Double-vehicle heavy load guide groove AGV system

Abstract

The present application belongs to the field of vehicle automatic assembly, and particularly relates to a double-vehicle heavy-load guide groove AGV system, which comprises a ground guide groove, a trolley device, and a plurality of groups of front vehicles and rear vehicles used in cooperation, the trolley device is provided with a guide groove opening matched with the ground guide groove, the guide groove opening and the ground guide groove jointly form an assembly ring line, each group of front vehicles is provided with a front vehicle guiding and driving mechanism matched with the assembly ring line and moves along the assembly ring line, and each group of rear vehicles is provided with a rear vehicle guiding mechanism matched with the assembly ring line and moves along the assembly ring line. The present application synchronously realizes heavy truck body bearing through the front vehicle and the rear vehicle, the front vehicle bears load and drives forward, the rear vehicle walks through the heavy truck body dragging in the joint assembly section, the rear vehicle can walk through the hitching mechanism dragged by the front vehicle in the non-joint assembly section, the rear vehicle and the front vehicle complete hitching automatically through the trolley device, the structure is simple, maintenance is convenient, the cost is low, the strength is high, and the fault processing time is short.

Description

Technical Field

[0001] This invention belongs to the field of vehicle automated assembly, specifically a dual-vehicle heavy-duty guide AGV system. Background Technology

[0002] Given the increasing production of civilian heavy-duty trucks and the improvement of manufacturing processes, the requirements for automated assembly lines for heavy-duty trucks also need to be met. Existing heavy-duty truck production lines either use a floor chain system, with the supporting structure being a small steel frame vehicle fixed on the floor chain, resulting in low automation, or they use a dual AGV heavy-duty system with electromagnetic navigation + magnetic navigation, achieving automation, but this is costly, complex to control, inconvenient to maintain, and has generally poor navigation safety. Summary of the Invention

[0003] To address the above problems, the present invention aims to provide a dual-vehicle heavy-duty guide AGV system.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The dual-vehicle heavy-duty guide AGV system includes a ground guide trough, a trolley device, and several sets of front and rear vehicles used in conjunction. The trolley device has a guide slot that mates with the ground guide trough. The guide slot and the ground guide trough together form an assembly loop. Each set of front vehicles is equipped with a front vehicle guide drive mechanism that mates with the assembly loop and moves along the assembly loop. Each set of rear vehicles is equipped with a rear vehicle guide mechanism that mates with the assembly loop and moves along the assembly loop. Each set of rear vehicles moves behind the front vehicle of the same set.

[0006] The front and rear vehicles in each group jointly carry a workpiece to be assembled and move along the ground guide groove of the assembly loop. When the front and rear vehicles in each group move to the guide groove of the trolley device of the assembly loop, the rear vehicle is pushed by the trolley device to connect with the front vehicle in the same group after the workpiece to be assembled is detached. The front vehicle drives the rear vehicle in the same group to continue to move forward to the designated position of the assembly loop. The front vehicle and the rear vehicle in the same group separate and are separated by a preset distance.

[0007] The trolley device includes a main body shell, a trolley drive unit, a chain structure, and a trolley block. The main body shell is set in a pre-set pit. The guide slot is opened on the top surface of the main body shell. The trolley drive unit and the chain structure are respectively installed inside the main body shell. The trolley drive unit drives the chain structure to rotate. The trolley block is installed on the chain structure. The trolley block rotates with the chain structure and rotates out of or into the guide slot. After rotating out of the guide slot, the trolley block pushes the rear vehicle forward from the rear side.

[0008] A dust baffle plate that rotates together with the chain structure is provided on the outer periphery of the chain structure.

[0009] The main body of the trolley device is also equipped with a tensioning device for tensioning the chain structure.

