AGV-based product docking system

Abstract

The application relates to an AGV-based product docking system, which comprises an AGV chassis, a front docking unit and a rear docking unit, the AGV chassis is fixed with a longitudinal rack and a longitudinal guide rail, the front docking unit comprises a first base, a second base, a first supporting ring and a second supporting ring, the second base is provided with a first gear drive device matched with the longitudinal rack, a first rolling mechanism is arranged between the first supporting ring and the first base, both ends of the first supporting ring are provided with first product connecting pieces, a rolling drive mechanism is arranged between the second supporting ring and the second base, both ends of the second supporting ring are provided with second product connecting pieces, the rear docking unit comprises a third base, a fourth base, a first horizontal moving frame, a second horizontal moving frame, a first lifting frame, a first support, a third supporting ring, a second lifting frame, a second support and a product supporting seat, both ends of the third supporting ring are provided with third product connecting pieces, and the product docking system has the advantages of simple structure, convenient control, high docking precision and safety and reliability.

Description

Technical Field

[0001] This invention relates to a docking device, and more specifically to a product docking system based on AGVs. Background Technology

[0002] In aerospace and other industrial sectors, products such as launch tubes and insulated boxes are typically manufactured and assembled in sections. Currently, the assembly of these sections is usually done manually. Due to the large size and weight of the products, this process is not only cumbersome and inefficient, but also poses significant safety risks. Summary of the Invention

[0003] The purpose of this invention is to provide a product docking system based on AGV, which has the advantages of simple structure, convenient operation, high docking accuracy, and safety and reliability.

[0004] To address the aforementioned problems in the prior art, this invention provides an AGV-based product docking system, comprising an AGV chassis and a front docking unit and a rear docking unit mounted on the AGV chassis. The AGV chassis is fixed with a longitudinal rack and two longitudinal guide rails. The front docking unit includes a first base and a second base fixed to each other, and a first support ring and a second support ring, correspondingly mounted on the first and second bases and forming a semi-circle. A first longitudinal sliding block cooperating with the longitudinal guide rails is fixed to the bottom of the first and second bases. A first gear drive device cooperating with the longitudinal rack is provided in the second base. A first rolling mechanism is provided between the first support ring and the first base, and first product connectors are respectively provided at both ends of the first support ring. A rolling drive mechanism is provided between the second support ring and the second base, and second product connectors are respectively provided at both ends of the second support ring. The rear docking unit includes a third base and a fourth base fixed to each other. The system includes a base and corresponding first and second transverse frames mounted on the third and fourth bases. The bottom of the third and fourth bases is fixed with a second longitudinal sliding block that engages with a longitudinal guide rail. The third base contains a second gear drive device that engages with a longitudinal rack. A first transverse drive mechanism is provided between the first transverse frame and the third base. A first lifting frame is mounted in the first transverse frame via a first lifting drive mechanism. A first support is mounted on the first lifting frame via a first slewing bearing. A semi-circular third support ring is mounted on the first support via a second rolling mechanism. Third product connectors are provided at both ends of the third support ring. A second transverse drive mechanism is provided between the second transverse frame and the fourth base. A second lifting frame is mounted in the second transverse frame via the second lifting drive mechanism. A second support is mounted on the second lifting frame via a second slewing bearing. An arc-shaped product holder is fixed on the second support, and a protective pad is provided on the product holder.

[0005] Furthermore, the present invention provides a product docking system based on AGV, which further includes a docking detection unit located between the front docking unit and the rear docking unit. The docking detection unit includes a fifth base, and a first longitudinal sliding block that cooperates with the longitudinal guide rail is fixed at the bottom of the fifth base. A third gear drive device that cooperates with the longitudinal rack is provided in the fifth base. A bracket is fixed on the fifth base, and three laser cameras and two vision cameras are provided on the bracket. The three laser cameras are located on the left and right sides and the bottom side of the symmetrical part of the product, and the two vision cameras are symmetrically located on both sides of the product docking surface.

