in an alternating manner; a correction mechanism continuously corrects the pallet during the transportation of the AGV conveying device body, the correction mechanism is installed between the limiting straight groove and the cavity one, and a pneumatic mechanism is also provided inside the cavity one; a transmission mechanism provides power for the correction mechanism during the transportation of the AGV conveying device body, the transmission mechanism is installed at the bottom of the AGV conveying device body, and a trigger assembly is provided between the transmission mechanism and the pneumatic mechanism.

[0006] Preferably, the correction mechanism includes a correction arc plate slidably embedded in the limiting straight groove, and the bottom of the correction arc plate is elastically hinged with an arc-shaped swing arm through a torsion spring and a rotating shaft, the outside of the arc-shaped swing arm is hinged with a hinge bracket fixedly installed inside the cavity, and a blocking plate is provided at the connection between the upper part of the arc-shaped swing arm and the correction arc plate, the blocking plate is movably fitted with the upper arc surface of the correction arc plate, and the blocking plate is locked with the arc-shaped swing arm through bolts, and when the arc-shaped swing arm swings upward and encounters greater resistance, the correction arc plate will be lowered and folded down through the action of the torsion spring and the rotating shaft.

[0007] Preferably, the pneumatic mechanism includes a sealing cylinder fixedly mounted on the top of the cavity, and a piston push rod is axially slidably embedded in the interior of the sealing cylinder, a spring is provided on the upper part of the piston push rod, and the outer wall of the sealing cylinder is fixedly connected with four hook-shaped through pipes equidistantly distributed in a circle, the hook portion of the hook-shaped through pipe is arc-shaped, the arc of the hook portion of the hook-shaped through pipe takes the hinge point of the hinge bracket and the arc-shaped swing arm as the center, an arc rod is slidably embedded on the inner side of the hook portion of the hook-shaped through pipe, and the bottom of the arc rod is fixedly mounted on the upper part of the arc-shaped swing arm, and a piston block slidably embedded in the interior of the hook-shaped through pipe is fixedly mounted on one end of the arc rod away from the arc-shaped swing arm, and when the piston push rod moves upward, the arc rod can be pushed downward by the piston block.

[0008] Preferably, the transmission mechanism includes a through groove opened at the bottom of the AGV conveying device body, and a connecting rod 1 is rotatably embedded inside the through groove, and a rubber wheel is fixedly sleeved on the outer surface of the connecting rod 1, and the lower end section of the rubber wheel is flush with the lower end section of the driving wheel of the AGV conveying device body, that is, when the AGV conveying device body is transported by the driving wheel, the rubber wheel can be rotated simultaneously through the contact between the rubber wheel and the ground, a limit seat is fixedly mounted at the upper port of the through groove, and a connecting rod 2 is rotatably embedded inside the limiting seat, and transmission gears are fixedly sleeved on the outer surfaces of the connecting rod 1 and the connecting rod 2, and a toothed belt is provided for transmission between the two transmission gears.

[0009] Preferably, the touch assembly includes a frame block installed directly below the sealing cylinder, and a connecting rod three is rotatably embedded in the upper part of the frame block, a transmission chain is provided between the connecting rod three and the connecting rod two through a transmission wheel, cams are fixedly sleeved at both ends of the connecting rod three, a touch plate is fixedly installed at the bottom of the piston push rod, and the lower end surface of the touch plate is movably fitted with the cam, and when the connecting rod three drives the cam to rotate, the piston push rod can be intermittently pushed upward through the touch plate.

[0010] Preferably, a protective mechanism is further provided inside the limiting straight groove, and the protective mechanism includes a cavity 2 opened inside the main body of the AGV conveying device, and the cavity 2 is located above the cavity 1, and a turntable is rotatably installed inside the cavity 2 through a positioning column, and four closing plates equidistantly distributed in a circle are fixedly installed on the outer surface of the turntable, and the closing plate is located below the limiting straight groove, that is, when the correcting arc plate is not extended, the closing plate can protect the notch of the limiting straight groove to prevent external impurities from easily entering the interior of the cavity 1, and a side sliding component is provided between the closing plate and the correcting arc plate.