[0010] The preceding vehicle includes a preceding vehicle body and a preceding vehicle guiding drive mechanism. The preceding vehicle guiding drive mechanism includes a preceding vehicle drive device, a preceding vehicle front guide shaft mounting seat, and a rotating connecting rod. The preceding vehicle front guide shaft mounting seat is provided with a preceding vehicle front guide shaft extending into the guide slot or ground guide slot. The preceding vehicle drive device includes a drive wheel mounting box, a preceding vehicle drive wheel, and a preceding vehicle drive unit. The preceding vehicle drive wheel and the preceding vehicle drive unit are respectively mounted on the drive wheel mounting box. The preceding vehicle drive unit drives the preceding vehicle drive wheel to rotate. The top of the drive wheel mounting box and one end of the rotating connecting rod are respectively rotatably connected to the preceding vehicle body. The front part of the drive wheel mounting box is hinged to one end of the preceding vehicle front guide shaft mounting seat, and the other end of the preceding vehicle front guide shaft mounting seat is hinged to the other end of the rotating connecting rod. The preceding vehicle front guide shaft mounting seat, the rotating connecting rod rotatably connected to the preceding vehicle body, and the drive wheel mounting box form a parallelogram structure. The preceding vehicle body is also provided with several preceding vehicle follower wheels.

[0011] A foreign object sensing base is installed on the front guide shaft mounting seat of the vehicle. The front side of the foreign object sensing base is connected to a guide groove foreign object sensing shaft mounting seat by several springs. The guide groove foreign object sensing shaft mounting seat is provided with a guide groove foreign object sensing shaft that extends into the guide groove opening or the ground guide groove. The guide groove foreign object sensing shaft is located on the front side of the front guide shaft of the vehicle. The guide groove foreign object sensing shaft mounting seat is also provided with guide sleeves that correspond one-to-one with each of the springs. Each guide sleeve passes through a corresponding spring and through the foreign object sensing base. The guide groove foreign object sensing shaft mounting seat and the foreign object sensing base are provided with a detection switch assembly A that is configured to cooperate with each other.

[0012] The rear end face of the front vehicle body is provided with a front vehicle rear guide shaft that extends into the guide slot or ground guide slot.

[0013] The front vehicle and the rear vehicle are connected by a hooking mechanism. The rear vehicle includes a rear vehicle body. The rear vehicle guiding mechanism includes a rear vehicle front guide shaft. The rear vehicle body is provided with a plurality of rear vehicle follower wheels. A rear vehicle front guide shaft mounting seat is installed on the front side of the rear vehicle body. The rear vehicle front guide shaft is set on the rear vehicle front guide shaft mounting seat and extends into the guide groove or ground guide groove. A hook body connecting seat is fixedly connected to the front end of the rear vehicle front guide shaft mounting seat. A cam shaft is rotatably provided at the front end of the rear vehicle front guide shaft mounting seat. A cam part is provided in the middle of the cam shaft.

[0014] The hooking mechanism includes a hooking ring disposed at the rear of the front vehicle and a hooking hook assembly disposed at the front of the rear vehicle. The hooking hook assembly includes a hooking hook body, which is connected to a hooking hook body connecting seat and has the freedom to swing up and down. One end of the hooking hook body is a hooking part, and the other end of the hooking hook body is pressed down by a cam part of the camshaft, thereby causing the hooking part to be lifted and pass over the hooking ring. Then, the camshaft is rotated to cause the hooking part to fall and engage with the hooking ring.

[0015] The hook body and the hook body connecting seat are connected by a T-shaped connector. The T-shaped connector includes two horizontal connecting ends and one vertical connecting end. The two horizontal connecting ends are rotatably connected to the hook body, and the vertical connecting end is rotatably connected to the hook body connecting seat. The vertical connecting end is also connected to one end of a swing reset block. The other end of the swing reset block is fitted with a swing rod. One end of the swing rod is connected to a swing rod rotation shaft, which is rotatably connected to the hook body connecting seat. Centering springs are fitted on the swing rods on both sides of the swing reset block.

[0016] The front vehicle on the lower side of the hook ring also has a detection switch assembly B for measuring the hooking status of the hook. The rear vehicle guide mechanism also includes a rear vehicle guide shaft, which is set on the rear end face of the rear vehicle body and extends into the guide slot or ground guide slot.