[0006] Furthermore, the present invention provides a product docking system based on AGV, wherein the first gear drive device includes a first worm gear transmission box fixed on a second base, the output shaft of the first worm gear transmission box is provided with a first gear meshing with a longitudinal rack, and one end of the input shaft of the first worm gear transmission box is sequentially connected to a first reducer and a first motor.

[0007] Furthermore, the present invention provides a product docking system based on AGV, wherein the first rolling mechanism includes a first rolling guide rail symmetrically fixed on both sides of a first support ring and forming a semi-circular shape, and a first rolling slider cooperating with the first rolling guide rail is fixed on a first base; the rolling drive mechanism includes a second rolling guide rail symmetrically fixed on both sides of a second support ring and forming a semi-circular shape, and a second rolling slider cooperating with the second rolling guide rail is fixed on a second base; the rolling drive mechanism also includes a rolling rack fixed on the second support ring and forming a semi-circular shape; a second worm gear transmission box is fixed on the second base; a second gear meshing with the rolling rack is provided on the output shaft of the second worm gear transmission box; and a second reducer and a second motor are sequentially connected to one end of the input shaft of the second worm gear transmission box.

[0008] Furthermore, the present invention provides a product docking system based on AGV, wherein the second gear drive device includes a third worm gear transmission box fixed on a third base, the output shaft of the third worm gear transmission box is provided with a third gear meshing with a longitudinal rack, and one end of the input shaft of the third worm gear transmission box is sequentially connected to a third reducer and a third motor; the third gear drive device includes a fourth worm gear transmission box fixed on a fifth base, the output shaft of the fourth worm gear transmission box is provided with a fourth gear meshing with a longitudinal rack, and one end of the input shaft of the fourth worm gear transmission box is sequentially connected to a fourth reducer and a fourth motor.

[0009] Furthermore, the present invention provides a product docking system based on AGV, wherein the first transverse drive mechanism includes two first transverse guide rails fixed on a third base and a first transverse slider fixed to the bottom of a first transverse frame and cooperating with the first transverse guide rails. The first transverse drive mechanism also includes a first transverse rack fixed to the bottom of the first transverse frame and a fifth worm gear transmission box fixed on the third base. The output shaft of the fifth worm gear transmission box is provided with a fifth gear meshing with the first transverse rack. One end of the input shaft of the fifth worm gear transmission box is sequentially connected to a fifth reducer and a fifth motor. The second transverse drive mechanism includes two second transverse guide rails fixed on a fourth base and a second transverse slider fixed to the bottom of a second transverse frame and cooperating with the second transverse guide rails. The second transverse drive mechanism also includes a second transverse rack fixed to the bottom of the second transverse frame and a sixth worm gear transmission box fixed on the fourth base. The output shaft of the sixth worm gear transmission box is provided with a sixth gear meshing with the second transverse rack. One end of the input shaft of the sixth worm gear transmission box is sequentially connected to a sixth reducer and a sixth motor.

[0010] Furthermore, the present invention provides a product docking system based on AGV, wherein the first lifting drive mechanism includes a first vertical guide rail fixed to both sides of the inner wall of the first transverse frame and a first vertical sliding block fixed to the first lifting frame and cooperating with the first vertical guide rail; the first lifting drive mechanism also includes a first elevator fixed to the first transverse frame, the upper end of the telescopic rod of the first elevator being fixedly connected to the first lifting frame, and one end of the input shaft of the first elevator being sequentially connected to a seventh reducer and a seventh motor; the second lifting drive mechanism includes a second vertical guide rail fixed to both sides of the inner wall of the second transverse frame and a second vertical sliding block fixed to the second lifting frame and cooperating with the second vertical guide rail; the second lifting drive mechanism also includes a second elevator fixed to the second transverse frame, the upper end of the telescopic rod of the second elevator being fixedly connected to the second lifting frame, and one end of the input shaft of the second elevator being sequentially connected to an eighth reducer and an eighth motor.

