Dual agv flexible collaborative handling system

Abstract

The application discloses a double-AGV flexible collaborative carrying system, which comprises two AGVs, two top supporting units, two transverse flexible connecting units and two longitudinal flexible connecting units, the two AGVs are used for piloting and following respectively, the two top supporting units correspond to the two AGVs one by one, and the two top supporting units comprise supporting plates, and the two supporting plates are placed on the corresponding AGVs respectively. The application has the beneficial effects that in the transverse direction of the vehicle, the supporting plates can slide relative to the AGVs in the mode of releasing the rotating freedom, sufficient floating space can be provided, the two AGVs have steering allowance in the turning process of the vehicle, and the loaded container is not damaged, and since the longitudinal flexible connecting assembly has a deformable structure, in the longitudinal direction of the vehicle, sufficient space can be ensured when the container is loaded, and the longitudinal floating property of the two AGVs in the running process can be ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of container transportation equipment in port terminals, and particularly relates to a double-AGV flexible collaborative transportation system. BACKGROUND

[0002] Port terminals are key hubs connecting sea routes and inland transportation, and as comprehensive nodes of logistics transportation, with the rapid development of the domestic logistics industry in recent years, container terminals have entered a fast lane. Relevant research shows that the utilization rate of port yards and the operation efficiency of shore cranes are key factors affecting the transfer efficiency of container terminals, and due to limited terminal space and high shore crane prices, domestic port terminals mostly use the method of improving the transportation efficiency of flat transportation equipment to improve operation efficiency.

[0003] Port terminals are equipped with a certain proportion of 20-foot AGVs and 40 / 45-foot AGVs for transporting 20-foot and 40-foot containers. At present, during the AGV transfer of containers in port terminals, various problems that restrict the improvement of operation efficiency are faced. First, large-size AGVs have poor transportation flexibility and high road occupancy rate, and the limited operation space of container terminals often causes congestion of large-size AGVs, which seriously affects the transportation efficiency. Secondly, the transportation efficiency is not maximized, and there is often a situation where a 40-foot AGV only transports a 20-foot container.

[0004] In the double-AGV collaborative transportation system, although the speed of vehicles in the port is not high, when the double-AGV loads a 40-foot container, the total weight of the transportation unit will exceed 70t, and the heavy load has a high amplification effect on motion changes. Therefore, higher requirements are put forward for the synchronization and consistency control precision of the collaborative motion of double-AGVs. In the existing double-AGV collaborative transportation system (such as the double-AGV collaborative transportation system and control method disclosed in application No. 202211064229.2), the double-AGV collaborative transportation is regarded as the same system with rigid constraints, but in the actual transportation process, the control precision required by complete rigid constraints is impossible to achieve, and the collaborative transportation under rigid constraints is prone to damage to the container. SUMMARY

[0005] The present application aims to overcome the above technical deficiencies and proposes a double-AGV flexible collaborative transportation system to solve the technical problems that the double-AGV collaborative transportation in the prior art cannot achieve the control precision required by complete rigid constraints in actual application, and the collaborative transportation under rigid constraints is prone to damage to the container.

[0006] To achieve the above technical purpose, the technical scheme of the present application provides a double-AGV flexible collaborative transportation system, comprising:

[0007] Two AGVs are used for navigation and following respectively;

[0008] Two top supporting units correspond to the two AGVs, and each includes a supporting plate, and the two supporting plates are placed on the corresponding AGVs respectively, and the two supporting plates are used for placing two ends of a container respectively;

[0009] Two transverse flexible connecting units are arranged at the front ends of the corresponding AGVs, and one end of each transverse flexible connecting unit is detachably fixedly connected with the AGV, and the other end is rotatably connected with the front end of the supporting plate.

[0010] Two longitudinal flexible connecting units are arranged at the distal ends of the two supporting plates, and each longitudinal flexible connecting unit has a deformable structure, one end of which is fixedly connected with the supporting plate, and the other end is abutted with the end of the container.

[0011] Further, the top supporting unit further includes a plurality of rollers, each of which is fixed to the lower surface of the supporting plate and is arranged on the AGV through rolling of each roller.