[0017] The advantages and positive effects of this invention are as follows:

[0018] 1. This invention achieves heavy truck body support through the synchronous operation of the front and rear vehicles. The front vehicle is loaded and driven forward, while the rear vehicle is towed by the heavy truck body in the assembly section. In the non-assembly section, the rear vehicle can be towed by the front vehicle through the coupling mechanism.

[0019] 2. The front and rear vehicle structures of the present invention are simple, easy to maintain, low in cost, high in strength, and have short troubleshooting time.

[0020] 3. The front vehicle guiding drive mechanism of the present invention adopts a parallelogram structure, which has strong load-bearing capacity, smooth and stable driving, and low stress on the guide shaft and guide groove.

[0021] 4. This invention enables the rear vehicle to return together with the front vehicle without power through a hook-up mechanism.

[0022] 5. The trolley device of the present invention enables the rear vehicle to automatically engage with the front vehicle.

[0023] 6. This invention does not have an electromagnetic or magnetic navigation system, the control system is simple, and it moves safely and reliably with the ground guide channel. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the trolley device of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the front vehicle of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the rear vehicle of the present invention;

[0028] Figure 5 This is a three-dimensional structural schematic diagram of the front vehicle guidance drive mechanism of the present invention from one perspective;

[0029] Figure 6 This is a three-dimensional structural schematic diagram of the front vehicle guidance drive mechanism of the present invention from another perspective;

[0030] Figure 7 This is a top view of the front vehicle guidance drive mechanism of the present invention.

[0031] Figure 8 This is a three-dimensional structural schematic diagram of the mounting mechanism of the present invention from one perspective;

[0032] Figure 9 This is a three-dimensional structural schematic diagram of the mounting mechanism of the present invention from another perspective;

[0033] Figure 10 This is a side view of the mounting mechanism of the present invention.

[0034] In the diagram: 1 is the front vehicle, 100 is the front vehicle body, 2 is the rear vehicle, 200 is the rear vehicle body, 3 is the ground guide channel, 4 is the main shell of the trolley device, 5 is the trolley drive unit, 6 is the chain structure, 7 is the trolley block, 8 is the dust baffle, 9 is the tensioning device, 10 is the front guide shaft mounting seat of the front vehicle, 11 is the rotating connecting rod, 12 is the front guide shaft of the front vehicle, 13 is the drive wheel mounting box, 14 is the front vehicle drive wheel, 15 is the front vehicle drive unit, 16 is the front vehicle follower wheel, 17 is the foreign object sensing base, 18 is the spring, 19 is the guide channel foreign object sensing shaft mounting seat, 20 is the guide channel foreign object sensing base. 21 is the object sensing shaft, 22 is the guide sleeve, 23 is the detection switch assembly A, 24 is the rear guide shaft of the front vehicle, 25 is the follower wheel of the rear vehicle, 26 is the front guide shaft mounting seat of the rear vehicle, 27 is the front guide shaft of the rear vehicle, 28 is the hook body connecting seat, 28 is the cam shaft, 2801 is the cam part, 2802 is the foot pedal part, 29 is the hook ring, 30 is the hook body, 31 is the T-shaped connector, 32 is the swing reset block, 33 is the swing rod, 34 is the swing rod rotation shaft, 35 is the centering spring, 36 is the detection switch assembly B, 37 is the rear guide shaft of the rear vehicle, and 38 is the rear push plate of the rear vehicle. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-10 The present invention will be described in further detail below.

[0036] Dual-vehicle heavy-duty guide AGV system, such as Figure 1-4 As shown, the assembly includes a ground guide channel 3, a trolley device, and several sets of front trolleys 1 and rear trolleys 2 used in conjunction. The trolley device has guide slots that mate with the ground guide channel 3. The guide slots and the ground guide channel 3 together form an assembly loop. Each set of front trolleys 1 is equipped with a front trolley guide drive mechanism that mates with the assembly loop and moves along the assembly loop. Each set of rear trolleys 2 is equipped with a rear trolley guide mechanism that mates with the assembly loop and moves along the assembly loop. Each set of rear trolleys 2 moves behind the front trolleys 1 of the same set. In this embodiment, the guide slots and the ground guide channel 3 have the same width dimensions.