[0011] Furthermore, the present invention provides a product docking system based on AGV, wherein the first product connector includes a base fixed on a first support ring, a pressure block is hinged to one side of the base, a T-bolt is hinged to the other side of the base, the pressure block is provided with a U-shaped groove matching the T-bolt, and a ball socket for clamping the ball head of the product is provided between the pressure block and the base, and the second and third product connectors are U-shaped hinged forks.

[0012] Furthermore, the present invention provides a product docking system based on AGV, wherein the other end of the input shaft of the first worm gear transmission box is connected to a first operating handwheel via a transmission shaft; the other end of the input shaft of the second worm gear transmission box is connected to a second operating handwheel via a transmission shaft; the other end of the input shaft of the third worm gear transmission box is connected to a third operating handwheel via a transmission shaft; the other end of the input shaft of the fourth worm gear transmission box is connected to a fourth operating handwheel via a transmission shaft; the other end of the input shaft of the fifth worm gear transmission box is connected to a fifth operating handwheel via a transmission shaft; the other end of the input shaft of the sixth worm gear transmission box is connected to a sixth operating handwheel via a transmission shaft; the other end of the input shaft of the first elevator is connected to a seventh operating handwheel via a transmission shaft; and the other end of the input shaft of the second elevator is connected to an eighth operating handwheel via a transmission shaft.

[0013] Furthermore, the present invention provides a product docking system based on AGV, wherein brake calipers are respectively provided between the first base and the first support ring and between the first support and the third support ring.

[0014] The following detailed description of the AGV-based product docking system of the present invention, with reference to the accompanying drawings, illustrates the specific embodiments. Attached Figure Description

[0015] Figure 1 This is a front view of an AGV-based product docking system according to the present invention;

[0016] Figure 2 The axial side of an AGV-based product docking system of the present invention Figure 1 ;

[0017] Figure 3 This is a rear view of an AGV-based product docking system according to the present invention.

[0018] Figure 4 The axial side of an AGV-based product docking system of the present invention Figure 2 ;

[0019] Figure 5 This is a front view of the front docking unit in this invention;

[0020] Figure 6 This is an isometric view of the front docking unit in this invention;

[0021] Figure 7 This is a schematic diagram of the transmission relationship of the front docking unit in this invention. Figure 1 ;

[0022] Figure 8 This is a schematic diagram of the transmission relationship of the front docking unit in this invention. Figure 2 ;

[0023] Figure 9 This is a left view of the docking detection unit in this invention;

[0024] Figure 10 This is an isometric view of the docking detection unit in this invention;

[0025] Figure 11 This is a schematic diagram of the transmission relationship of the docking detection unit in this invention;

[0026] Figure 12 This is a left view of the rear docking unit in this invention;

[0027] Figure 13 This is an isometric view of the rear docking unit in this invention;

[0028] Figure 14 This is a schematic diagram of the transmission relationship of the rear docking unit in this invention. Figure 1 ;

[0029] Figure 15 This is a schematic diagram of the transmission relationship of the rear docking unit in this invention. Figure 2 ;

[0030] Figure 16 This is a schematic diagram of the transmission relationship of the rear docking unit in this invention. Figure 3 . Detailed Implementation

[0031] First, it should be noted that the directional terms such as up, down, left, right, front, and back used in this invention are merely descriptions based on the accompanying drawings for ease of understanding, and are not intended to limit the technical solution or the scope of protection claimed in this invention.