[0012] Further, the top supporting unit further includes a connecting ring, which is fixed to the front end of the supporting plate, and the other end of the transverse flexible connecting unit is rotatably connected with the connecting ring.

[0013] Further, the transverse flexible connecting unit includes a mounting seat, a movable rod, a limiting rod, a ball head, a lead screw, a movable block and a rotary driving member, the mounting seat is detachably fixedly connected with the AGV, a guide channel extending along the vertical direction and a limiting through slot extending along the vertical direction and communicating with the guide channel are formed in the mounting seat, the movable rod is vertically arranged, the lower end of the movable rod is slidingly arranged in the guide channel, one end of the limiting rod is fixedly connected with the movable rod, the other end of the limiting rod slidingly passes through the limiting through slot and extends to the outside of the guide channel, the ball head is fixed to the top of the movable rod, the diameter of the ball head is smaller than the inner hole diameter of the connecting ring, the lead screw is vertically arranged and rotatably mounted on the mounting seat, a screw hole is formed in the movable block and the movable block is sleeved on the lead screw through the screw hole, the screw hole is screwed with the lead screw, the movable block is fixedly connected with the other end of the limiting rod, the rotary driving member is fixed to the mounting seat, and the output end of the rotary driving member is fixedly connected with one end of the lead screw, for driving the lead screw to rotate, so that the ball head passes through the connecting ring to reach above or below the connecting ring.

[0014] Further, the longitudinal flexible connecting unit comprises two abutting blocks and two elastic members, the two abutting blocks are slidably connected to the supporting plate and can move along the length direction of the supporting plate, the two elastic members correspond to the two abutting blocks one by one and are arranged outside the abutting blocks, and the two ends of the elastic member are fixedly connected to the supporting plate and the abutting block respectively, so that the abutting block abuts against the side wall in the width direction of the container.

[0015] Further, the longitudinal flexible connecting unit further comprises a driving assembly, the driving assembly is used for connecting with the two abutting blocks to drive the two abutting blocks to move along the length direction of the supporting plate and separate the abutting block from the side wall in the width direction of the container.

[0016] Further, the driving assembly is arranged between the two abutting blocks, and the driving assembly comprises a connecting rod, two connecting blocks and a telescopic driving member, the connecting rod is arranged along the width direction of the supporting plate, the two connecting blocks are fixedly connected to the two ends of the connecting rod respectively, the two connecting blocks are used for detachably fixedly connecting to the side wall of the corresponding abutting block respectively, the telescopic driving member is hingedly connected to the supporting plate at the fixed end, and the telescopic driving member is hingedly connected to the middle position of the connecting rod at the telescopic end, so as to drive the connecting rod to move along the length direction of the supporting plate.

[0017] Further, the distal ends of the two supporting plates are oppositely provided with two sliding grooves, each sliding groove extends along the length direction of the supporting plate, and each abutting block is slidably arranged in the corresponding sliding groove.

[0018] Further, the top supporting unit further comprises two guide rods, the two guide rods correspond to the two sliding grooves one by one, the guide rod is fixedly arranged in the sliding groove along the length direction of the sliding groove, the abutting block is slidably sleeved on the guide rod, and the elastic member is sleeved on the guide rod, and the two ends of the elastic member abut against the groove wall of the sliding groove and the side wall of the abutting block respectively.

[0019] Further, the top supporting unit further comprises a plurality of stop blocks, each stop block is fixedly arranged on the two sides of the supporting plate and abuts against the side wall in the length direction of the container.

[0020] Compared with the prior art, the beneficial effects of the present application include: when in use, the two ends of the container are respectively placed on the corresponding two supporting plates, in the transverse direction of the vehicle, the supporting plates can be slid relative to the AGV, but the rotational freedom is released, which can provide sufficient floating space, ensure that the two AGV have a steering allowance during the turning process of the vehicle, and will not cause damage to the loaded container, in the longitudinal direction of the vehicle, the two longitudinal flexible connecting units are in abutment with the end portions of the container, and since the longitudinal flexible connecting unit has a deformable structure, it can ensure that there is sufficient space when loading the container, and can ensure the longitudinal floating during the operation of the double AGV. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a three-dimensional structural schematic diagram of a double AGV flexible cooperative carrying system provided by the present application;