[0037] The front cart 1 and the rear cart 2 of each group jointly carry a workpiece to be assembled (e.g., a heavy truck body) and move along the ground guide groove 3 of the assembly loop. When the front cart 1 and the rear cart 2 of each group move to the guide groove of the trolley device of the assembly loop, that is, move to the workpiece off-line station, and after the workpiece to be assembled is detached, the trolley device pushes the rear cart 2 forward and connects it with the front cart 1 of the same group. Then the front cart 1 and the rear cart 2 of the same group continue to move forward. After the front cart 1 and the rear cart 2 of the same group move to the designated position of the assembly loop, that is, move to the workpiece pre-line station, the front cart 1 and the rear cart 2 of the same group are separated and separated by a preset distance, so as to carry the next workpiece to be assembled.

[0038] Specifically, such as Figure 2As shown, in this embodiment, the trolley device includes a main body shell 4, a trolley drive unit 5, a chain structure 6, and a trolley block 7. The main body shell 4 is set in a pre-set pit. A guide slot is opened on the top surface of the main body shell 4. The trolley drive unit 5 and the chain structure 6 are respectively installed inside the main body shell 4. The trolley drive unit 5 drives the chain structure 6 to rotate. The trolley block 7 is installed on the chain structure 6. The trolley block 7 rotates with the chain structure 6 and rotates out or in through the guide slot. After rotating out of the guide slot, the trolley block 7 pushes the rear carriage 2 forward from the rear side. A tensioning device 9 for tensioning the chain structure 6 is also installed inside the main body shell 4. In this embodiment, the installation structure of the main body shell 4, the trolley drive unit 5, the chain structure 6, the trolley block 7, and the tensioning device 9 all adopt existing technology. The tensioning device 9 is a tensioning wheel structure of existing technology. The trolley drive unit 5 can adopt an existing motor reducer structure and its operation is controlled by an external control system. In this embodiment, the chain structure 6 rotates forward to drive the pusher block 7 to push the rear vehicle 2. After the rear vehicle 2 is engaged with the front vehicle 1, the chain structure 6 rotates in reverse to make the pusher block 7 return to the main body shell 4 of the pusher device, without affecting the passage of the front vehicle 1 and the rear vehicle 2 of the subsequent group.

[0039] Specifically, such as Figure 4 As shown, in this embodiment, a dust baffle 8 is provided on the outer periphery of the chain structure 6, which rotates together with the chain structure 6. The installation structure of the dust baffle 8 can adopt existing technology, which serves to prevent dust from entering the interior of the main shell 4 of the trolley device and affecting the operation of the trolley device. In this embodiment, a dustproof brush is also provided at the position where the trolley block 7 is screwed out or screwed into the guide slot, which also serves to prevent dust.