[0032] like Figures 1 to 6The present invention illustrates a specific embodiment of an AGV-based product docking system, comprising an AGV chassis 1 and a front docking unit and a rear docking unit mounted on the AGV chassis 1. The AGV chassis 1 is fixed with a longitudinal rack 11 and two longitudinal guide rails 12. The front docking unit is provided with a first base 2 and a second base 2' fixed to each other, and a first support ring 3 and a second support ring 3' correspondingly mounted on the first base 2 and the second base 2' in a semi-circular shape. The bottom of the first base 2 and the second base 2' is fixed with a first longitudinal sliding block that cooperates with the longitudinal guide rails 12. The second base 2' is provided with a first gear drive device that cooperates with the longitudinal rack 11. A first rolling mechanism is provided between the first support ring 3 and the first base 2. First product connectors 31 are respectively provided at both ends of the first support ring 3. A rolling drive mechanism is provided between the second support ring 3' and the second base 2'. Second product connectors 31' are respectively provided at both ends of the second support ring 3'. The rear docking unit is provided with a third base 4 and a fourth base 4' fixed to each other, and a first transverse frame 5 and a second transverse frame 5' correspondingly set on the third base 4 and the fourth base 4'. The bottom of the third base 4 and the fourth base 4' is fixed with a second longitudinal sliding block that cooperates with the longitudinal guide rail 12. The third base 4 is provided with a second gear drive device that cooperates with the longitudinal rack 11. A first transverse drive mechanism is provided between the first transverse frame 5 and the third base 4. A first lifting frame 6 is installed in the first transverse frame 5 through a first lifting drive mechanism. The first lifting frame 6 is connected by... A first support 7 is mounted on the first slewing bearing 61. A semi-circular third support ring 8 is mounted on the first support 7 via a second rolling mechanism. Third product connectors 81 are respectively provided at both ends of the third support ring 8. A second lateral movement drive mechanism is provided between the second lateral movement frame 5' and the fourth base 4'. A second lifting frame 6' is mounted in the second lateral movement frame 5' via a second lifting drive mechanism. A second support 7' is mounted on the second lifting frame 6' via the second slewing bearing 61'. An arc-shaped product support 8' is fixed on the second support 7', and a protective pad 81' is provided on the product support 8'. This structural configuration constitutes an AGV-based product docking system. In practical applications, product segment A is placed on the front docking unit, and product segment B is placed on the rear docking unit. By adjusting the postures of product segment A and product segment B correspondingly through the front and rear docking units, precise docking can be achieved. This system has the advantages of simple structure, convenient operation, high docking accuracy, and safety and reliability.

[0033] As an optimization solution, to improve docking accuracy and facilitate automation by detecting the positional parameters of product segment A and product segment B during docking, this specific embodiment also includes a docking detection unit located between the front docking unit and the rear docking unit. The docking detection unit employs the following structure: it includes a fifth base 9, with a first longitudinal sliding block fixed to the bottom of the fifth base 9 to cooperate with the longitudinal guide rail 12; a third gear drive device cooperating with the longitudinal rack 11 is provided in the fifth base 9; and a bracket 91 is fixed on the fifth base 9. The bracket 91 is equipped with three laser cameras 92 and two vision cameras 93. The three laser cameras 92 are positioned on the left, right, and lower sides of the symmetrical area of ​​the product, respectively, while the two vision cameras 93 are symmetrically positioned on both sides of the product docking surface. The positional deviation between product segment A and product segment B can be accurately detected using the three laser cameras 92 and the two vision cameras 93.

[0034] In a specific embodiment, the present invention provides a first gear drive device with the following structure: including a first worm gear transmission box 21' fixed on a second base 2', a first gear 22' meshing with a longitudinal rack 11 on the output shaft of the first worm gear transmission box 21', and a first reducer 23' and a first motor 24' connected sequentially to one end of the input shaft of the first worm gear transmission box 21'. The first rolling mechanism adopts the following structure: it includes a first rolling guide rail 32 symmetrically fixed on both sides of the first support ring 3 in a semi-circular shape; a first rolling slider 21 that mates with the first rolling guide rail 32 is fixed on the first base 2; and the rolling drive mechanism is provided with a second rolling guide rail 32' symmetrically fixed on both sides of the second support ring 3' in a semi-circular shape. A second rolling slider 25' that mates with the second rolling guide rail 32' is fixed on the second base 2'. The rolling drive mechanism also includes a rolling rack 33' fixed on the second support ring 3' in a semi-circular shape; a second worm gear transmission box 26' is fixed on the second base 2'; a second gear 27' that meshes with the rolling rack 33' is provided on the output shaft of the second worm gear transmission box 26'; and a second reducer 28' and a second motor 29' are sequentially connected to one end of the input shaft of the second worm gear transmission box 26'. This configuration of the first gear drive device, the first rolling mechanism, and the rolling drive mechanism has the advantages of simple structure, convenient operation, smooth operation, and high degree of automation.