[0022] Figure 2 is Figure 1 a top view of a double AGV flexible cooperative carrying system in

[0023] Figure 3 is Figure 2 an enlarged view of A in

[0024] Figure 4 is Figure 2 an enlarged view of B in

[0025] Figure 5 is Figure 1 a three-dimensional structural schematic diagram of a double AGV flexible cooperative carrying system omitting two AGVs and a container in

[0026] Figure 6 is Figure 5 a top view of a supporting plate in

[0027] Figure 7 is Figure 6 a side view of a supporting plate in

[0028] Figure 8 is Figure 6 a side view of a supporting plate in another direction in

[0029] Figure 9 is Figure 6 an enlarged view of C in

[0030] Figure 10 is Figure 5 a three-dimensional structural schematic diagram of a longitudinal flexible connecting assembly in

[0031] Figure 11 is Figure 5 a sectional view of a transverse flexible connecting assembly in

[0032] In the figure: 100-AGV, 200-top supporting unit, 210-supporting plate, 211-slotted guide, 220-roller, 230-connection ring, 240-guiding rod, 250-stop block, 300-transverse flexible connection unit, 310-mounting seat, 311-guiding channel, 312-limiting slot, 320-moving rod, 330-limiting rod, 340-ball head, 350-screw rod, 360-moving block, 370-rotary driving member, 400-longitudinal flexible connection unit, 410-stop block, 420-elastic member, 430-driving assembly, 431-connection rod, 432-connection block, 433-telescopic driving member. DETAILED DESCRIPTION

[0033] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0034] The present application provides a double-AGV 100 flexible cooperative carrying system, the structure of which is shown in Figure 1 Figure 5 The double-AGV 100 flexible cooperative carrying system comprises two AGVs 100, two top supporting units 200, two transverse flexible connection units 300 and two longitudinal flexible connection units 400. The two AGVs 100 are used for navigation and following respectively. The two top supporting units 200 correspond to the two AGVs 100 respectively, and comprise supporting plates 210. The two supporting plates 210 are placed on the corresponding AGVs 100 respectively, and are used for placing two ends of a container respectively. The two transverse flexible connection units 300 are arranged at the front ends of the corresponding AGVs 100 respectively. One end of each transverse flexible connection unit 300 is detachably fixedly connected with the corresponding AGV 100, and the other end is rotatably connected with the front end of the corresponding supporting plate 210. The two longitudinal flexible connection units 400 are arranged at the far ends of the two supporting plates 210 respectively. The longitudinal flexible connection unit 400 has a deformable structure. One end of the longitudinal flexible connection unit 400 is fixedly connected with the corresponding supporting plate 210, and the other end is abutted with the end of the container.

[0035] ​In use, the two ends of the container are placed on the corresponding two supporting plates 210, in the lateral direction of the vehicle, the supporting plates 210 can slide relative to the AGV 100, but the rotation freedom is released, which can provide sufficient floating space, ensure that the two AGVs 100 have steering allowance during turning, and will not cause damage to the loaded container, in the longitudinal direction of the vehicle, the two longitudinal flexible connecting units 400 abut against the ends of the container, because the longitudinal flexible connecting units 400 have a deformable structure, which can ensure sufficient space when loading the container, and can ensure longitudinal floating during the operation of the double AGV 100.

[0036] As a preferred embodiment, please refer to Figure 7 and Figure 8 The top supporting unit 200 further comprises a plurality of rollers 220, each of which is fixed to the lower surface of the supporting plate 210 and is arranged on the AGV 100 by rolling through each of the rollers 220, which can ensure that the supporting plate 210 and the loading position of the AGV 100 will not produce large wear when encountering lateral turning.

[0037] As a preferred embodiment, please refer to Figure 7 and Figure 8 The rollers 220 are universal wheels, which can provide sufficient floating space to ensure that the supporting plate 210 and the loading position of the AGV 100 will not produce large wear during the turning process of the vehicle.

[0038] As a preferred embodiment, please refer to Figure 3 and Figure 6 The top supporting unit 200 further comprises a connecting ring 230, which is fixed to the front end of the supporting plate 210, and the other end of the transverse flexible connecting unit 300 is rotationally connected with the connecting ring 230, so as to realize the rotational connection between the front end of the supporting plate 210 and the AGV 100 through the connecting ring 230.