[0040] Specifically, in this embodiment, the structure of the front vehicle 1 is the same in all groups, and the structure of the rear vehicle 2 is also the same in all groups. For example... Figure 3 and Figure 5-7As shown, each front vehicle 1 includes a front vehicle body 100 and a front vehicle guiding drive mechanism. The front vehicle guiding drive mechanism includes a front vehicle drive unit, a front vehicle front guide shaft mounting seat 10, and a rotating connecting rod 11. The front vehicle front guide shaft mounting seat 10 is provided with a front vehicle front guide shaft 12 extending into the guide slot or ground guide slot 3. The front vehicle drive unit includes a drive wheel mounting box 13, a front vehicle drive wheel 14, and a front vehicle drive unit 15. The front vehicle drive wheel 14 and the front vehicle drive unit 15 are respectively mounted on the drive wheel mounting box 13. The front vehicle drive unit 15 drives the front vehicle drive wheel 14 to rotate. The top of the drive wheel mounting box 13... The front vehicle body 100 is rotatably connected to the front vehicle body 100 at one end of the drive wheel mounting box 13. The front of the drive wheel mounting box 13 is hinged to one end of the front vehicle front guide shaft mounting seat 10, and the other end of the front vehicle front guide shaft mounting seat 10 is hinged to the other end of the drive wheel mounting rod 11. The front vehicle front guide shaft mounting seat 10, the drive wheel mounting box 13 and the drive wheel mounting seat 13 rotatably connected to the front vehicle body 100 form a parallelogram structure. The front vehicle body 100 is also provided with several front vehicle follower wheels 16. The rear end face of the front vehicle body 100 is provided with a front vehicle rear guide shaft 23 that extends into the guide groove or the ground guide groove 3. In this embodiment, the front vehicle drive unit 15 uses a commercially available motor with a release handle, and its operation is controlled by an external control system. The front vehicle drive unit 15 drives the front vehicle drive wheel 14 to rotate, and the front vehicle follower wheels 16 rotate accordingly, so that the entire front vehicle 1 moves together. The parallelogram structure formed by the front guide shaft mounting seat 10, the rotating connecting rod 11 rotatably connected to the front vehicle body 100, and the drive wheel mounting box 13 enables the front guide shaft 12 to make stable turns while moving along the ground guide groove 3. In this embodiment, the front vehicle guide drive mechanism is located at the front right part of the front vehicle 1, and front vehicle follower wheels 16 are respectively provided at the front left, rear left, and rear right parts of the front vehicle 1, running clockwise along the assembly ring line.

[0041] Specifically, such as Figure 7As shown, in this embodiment, a foreign object sensing base 17 is installed on the front guide shaft mounting seat 10 of the front vehicle. The front side of the foreign object sensing base 17 is connected to a guide groove foreign object sensing shaft mounting seat 19 by several springs 18. The guide groove foreign object sensing shaft mounting seat 19 is provided with a guide groove foreign object sensing shaft 20 that extends into the guide groove opening or the ground guide groove 3. The guide groove foreign object sensing shaft 20 is located on the front side of the front guide shaft 12 of the front vehicle. The guide groove foreign object sensing shaft mounting seat 20 is also provided with guide sleeves 21 that correspond one-to-one with each spring 18. Each guide sleeve 21 passes through a corresponding spring 18 and passes through the foreign object sensing base 17. The guide groove foreign object sensing shaft mounting seat 19 and the foreign object sensing base 17 are provided with a detection switch assembly A 22. In this embodiment, the detection switch assembly A 22 includes a contact switch body disposed on the foreign object sensing base 17 and a contact block disposed on the foreign object sensing shaft mounting seat 19 of the guide groove. When the foreign object sensing shaft 20 of the guide groove touches the foreign object in the guide groove or the ground guide groove 3, the foreign object sensing shaft mounting seat 19 of the guide groove moves backward, so that the contact block touches the contact switch body. The contact switch body sends a signal to the control system to control the front vehicle drive unit 15 to stop operating. In addition, an inspection door is opened on the top surface of the front vehicle body 100 so that the inspection door can be opened directly in case of sudden failure, and the release and engagement handle of the front vehicle drive unit 15 can be pulled to put the front vehicle drive wheel 14 into a follow-up state, and the front vehicle 1 can be moved out of the assembly ring line.