[0011] Preferably, the side sliding assembly includes a rounded corner opened at one end of the closing plate away from the turntable, and the correction arc plate is in sliding contact with the rounded corner of the closing plate. When the correction arc plate moves upward, it can push the rounded corner of the closing plate to cause the closing plate to shift sideways and swing. A spring 2 is fixedly installed between one side edge of the closing plate away from the rounded corner and the second cavity through a fixing block, and a limit block is fitted on the other side edge of the closing plate, and the limit block is fixedly connected to the second cavity.

[0012] Preferably, the bottom of the closing plate is provided with an oblique chamfer, and the design of the oblique chamfer enables the correction arc plate to easily push the closing plate open during the upward movement.

[0013] Preferably, the width of the closing plate is greater than the width of the limiting straight groove. The width of the closing plate is greater than the width of the limiting straight groove in order to better play a sealing and protective role on the notch of the limiting straight groove.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In the process of transporting the pallet through the AGV conveying device body, the present invention can make the piston push rod intermittently move up and down through the cooperation of the trigger assembly and the spring 1, so that the arc-shaped swing arm can frequently swing up and down. When swinging upward, four correction arc plates equidistantly distributed in a circle can constantly knock on the extension of the pallet frequently. The force generated by the knocking can make the correction arc plate constantly move toward the center of the AGV conveying device body, which can ensure that the pallet will not be eccentric and correct the pallet in real time;

[0016] 2. The present invention designs a rubber wheel in contact with the ground at the bottom of the AGV conveying device body. When the AGV conveying device body transports materials on the pallet, the rubber wheel can rotate to drive the trigger component, so that the trigger component starts the pneumatic mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 It is a structural schematic diagram of another viewing angle of the present invention as a whole;

[0019] Figure 3 This is a schematic diagram of the structure of cavity 1, cavity 2 and limiting straight groove of the present invention;

[0020] Figure 4 For the present invention Figure 3 Medium enlarged image;

[0021] Figure 5 This is a schematic diagram of the position distribution of the arc-shaped swing arm and the correction arc plate of the present invention;

[0022] Figure 6 It is a schematic diagram of the internal structure of the sealing cylinder and the hook-shaped through pipe of the present invention;

[0023] Figure 7 This is a schematic diagram of the internal structure of the second cavity of the present invention;

[0024] Figure 8 It is a schematic diagram of the chamfering structure of the present invention.

[0025] In the figure: 1-AGV conveying device body; 2-arc rubber pad; 3-round rubber pad; 4-correction mechanism; 5-protection mechanism; 6-transmission mechanism; 7-pneumatic mechanism; 8-touch assembly; 9-cavity one; 10-cavity two; 11-limiting straight groove; 12-hinged bracket; 13-arc swing arm; 14-blocking plate; 15-correction arc plate; 16-through groove; 17-connecting rod one; 18-limiting seat; 19- Connecting rod two; 20-transmission gear; 21-toothed belt; 22-rubber wheel; 23-sealing cylinder; 24-piston push rod; 25-spring one; 26-frame block; 27-connecting rod three; 28-cam; 29-touch plate; 30-transmission chain; 31-hook-type through pipe; 32-arc rod; 33-piston block; 34-fixed block; 35-spring two; 36-bevel chamfer; 37-limiting block; 38-turntable; 39-closing plate. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-8 The present invention provides a technical solution: an AGV conveying device with pallet eccentricity correction, comprising an AGV conveying device body 1, a circular rubber pad 3 for holding the pallet is fixedly installed at the top center of the AGV conveying device body 1, a cavity 9 is opened inside the AGV conveying device body 1, and four limiting straight grooves 11 connected to the cavity 9 are opened on the top of the AGV conveying device body 1, the four limiting straight grooves 11 are equidistantly distributed around the circumference with the circular rubber pad 3 as the axis, and the outer periphery of the circular rubber pad 3 is also provided with four equidistantly distributed around the circumference. The arc rubber pads 2 are distributed at a certain distance, and the arc rubber pads 2 are staggered with the limiting straight grooves 11; the correction mechanism 4 continuously corrects the pallet during the transportation of the AGV conveying device body 1, the correction mechanism 4 is installed between the limiting straight grooves 11 and the cavity 9, and a pneumatic mechanism 7 is also provided inside the cavity 9; the transmission mechanism 6 provides power for the correction mechanism 4 during the transportation of the AGV conveying device body 1, the transmission mechanism 6 is installed at the bottom of the AGV conveying device body 1, and a trigger component 8 is provided between the transmission mechanism 6 and the pneumatic mechanism 7.