[0039] As a preferred embodiment, please refer to Figure 11The transverse flexible connecting unit 300 comprises a mounting base 310, a movable rod 320, a limiting rod 330, a ball head 340, a screw rod 350, a movable block 360 and a rotary driving member 370. The mounting base 310 is detachably fixedly connected with the AGV 100. A guide channel 311 extending along a vertical direction and a limiting through slot 312 extending along a vertical direction and communicating with the guide channel 311 are formed in the mounting base 310. The movable rod 320 is vertically arranged. The lower end of the movable rod 320 is slidingly arranged in the guide channel 311. One end of the limiting rod 330 is fixedly connected with the movable rod 320. The other end of the limiting rod 330 slidingly penetrates through the limiting through slot 312 and extends to the outside of the guide channel 311. The ball head 340 is fixed to the top of the movable rod 320. The diameter of the ball head 340 is smaller than the inner hole diameter of the connecting ring 230. The screw rod 350 is vertically arranged and rotationally arranged on the mounting base 310. A screw hole is formed in the movable block 360 and the movable block 360 is sleeved on the screw rod 350 through the screw hole. The screw hole is screwed with the screw rod 350. The movable block 360 is fixedly connected with the other end of the limiting rod 330. The rotary driving member 370 is fixed to the mounting base 310. The output end of the rotary driving member 370 is fixedly connected with one end of the screw rod 350 for driving the screw rod 350 to rotate so that the ball head 340 penetrates through the connecting ring 230 to reach above or below the connecting ring 230. By controlling the rotary driving member 370, the rotary driving member 370 can drive the screw rod 350 to rotate. Since the movable block 360 is screwed with the screw rod 350 through the screw hole and the movable block 360 is limited by the limiting rod 330, the movable block 360 can move up and down and drive the movable rod 320 to move up and down in the guide channel 311 through the limiting rod 330, so that the ball head 340 can penetrate through the connecting ring 230 to reach above or below the connecting ring 230. When the ball head 340 is located above the connecting ring 230, the supporting plate 210 can be rotated relative to the movable rod 320 through the connecting ring 230. When the ball head 340 is located below the connecting ring 230, the supporting plate 210 is disconnected with the movable rod 320, that is, the supporting plate 210 is disconnected with the AGV 100. The AGV 100 can be detached according to the user's demand without affecting the single AGV 100 to be used, which maximally guarantees the transportation efficiency of the AGV 100.

[0040] As a preferred embodiment, please refer to Figure 3 and Figure 4The longitudinal flexible connecting unit 400 comprises two abutting blocks 410 and two elastic members 420. The two abutting blocks 410 are both slidingly connected to the supporting plate 210 and are movable along the length direction of the supporting plate 210. The two elastic members 420 correspond to the two abutting blocks 410 one by one and are arranged outside the abutting blocks 410. The two ends of the elastic member 420 are fixedly connected to the supporting plate 210 and the abutting block 410 respectively, so that the abutting block 410 abuts against the side wall in the width direction of the container. During the transportation, when the speed of the container increases or decreases, the container abuts against the abutting block 410 in the front-rear direction and compresses the corresponding elastic member 420, thereby playing a buffering role. The sufficient space for loading the container can be ensured, and the longitudinal floating property of the two AGVs 100 during the operation can be ensured.

[0041] As a preferred embodiment, refer to Figure 5 and Figure 10 The longitudinal flexible connecting unit 400 further comprises a driving assembly 430. The driving assembly 430 is used to be connected with the two abutting blocks 410, so as to drive the two abutting blocks 410 to move along the length direction of the supporting plate 210 and separate the abutting blocks 410 from the side wall in the width direction of the container, so as to facilitate the placement of the container. The sufficient space for loading the container can be ensured.