[0035] In a specific embodiment, the present invention provides a second gear drive device with the following structure: a third worm gear transmission box 41 fixed on a third base 4, a third gear 42 meshing with a longitudinal rack 11 on the output shaft of the third worm gear transmission box 41, and a third reducer 43 and a third motor 44 sequentially connected to one end of the input shaft of the third worm gear transmission box 41; and a third gear drive device with the following structure: a fourth worm gear transmission box 94 fixed on a fifth base 9, a fourth gear 95 meshing with a longitudinal rack 11 on the output shaft of the fourth worm gear transmission box 94, and a fourth reducer 96 and a fourth motor 97 sequentially connected to one end of the input shaft of the fourth worm gear transmission box 94. Both the second and third gear drive devices with this configuration have the advantages of simple structure, convenient operation, smooth operation, and high degree of automation. Meanwhile, the present invention adopts the following structural form for the first transverse drive mechanism: it includes two first transverse guide rails 45 fixed on the third base 4 and a first transverse slider 51 fixed on the bottom of the first transverse frame 5 and cooperating with the first transverse guide rails 45. The first transverse drive mechanism also includes a first transverse rack 52 fixed on the bottom of the first transverse frame 5 and a fifth worm gear transmission box 46 fixed on the third base 4. The output shaft of the fifth worm gear transmission box 46 is provided with a fifth gear 47 that meshes with the first transverse rack 52. One end of the input shaft of the fifth worm gear transmission box 46 is sequentially connected to a fifth reducer 48 and a fifth motor 49. The second transverse drive mechanism includes two second transverse guide rails 41' fixed on the fourth base 4' and a second transverse slider 51' fixed to the bottom of the second transverse frame 5' and cooperating with the second transverse guide rails 41'. The second transverse drive mechanism also includes a second transverse rack 52' fixed to the bottom of the second transverse frame 5' and a sixth worm gear transmission box 42' fixed on the fourth base 4'. The output shaft of the sixth worm gear transmission box 42' is equipped with a sixth gear 43' that meshes with the second transverse rack 52'. One end of the input shaft of the sixth worm gear transmission box 42' is sequentially connected to a sixth reducer 44' and a sixth motor 45'. This configuration of the first and second transverse drive mechanisms also has the advantages of simple structure, convenient operation, and smooth operation, which is beneficial for improving docking accuracy and achieving automation.