[0042] Specifically, such as Figure 3 , Figure 4 and Figure 8-10As shown, in this embodiment, each group of front vehicles 1 and rear vehicles 2 are connected by the same hook-up mechanism. The rear vehicle 2 includes a rear vehicle body 200, and the rear vehicle guiding mechanism includes a rear vehicle front guide shaft 26 and a rear vehicle rear guide shaft 37. The rear vehicle body 200 is equipped with several rear vehicle follower wheels 24. The rear vehicle 2 itself has no power. The rear vehicle rear guide shaft 37 is located on the rear end face of the rear vehicle body 200 and extends into the guide slot or ground guide slot 3. The rear end face of the rear vehicle body 200 is also equipped with a rear vehicle push plate 38 for the push block 7 to abut against. The rear vehicle body 200... A rear vehicle front guide shaft mounting seat 25 is installed on the front side. The rear vehicle front guide shaft 26 is set on the rear vehicle front guide shaft mounting seat 25 and extends into the guide groove or ground guide groove 3. A hook body connecting seat 27 is fixedly connected to the front end of the rear vehicle front guide shaft mounting seat 25. A cam shaft 28 is rotatably provided at the front end of the rear vehicle front guide shaft mounting seat 25. A cam part 2801 is provided in the middle of the cam shaft 28. A foot pedal part 2802 is also provided at one end of the cam shaft 28 for easy foot pedaling. The hooking mechanism includes a hooking ring 29 located at the rear of the front vehicle 1 and a hooking hook assembly located at the front of the rear vehicle 2. The hooking hook assembly includes a hooking hook body 30, which is connected to a hooking hook body connecting seat 27 and has the freedom to swing up and down. One end of the hooking hook body 30 is the hooking hook part. The other end of the hooking hook body 30 is pressed down by stepping on the foot pedal 2802, which causes the cam part 2801 of the camshaft 28 to be pressed down, thereby causing the hooking hook part to be lifted and pass over the hooking ring 29. Then, the camshaft 28 is rotated to make the hooking hook part fall down and hook up with the hooking ring 29. The hook body 30 and the hook body connecting seat 27 are connected by a T-shaped connector 31. The T-shaped connector 31 includes two horizontal connecting ends and one vertical connecting end. The two horizontal connecting ends are rotatably connected to the hook body 30, and the vertical connecting end is rotatably connected to the hook body connecting seat 27. The vertical connecting end is also connected to one end of the swing reset block 32. The other end of the swing reset block 32 is sleeved with a swing rod 33. One end of the swing rod 33 is connected to a swing rod rotation shaft 34. The swing rod rotation shaft 34 is rotatably connected to the hook body connecting seat 27. Centering springs 35 are respectively sleeved on the swing rods 33 on both sides of the swing reset block 32. By cooperating with the T-shaped connector 31, the swing reset block 32, the swing rod 33, the swing rod rotation shaft 34, and the centering spring 35, the hook body 30 can swing left and right when turning. After turning, the centering spring 35 can drive the T-shaped connector 31 and the hook body 30 to automatically return to their original positions and be straightened through the swing reset block 32, so as to achieve effective hooking under turning conditions.On the front vehicle 1 below the hook ring 29, there is also a detection switch assembly B36 for measuring the engagement status of the hook. In this embodiment, the detection switch assembly B36 is located on the elastic pressure plate at the rear of the rear vehicle 2 and a contact switch located below the elastic pressure plate. When the hook part of the hook body 30 is successfully engaged with the hook ring 29, the hook part presses down the elastic pressure plate and the contact switch below the elastic pressure plate, so that the control system can accurately judge the engagement status of the engagement mechanism.

[0043] Working principle:

[0044] By coordinating the front vehicle 1 and the rear vehicle 2, the heavy truck body can be supported synchronously. The front vehicle 1 is loaded and driven forward, while the rear vehicle 2 is towed by the heavy truck body in the assembly section. In the non-assembly section, the rear vehicle 2 can be towed by the front vehicle 1 through the hook-up mechanism. Through the coordinated arrangement of the ground guide trough, the guide shafts set at various locations on the front vehicle 1 and the rear vehicle 2, and the trolley device with guide trough openings, each set of front vehicle 1 and rear vehicle 2 can be safely navigated. Moreover, all rear vehicles 2 are all non-powered trolleys, resulting in low overall manufacturing cost, convenient maintenance, high strength, and short fault handling time. Through the coordinated arrangement of the foreign object sensing base 17, spring 18, guide trough foreign object sensing shaft mounting seat 19, guide trough foreign object sensing shaft 20, guide sleeve 21, and detection switch assembly A 22, it can be ensured that if there are insurmountable foreign objects at the guide trough opening or ground guide trough 3, the system is buffered and can stop in time by triggering the detection switch assembly A 22.