[0028] The correction mechanism 4 includes a correction arc plate 15 which is slidably embedded in the limiting straight groove 11, and the bottom of the correction arc plate 15 is elastically hinged with an arc-shaped swing arm 13 through a torsion spring and a rotating shaft. The outside of the arc-shaped swing arm 13 is hinged with a hinge bracket 12 fixedly installed in the cavity 9. A blocking plate 14 is provided at the connection between the upper part of the arc-shaped swing arm 13 and the correction arc plate 15. The blocking plate 14 is movably fitted with the upper arc surface of the correction arc plate 15, and the blocking plate 14 is locked with the arc-shaped swing arm 13 by bolts. When the arc-shaped swing arm 13 swings upward and encounters a large resistance, the correction arc plate 15 will be lowered and folded due to the action of the torsion spring and the rotating shaft.

[0029] The pneumatic mechanism 7 includes a sealing cylinder 23 fixedly mounted on the top of the cavity 9, and a piston push rod 24 is axially slidably embedded in the interior of the sealing cylinder 23, a spring 25 is provided on the upper part of the piston push rod 24, and the outer wall of the sealing cylinder 23 is fixedly connected with four hook-shaped through pipes 31 equidistantly distributed around the circumference, the hook portion of the hook-shaped through pipe 31 is arc-shaped, and the arc of the hook portion of the hook-shaped through pipe 31 takes the hinge point of the hinge bracket 12 and the arc-shaped swing arm 13 as the center of the circle, an arc rod 32 is slidably embedded in the inner side of the hook portion of the hook-shaped through pipe 31, and the bottom of the arc rod 32 is fixedly mounted on the upper part of the arc-shaped swing arm 13, and a piston block 33 slidably embedded in the interior of the hook-shaped through pipe 31 is fixedly mounted at one end of the arc rod 32 away from the arc-shaped swing arm 13, and when the piston push rod 24 moves upward, the arc rod 32 can be pushed downward by the piston block 33.

[0030] The transmission mechanism 6 includes a through slot 16 opened at the bottom of the AGV conveying device body 1, and a connecting rod 17 is rotatably embedded inside the through slot 16, and a rubber wheel 22 is fixedly sleeved on the outer surface of the connecting rod 17, and the lower end section of the rubber wheel 22 is flush with the lower end section of the driving wheel of the AGV conveying device body 1, that is, when the AGV conveying device body 1 is transported by the driving wheel, the rubber wheel 22 can be rotated at the same time through the contact between the rubber wheel 22 and the ground, and a limit seat 18 is fixedly mounted at the upper end of the through slot 16, and a connecting rod 2 19 is rotatably embedded inside the limiting seat 18, and the outer surfaces of the connecting rod 17 and the connecting rod 2 19 are fixedly sleeved with a transmission gear 20, and a toothed belt 21 is provided for transmission between the two transmission gears 20.

[0031] The touch assembly 8 includes a frame block 26 installed directly below the sealing cylinder 23, and a connecting rod 3 27 is rotatably embedded in the upper part of the frame block 26. A transmission chain 30 is provided between the connecting rod 3 27 and the connecting rod 2 19 through a transmission wheel. Cams 28 are fixedly sleeved at both ends of the connecting rod 3 27. A touch plate 29 is fixedly installed at the bottom of the piston push rod 24, and the lower end surface of the touch plate 29 is movably fitted with the cam 28. When the connecting rod 3 27 drives the cam 28 to rotate, it can intermittently push the piston push rod 24 upward through the touch plate 29.

[0032] A protective mechanism 5 is also provided inside the limiting straight groove 11, and the protective mechanism 5 includes a cavity 10 opened inside the AGV conveying device body 1, and the cavity 10 is located above the cavity 19, and a turntable 38 is rotatably installed inside the cavity 10 through a positioning column, and four closing plates 39 equidistantly distributed in a circle are fixedly installed on the outer surface of the turntable 38, and the closing plate 39 is located below the limiting straight groove 11, that is, when the correction arc plate 15 is not extended, the closing plate 39 can protect the notch of the limiting straight groove 11 to prevent external impurities from easily entering the interior of the cavity 9, and a side sliding component is provided between the closing plate 39 and the correction arc plate 15.