[0036] In a specific embodiment, the present invention employs the following structure for the first and second lifting drive mechanisms: The first lifting drive mechanism includes a first vertical guide rail 53 fixed to both sides of the inner wall of the first transverse frame 5 and a first vertical sliding block 62 fixed to the first lifting frame 6 and cooperating with the first vertical guide rail 53. The first lifting drive mechanism also includes a first elevator 54 fixed to the first transverse frame 5. The upper end of the telescopic rod of the first elevator 54 is fixedly connected to the first lifting frame 6. One end of the input shaft of the first elevator 54 is sequentially connected to a seventh reducer 55 and a seventh motor 56. The second lifting drive mechanism includes a second vertical guide rail 53' fixed to both sides of the inner wall of the second transverse frame 5' and a second vertical sliding block 62' fixed to the second lifting frame 6' and cooperating with the second vertical guide rail 53'. The second lifting drive mechanism also includes a second elevator 54' fixed to the second transverse frame 5'. The upper end of the telescopic rod of the second elevator 54' is fixedly connected to the second lifting frame 6'. One end of the input shaft of the second elevator 54' is sequentially connected to an eighth reducer 55' and an eighth motor 56'. The first and second lifting drive mechanisms in this configuration are characterized by simple structure, low cost, and smooth lifting. Meanwhile, this specific embodiment employs the following structure for the first product connector 31: it includes a base support 311 fixed to the first support ring 3, a pressure block 312 hinged to one side of the base support 311, and a T-bolt (not shown in the figure) hinged to the other side of the base support 311. The pressure block 312 has a U-shaped groove matching the T-bolt, and a ball socket for clamping the ball head of the product is provided between the pressure block 312 and the base support 311. The second product connector 31' and the third product connector 81 adopt a U-shaped hinged fork structure. This configuration of the first product connector 31, the second product connector 31', and the third product connector 81, in conjunction with the product support 8', improves the adaptability to the product during posture adjustment.

[0037] In a specific implementation, to enable manual docking in the event of a power outage, the present invention connects a first operating handwheel 210' to the other end of the input shaft of the first worm gear transmission box 21' via a drive shaft; a second operating handwheel 211' to the other end of the input shaft of the second worm gear transmission box 26' via a drive shaft; a third operating handwheel 410 to the other end of the input shaft of the third worm gear transmission box 41 via a drive shaft; a fourth operating handwheel 98 to the other end of the input shaft of the fourth worm gear transmission box 94 via a drive shaft; a fifth operating handwheel 411 to the other end of the input shaft of the fifth worm gear transmission box 46 via a drive shaft; a sixth operating handwheel 46' to the other end of the input shaft of the sixth worm gear transmission box 42' via a drive shaft; a seventh operating handwheel 57 to the other end of the input shaft of the first elevator 54 via a drive shaft; and an eighth operating handwheel 57' to the other end of the input shaft of the second elevator 54' via a drive shaft, so that manual docking can be performed by operating each handwheel. To ensure product stability after docking and facilitate transportation via AGV, this specific embodiment also includes brake calipers installed between the first base 2 and the first support ring 3, and between the first support 7 and the third support ring 8.

[0038] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications made by those skilled in the art based on the technical solutions of the present invention without departing from the design concept of the present invention should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A product docking system based on AGV, comprising an AGV chassis (1) and a front docking unit and a rear docking unit disposed on the AGV chassis (1), wherein a longitudinal rack (11) and two longitudinal guide rails (12) are fixed on the AGV chassis (1), characterized in that, The front docking unit includes a first base (2) and a second base (2') fixed to each other, and a first support ring (3) and a second support ring (3') that are semi-circularly arranged on the first base (2) and the second base (2'). The bottom of the first base (2) and the second base (2') is fixed with a first longitudinal sliding block that cooperates with the longitudinal guide rail (12). The second base (2') is provided with a first gear drive device that cooperates with the longitudinal rack (11). A first rolling mechanism is provided between the first support ring (3) and the first base (2). The first support ring (3) has a first product connector (31) at each end, and a rolling drive mechanism is provided between the second support ring (3') and the second base (2'). The second support ring (3') has a second product connector (31') at each end. The rear docking unit includes a third base (4) and a fourth base (4') fixed to each other, and a first transverse frame (5) and a second transverse frame (5') correspondingly arranged on the third base (4) and the fourth base (4'). The third base (4) and the fourth base (4') A second longitudinal sliding block that cooperates with the longitudinal guide rail (12) is fixed at the bottom. A second gear drive device that cooperates with the longitudinal rack (11) is provided in the third base (4). A first transverse drive mechanism is provided between the first transverse frame (5) and the third base (4). A first lifting frame (6) is installed in the first transverse frame (5) through a first lifting drive mechanism. A first support (7) is installed on the first lifting frame (6) through a first slewing bearing (61). A semi-circular third support is installed on the first support (7) through a second rolling mechanism. The ring (8) and the third support ring (8) are respectively provided with third product connectors (81) at both ends. A second transverse drive mechanism is provided between the second transverse frame (5') and the fourth base (4'). A second lifting frame (6') is installed in the second transverse frame (5') through the second lifting drive mechanism. A second support (7') is installed on the second lifting frame (6') through the second slewing bearing (61'). An arc-shaped product support (8') is fixed on the second support (7'). A protective pad (81') is provided on the product support (8').