Claims

1. Double trolley heavy load guide groove AGV system, characterized in that: The invention relates to a ground guide groove (3), a trolley device and a plurality of groups of front carts (1) and rear carts (2) used in cooperation, the trolley device is provided with a guide groove opening matched with the ground guide groove (3), the guide groove opening and the ground guide groove (3) jointly form an assembly ring line, each group of the front carts (1) is provided with a front cart guide driving mechanism matched with the assembly ring line and moves along the assembly ring line, each group of the rear carts (2) is provided with a rear cart guide mechanism used in cooperation with the assembly ring line and moves along the assembly ring line, and each group of the rear carts (2) moves behind the front carts (1) of the same group. Each group of the front carts (1) and the rear carts (2) jointly bear a workpiece to be assembled and move along the ground guide groove (3) part of the assembly ring line, when each group of the front carts (1) and the rear carts (2) move to the guide groove opening part of the trolley device of the assembly ring line, the rear carts (2) are pushed to be connected with the front carts (1) of the same group by the trolley device after the workpiece to be assembled is separated, the front carts (1) drive the rear carts (2) of the same group to continue to move forward to a designated position of the assembly ring line, and the front carts (1) are separated from the rear carts (2) of the same group by a preset distance. The front carts (1) and the rear carts (2) are connected through a hooking mechanism, the rear cart guide mechanism includes a rear cart front guide shaft (26), the rear cart body (200) is provided with a plurality of rear cart follow-up wheels (24), a rear cart front guide shaft mounting seat (25) is installed on the front side of the rear cart body (200), the rear cart front guide shaft (26) is arranged on the rear cart front guide shaft mounting seat (25) and extends into the guide groove opening or the ground guide groove (3), a hook main body connecting seat (27) is fixedly connected to the front end of the rear cart front guide shaft mounting seat (25), a cam shaft (28) is rotatably arranged at the front end of the rear cart front guide shaft mounting seat (25), and a cam portion (2801) is arranged at the middle part of the cam shaft (28). The hooking mechanism includes a hooking ring (29) arranged at the rear part of the front cart (1) and a hooking hook assembly arranged at the front part of the rear cart (2), the hooking hook assembly includes a hooking hook main body (30), the hooking hook main body (30) is connected with the hooking hook main body connecting seat (27) and has a degree of freedom of up-down swinging, one end of the hooking hook main body (30) is a hooking hook portion, the other end of the hooking hook main body (30) is pressed downward through the cam portion (2801) of the cam shaft (28), so that the hooking hook portion is lifted and passes over the hooking ring (29), and then the cam shaft (28) is rotated to make the hooking hook portion fall and be hooked with the hooking ring (29). The hanging hook body (30) and the hanging hook body connecting seat (27) are connected through a T-shaped connecting piece (31), the T-shaped connecting piece (31) comprises two horizontal connecting ends and a vertical connecting end, the two horizontal connecting ends are rotatably connected with the hanging hook body (30) respectively, the vertical connecting end is rotatably connected with the hanging hook body connecting seat (27), one end of the vertical connecting end is further connected with an oscillation reset block (32), the other end of the oscillation reset block (32) is sleeved with an oscillation rod (33), one end of the oscillation rod (33) is connected with an oscillation rod rotating shaft (34), the oscillation rod rotating shaft (34) is rotatably connected with the hanging hook body connecting seat (27), the oscillation rods (33) on the two sides of the oscillation reset block (32) are respectively sleeved with a centering spring (35).

2. The dual cart heavy load rail guide AGV system according to claim 1, characterized in that: The trolley device comprises a trolley device main body shell (4), a trolley driving unit (5), a chain structure (6) and a trolley block (7), the trolley device main body shell (4) is arranged in a pre-set pit, a guide slot is formed in the top surface of the trolley device main body shell (4), the trolley driving unit (5) and the chain structure (6) are respectively arranged in the trolley device main body shell (4), the trolley driving unit (5) drives the chain structure (6) to rotate, the trolley block (7) is arranged on the chain structure (6), the trolley block (7) rotates with the chain structure (6) and rotates out of or into the guide slot, the trolley block (7) pushes the rear vehicle (2) from the rear side of the rear vehicle (2) to move forward after rotating out of the guide slot.