[0033] The side sliding assembly includes a rounded corner opened at the end of the closing plate 39 away from the turntable 38, and the correction arc plate 15 is in sliding contact with the rounded corner of the closing plate 39. When the correction arc plate 15 moves upward, it can push the rounded corner of the closing plate 39 to cause the closing plate 39 to move sideways and swing. A spring 2 35 is fixedly installed between one side edge of the closing plate 39 away from the rounded corner and the cavity 2 10 through a fixing block 34, and a limit block 37 is fitted on the other side edge of the closing plate 39, and the limit block 37 is fixedly connected to the cavity 2 10.

[0034] The bottom of the closing plate 39 is provided with an oblique chamfer 36 . The design of the oblique chamfer 36 enables the correcting arc plate 15 to easily push the closing plate 39 away during the upward movement.

[0035] The width of the closing plate 39 is greater than the width of the limiting straight groove 11 . The width of the closing plate 39 is greater than the width of the limiting straight groove 11 in order to better play a sealing and protective role on the notch of the limiting straight groove 11 .

[0036] The working principle of real-time eccentricity correction of the pallet placed on the top of the AGV conveyor body 1 during its operation:

[0037] During the operation of the AGV conveying device body 1, the contact between the rubber wheel 22 and the ground can also cause the rubber wheel 22 to rotate through the friction between the two. During the rotation process, the rubber wheel 22 can drive the cam 28 to rotate continuously through the action of the toothed belt 21 and the transmission chain 30. When the cam 28 rotates, it can intermittently push the piston push rod 24 upward through the touch plate 29. During each upward movement of the piston push rod 24, the arc rod 32 can be pushed by the piston block 33. The arc rod 32 can be used to move the arc swing when it is quickly extended. The bottom of the arm 13 is pressed to make the other end of the arc-shaped swing arm 13 and the correction arc plate 15 swing upward. When the four correction arc plates 15 equidistantly distributed in a circle frequently and quickly swing upward, they can knock on the edge of the pallet placed on the top of the AGV conveying device body 1. If the pallet is in an eccentric state, the vibration force generated by the correction arc plate 15 knocking on the pallet can cause the pallet to move slightly until the pallet can be located at the upper center of the AGV conveying device body 1. The swing angle of the four arc-shaped swing arms 13 is consistent each time. When the pallet is eccentric, one or more of the arc-shaped swing arms 13 will first contact the correction arc plate 15 when knocking in the eccentric direction of the pallet. Since the rated swing angle of the arc-shaped swing arm 13 remains unchanged, the correction arc plate 15 will elastically fold. The greater the folding amplitude of the correction arc plate 15, the greater the reaction elastic force, and the greater the force applied to the pallet. Through this frequent knocking method, the pallet can be moved toward the upper center of the AGV conveying device body 1, which can achieve the eccentricity correction of the pallet in real time during transportation.