2. The AGV-based product docking system according to claim 1, characterized in that, It also includes a docking detection unit located between the front docking unit and the rear docking unit. The docking detection unit includes a fifth base (9). The bottom of the fifth base (9) is fixed with a first longitudinal sliding block that cooperates with the longitudinal guide rail (12). The fifth base (9) is provided with a third gear drive device that cooperates with the longitudinal rack (11). A bracket (91) is fixed on the fifth base (9). The bracket (91) is provided with three laser cameras (92) and two vision cameras (93). The three laser cameras (92) are located on the left and right sides and the bottom side of the product symmetrical position, respectively. The two vision cameras (93) are symmetrically located on both sides of the product docking surface.

3. The AGV-based product docking system according to claim 2, characterized in that, The first gear drive device includes a first worm gear transmission box (21') fixed on a second base (2'). The output shaft of the first worm gear transmission box (21') is provided with a first gear (22') that meshes with a longitudinal rack (11). One end of the input shaft of the first worm gear transmission box (21') is connected to a first reducer (23') and a first motor (24') in sequence.

4. The AGV-based product docking system according to claim 3, characterized in that, The first rolling mechanism includes a first rolling guide rail (32) symmetrically fixed on both sides of the first support ring (3) and in a semi-circular shape. A first rolling slider (21) cooperating with the first rolling guide rail (32) is fixed on the first base (2). The rolling drive mechanism includes a second rolling guide rail (32') symmetrically fixed on both sides of the second support ring (3') and in a semi-circular shape. A second rolling slider (25') cooperating with the second rolling guide rail (32') is fixed on the second base (2'). The rolling drive mechanism also includes a rolling rack (33') fixed on the second support ring (3') and in a semi-circular shape. A second worm gear transmission box (26') is fixed on the second base (2'). A second gear (27') meshing with the rolling rack (33') is provided on the output shaft of the second worm gear transmission box (26'). A second reducer (28') and a second motor (29') are connected in sequence to one end of the input shaft of the second worm gear transmission box (26').

5. The AGV-based product docking system according to claim 4, characterized in that, The second gear drive device includes a third worm gear transmission box (41) fixed on the third base (4). The output shaft of the third worm gear transmission box (41) is provided with a third gear (42) that meshes with the longitudinal rack (11). One end of the input shaft of the third worm gear transmission box (41) is connected to a third reducer (43) and a third motor (44) in sequence. The third gear drive device includes a fourth worm gear transmission box (94) fixed on the fifth base (9). The output shaft of the fourth worm gear transmission box (94) is provided with a fourth gear (95) that meshes with the longitudinal rack (11). One end of the input shaft of the fourth worm gear transmission box (94) is connected to a fourth reducer (96) and a fourth motor (97) in sequence.