3. The dual cart heavy load rail guide AGV system according to claim 2, characterized in that: The chain structure (6) is provided with a dust baffle (8) which rotates together with the chain structure (6).

4. The dual cart heavy load rail guide AGV system according to claim 2, characterized in that: The inside of the trolley device main body shell (4) is further provided with a tensioning device (9) for tensioning the chain structure (6). The chain structure (6) is provided with a dust baffle (8) which rotates together with the chain structure (6). The inside of the trolley device main body shell (4) is further provided with a tensioning device (9) for tensioning the chain structure (6).

5. The dual cart heavy load rail guide AGV system of claim 1, wherein: The front vehicle (1) comprises a front vehicle body (100) and a front vehicle guiding driving mechanism, the front vehicle guiding driving mechanism comprises a front vehicle driving device, a front vehicle front guiding shaft mounting seat (10) and a rotating connecting rod (11), the front vehicle front guiding shaft mounting seat (10) is provided with a front vehicle front guiding shaft (12) extending into the guide slot or the ground guide slot (3), the front vehicle driving device comprises a driving wheel mounting box (13), a front vehicle driving wheel (14) and a front vehicle driving unit (15), the front vehicle driving wheel (14) and the front vehicle driving unit (15) are respectively mounted on the driving wheel mounting box (13), the front vehicle driving unit (15) drives the front vehicle driving wheel (14) to rotate, the top of the driving wheel mounting box (13) and one end of the rotating connecting rod (11) are respectively rotationally connected with the front vehicle body (100), the front part of the driving wheel mounting box (13) is hingedly connected with one end of the front vehicle front guiding shaft mounting seat (10), the other end of the front vehicle front guiding shaft mounting seat (10) is hingedly connected with the other end of the rotating connecting rod (11), the front vehicle front guiding shaft mounting seat (10) and the rotating connecting rod (11) and the driving wheel mounting box (13) rotationally connected with the front vehicle body (100) respectively form a parallelogram structure, and the front vehicle body (100) is further provided with a plurality of front vehicle follow-up wheels (16).

6. The dual cart heavy load rail guide AGV system according to claim 5, characterized in that: The front vehicle front guiding shaft mounting seat (10) is provided with a foreign matter sensing base (17), the front side of the foreign matter sensing base (17) is connected with a guide slot foreign matter sensing shaft mounting seat (19) through a plurality of springs (18), the guide slot foreign matter sensing shaft mounting seat (19) is provided with a guide slot foreign matter sensing shaft (20) extending into the guide slot or the ground guide slot (3), the guide slot foreign matter sensing shaft (20) is located at the front side of the front vehicle front guiding shaft (12), the guide slot foreign matter sensing shaft mounting seat (19) is further provided with a guide sleeve (21) corresponding to each spring (18), each guide sleeve (21) respectively penetrates through a corresponding spring (18) and the foreign matter sensing base (17), and the guide slot foreign matter sensing shaft mounting seat (19) and the foreign matter sensing base (17) are provided with a detection switch assembly A (22) matched.

7. The dual cart heavy load rail guide AGV system according to claim 5, characterized in that: The rear end surface of the front vehicle body (100) is provided with a front vehicle rear guiding shaft (23) extending into the guide slot or the ground guide slot (3).

8. The dual cart heavy load rail guide AGV system of claim 1, wherein: The front vehicle (1) on the lower side of the hanging ring (29) is further provided with a detection switch assembly B (36) for measuring the hanging state of the hanging hook part, the rear vehicle guiding mechanism further comprises a rear vehicle rear guiding shaft (37), and the rear vehicle rear guiding shaft (37) is arranged on the rear end surface of the rear vehicle body (200) and extends into the guide slot or the ground guide slot (3).

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