[0038] In this solution, when the correction arc plate 15 is not tilted, its closing plate 39 can play an obvious protective role on the limiting straight groove 11, preventing a large amount of external impurities from entering the interior of the cavity 9 through the limiting straight groove 11.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV conveying device with pallet eccentricity correction, comprising an AGV conveying device body (1), a circular rubber pad (3) for holding a pallet being fixedly mounted at the top center of the AGV conveying device body (1), characterized in that: The AGV conveying device body (1) is provided with a cavity (9) inside, and the top of the AGV conveying device body (1) is provided with four limiting straight grooves (11) which are interconnected with the cavity (9), the four limiting straight grooves (11) are equidistantly distributed around the circular rubber pad (3) as the axis, and the periphery of the circular rubber pad (3) is also provided with four arc-shaped rubber pads (2) which are equidistantly distributed around the circumference, and the arc-shaped rubber pads (2) and the limiting straight grooves (11) are staggeredly distributed; A correction mechanism (4) continuously corrects the pallet during the transportation of the AGV conveying device body (1), wherein the correction mechanism (4) is installed between the limiting straight groove (11) and the cavity one (9), and a pneumatic mechanism (7) is also provided inside the cavity one (9); A transmission mechanism (6) is used to provide power to the correction mechanism (4) during the transportation of the AGV conveying device body (1), the transmission mechanism (6) is installed at the bottom of the AGV conveying device body (1), and a trigger assembly (8) is provided between the transmission mechanism (6) and the pneumatic mechanism (7); The correction mechanism (4) comprises a correction arc plate (15) slidably embedded in the limiting straight groove (11), and the bottom of the correction arc plate (15) is elastically hinged with an arc-shaped swing arm (13) through a torsion spring and a rotating shaft, and the outside of the arc-shaped swing arm (13) is hinged with a hinge bracket (12) fixedly installed in the cavity 1 (9), and a blocking plate (14) is provided at the connection between the upper part of the arc-shaped swing arm (13) and the correction arc plate (15), and the blocking plate (14) is movably fitted with the upper arc surface of the correction arc plate (15), and the blocking plate (14) is locked with the arc-shaped swing arm (13) through bolts; The pneumatic mechanism (7) comprises a sealing cylinder (23) fixedly mounted on the top of the cavity (9), and a piston push rod (24) is axially slidably embedded in the interior of the sealing cylinder (23), and a spring (25) is provided on the upper part of the piston push rod (24). Four hook-shaped through pipes (31) equidistantly distributed in a circumference are fixedly connected and mounted on the outer wall of the sealing cylinder (23), and the hook portion of the hook-shaped through pipe (31) is arc-shaped. The arc of the hook portion (31) takes the hinge point of the hinge bracket (12) and the arc-shaped swing arm (13) as the center of the circle, an arc rod (32) is slidably embedded in the inner side of the hook portion of the hook-shaped through pipe (31), and the bottom of the arc rod (32) is fixedly installed on the upper part of the arc-shaped swing arm (13), and a piston block (33) slidably embedded in the interior of the hook-shaped through pipe (31) is fixedly installed on one end of the arc rod (32) away from the arc-shaped swing arm (13); The transmission mechanism (6) comprises a through slot (16) provided at the bottom of the AGV conveying device body (1), and a connecting rod (17) is rotatably embedded inside the through slot (16), and a rubber wheel (22) is fixedly sleeved on the outer surface of the connecting rod (17), and the lower end section of the rubber wheel (22) is flush with the lower end section of the driving wheel of the AGV conveying device body (1), a limit seat (18) is fixedly mounted at the upper end of the through slot (16), and a connecting rod (19) is rotatably embedded inside the limiting seat (18), and a transmission gear (20) is fixedly sleeved on the outer surfaces of the connecting rod (17) and the connecting rod (19), and a toothed belt (21) is provided between the two transmission gears (20); The touch assembly (8) comprises a frame block (26) installed directly below the sealing cylinder (23), and a connecting rod (27) is rotatably embedded in the upper part of the frame block (26), a transmission chain (30) is provided between the connecting rod (27) and the connecting rod (19) via a transmission wheel, and cams (28) are fixedly sleeved at both ends of the connecting rod (27), and a touch plate (29) is fixedly installed at the bottom of the piston push rod (24), and the lower end surface of the touch plate (29) is movably fitted with the cam (28).

2. The AGV conveying device with pallet eccentricity correction according to claim 1, characterized in that: A protective mechanism (5) is also provided inside the limiting straight groove (11), and the protective mechanism (5) includes a cavity 2 (10) opened inside the AGV conveying device body (1), and the cavity 2 (10) is located above the cavity 1 (9), and a turntable (38) is rotatably installed inside the cavity 2 (10) through a positioning column, and four circumferentially equidistantly distributed closing plates (39) are fixedly installed on the outer surface of the turntable (38), and the closing plate (39) is located below the limiting straight groove (11), and a side sliding component is provided between the closing plate (39) and the correction arc plate (15).

3. The AGV conveying device with pallet eccentricity correction according to claim 2, characterized in that: The side sliding assembly includes a rounded corner opened at one end of the closing plate (39) away from the rotating disk (38), and the correction arc plate (15) is in sliding contact with the rounded corner of the closing plate (39), a spring 2 (35) is fixedly installed between one side of the closing plate (39) away from the rounded corner and the second cavity (10) through a fixing block (34), and a limit block (37) is fitted on the other side of the closing plate (39), and the limit block (37) is fixedly connected to the second cavity (10).

4. The AGV conveying device with pallet eccentricity correction according to claim 3, characterized in that: The bottom of the closing plate (39) is provided with an oblique chamfer (36).

5. The AGV conveying device with pallet eccentricity correction according to claim 2, characterized in that: The width of the closing plate (39) is greater than the width of the limiting straight groove (11).

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