6. The AGV-based product docking system according to claim 5, characterized in that, The first transverse drive mechanism includes two first transverse guide rails (45) fixed on the third base (4) and a first transverse slider (51) fixed on the bottom of the first transverse frame (5) and cooperating with the first transverse guide rails (45). The first transverse drive mechanism also includes a first transverse rack (52) fixed on the bottom of the first transverse frame (5) and a fifth worm gear transmission box (46) fixed on the third base (4). The output shaft of the fifth worm gear transmission box (46) is provided with a fifth gear (47) meshing with the first transverse rack (52). One end of the input shaft of the fifth worm gear transmission box (46) is connected to a fifth reducer (48) and a fifth motor (49) in sequence. The second transverse drive mechanism includes two first transverse guide rails (45) fixed on the third base (4) and a first transverse slider (51) fixed on the bottom of the first transverse frame (5) and cooperating with the first transverse guide rails (45). The driving mechanism includes two second transverse guide rails (41') fixed on the fourth base (4') and a second transverse slider (51') fixed on the bottom of the second transverse frame (5') and cooperating with the second transverse guide rails (41'). The second transverse drive mechanism also includes a second transverse rack (52') fixed on the bottom of the second transverse frame (5') and a sixth worm gear transmission box (42') fixed on the fourth base (4'). The output shaft of the sixth worm gear transmission box (42') is provided with a sixth gear (43') that meshes with the second transverse rack (52'). One end of the input shaft of the sixth worm gear transmission box (42') is connected to a sixth reducer (44') and a sixth motor (45') in sequence.

7. The AGV-based product docking system according to claim 6, characterized in that, The first lifting drive mechanism includes a first vertical guide rail (53) fixed on both sides of the inner wall of the first transverse frame (5) and a first vertical sliding block (62) fixed on the first lifting frame (6) and cooperating with the first vertical guide rail (53). The first lifting drive mechanism also includes a first lifting machine (54) fixed on the first transverse frame (5). The upper end of the telescopic rod of the first lifting machine (54) is fixedly connected to the first lifting frame (6). One end of the input shaft of the first lifting machine (54) is sequentially connected to a seventh reducer (55) and a seventh motor (56). The second lifting... The drive mechanism includes a second vertical guide rail (53') fixed on both sides of the inner wall of the second transverse frame (5') and a second vertical slider (62') fixed on the second lifting frame (6') and cooperating with the second vertical guide rail (53'). The second lifting drive mechanism also includes a second lift (54') fixed on the second transverse frame (5'). The upper end of the telescopic rod of the second lift (54') is fixedly connected to the second lifting frame (6'). One end of the input shaft of the second lift (54') is connected to an eighth reducer (55') and an eighth motor (56') in sequence.

8. The AGV-based product docking system according to claim 7, characterized in that, The first product connector (31) includes a base (311) fixed on the first support ring (3). A pressure block (312) is hinged to one side of the base (311), and a T-bolt is hinged to the other side of the base (311). The pressure block (312) is provided with a U-shaped groove that matches the T-bolt. A ball socket for clamping the ball head of the product is provided between the pressure block (312) and the base (311). The second product connector (31') and the third product connector (81) are U-shaped hinged forks.

9. The AGV-based product docking system according to claim 7, characterized in that, The first worm gear transmission box (21') has a first operating handwheel (210') connected to the other end of its input shaft via a transmission shaft; the second worm gear transmission box (26') has a second operating handwheel (211') connected to the other end of its input shaft via a transmission shaft; the third worm gear transmission box (41) has a third operating handwheel (410) connected to the other end of its input shaft via a transmission shaft; and the fourth worm gear transmission box (94) has a fourth operating handwheel connected to the other end of its input shaft via a transmission shaft. (98) The other end of the input shaft of the fifth worm gear transmission box (46) is connected to the fifth operating handwheel (411) via the transmission shaft. The other end of the input shaft of the sixth worm gear transmission box (42') is connected to the sixth operating handwheel (46') via the transmission shaft. The other end of the input shaft of the first elevator (54) is connected to the seventh operating handwheel (57) via the transmission shaft. The other end of the input shaft of the second elevator (54') is connected to the eighth operating handwheel (57') via the transmission shaft.

10. The AGV-based product docking system according to claim 7, characterized in that, Brake calipers are provided between the first base (2) and the first support ring (3) and between the first support (7) and the third support ring (8).

Images