[0042] As a preferred embodiment, refer to Figure 10The driving assembly 430 is arranged between the two abutting blocks 410. The driving assembly 430 comprises a connecting rod 431, two connecting blocks 432 and a telescopic driving member 433. The connecting rod 431 is arranged along the width direction of the supporting plate 210. The two connecting blocks 432 are respectively fixed to the two ends of the connecting rod 431. The two connecting blocks 432 are respectively used for detachable fixed connection with the side walls of the corresponding abutting blocks 410. The fixed end of the telescopic driving member 433 is hinged to the supporting plate 210. The telescopic end of the telescopic driving member 433 is hinged to the middle position of the connecting rod 431, so as to drive the connecting rod 431 to move along the length direction of the supporting plate 210, and the connecting blocks 432 are detachably fixedly connected with the side walls of the corresponding abutting blocks 410. By controlling the telescopic driving member 433, the telescopic driving member 433 can drive the connecting rod 431 to move outward along the length direction of the supporting plate 210, and the corresponding abutting blocks 410 are driven to move outward along the length direction of the supporting plate 210 by the connecting blocks 432, so as to facilitate the container to be placed into the limiting space surrounded by the abutting blocks 410. At this time, the abutting blocks 410 compress the elastic members 420, and the elastic members 420 accumulate elastic potential energy. After the container is loaded, the connecting blocks 432 are disconnected with the side walls of the corresponding abutting blocks 410. The abutting blocks 410 move inward along the length direction of the supporting plate 210 under the compression of the elastic potential energy of the elastic members 420, and abut against the side walls of the container in the width direction.

[0043] As a preferred embodiment, the connecting blocks 432 are electromagnets, which are used for magnetic attraction connection with the side walls of the abutting blocks 410. When the container is loaded, the electromagnets are in the state of being electrified, so as to be magnetically attracted to the side walls of the abutting blocks 410 to form fixed connection. By controlling the telescopic driving member 433, the telescopic driving member 433 can drive the connecting rod 431 to move outward along the length direction of the supporting plate 210, and the corresponding abutting blocks 410 are driven to move outward along the length direction of the supporting plate 210 by the two electromagnets, so as to facilitate the container to be placed into the limiting space surrounded by the abutting blocks 410. At this time, the abutting blocks 410 compress the elastic members 420, and the elastic members 420 accumulate elastic potential energy. After the container is loaded, the electromagnets are deenergized, and the electromagnets are disconnected with the abutting blocks 410. The abutting blocks 410 move inward along the length direction of the supporting plate 210 under the compression of the elastic potential energy of the elastic members 420, and abut against the side walls of the container in the width direction.

[0044] As a preferred embodiment, please refer to Figure 6 and Figure 9The distal ends of the two supporting plates 210 are respectively provided with two sliding grooves 211, each of which extends along the length direction of the supporting plate 210, and each of the abutting blocks 410 is slidingly arranged in the corresponding sliding groove 211, and the movement of the abutting block 410 is guided by the sliding groove 211.

[0045] As a preferred embodiment, refer to Figure 9 The supporting unit 200 further comprises two guide rods 240, each of which is fixedly arranged in the corresponding sliding groove 211 along the length direction of the sliding groove 211, the abutting block 410 is slidingly sleeved on the guide rod 240, and the elastic member 420 is sleeved on the guide rod 240, the two ends of the elastic member 420 are respectively in abutment with the groove wall of the sliding groove 211 and the side wall of the abutting block 410, and the movement of the abutting block 410 and the expansion and contraction of the elastic member 420 are guided by the guide rod 240.

[0046] As a preferred embodiment, refer to Figure 5 and Figure 6 The supporting unit 200 further comprises a plurality of stop blocks 250, each of which is fixed to the two sides of the supporting plate 210 and is used to abut against the side wall in the length direction of the container, so as to limit the transverse movement of the container and ensure that the container is laterally constrained when turning sideways, thereby preventing the container from being thrown out.

[0047] In order to better understand the present application, the working principle of the technical solutions of the present application will be described in detail below in combination with Figure 1 - Figure 11 the accompanying drawings.

[0048] In use, the two supporting plates 210 are respectively placed on the corresponding AGV 100, the rotating drive member 370 is controlled to drive the screw rod 350 to rotate, the movable block 360 is screwed with the screw rod 350 through the screw hole, and the movable block 360 is limited by the limiting rod 330, so that the movable block 360 can move upwards, and the movable rod 320 is driven by the limiting rod 330 to move upwards in the guide channel 311, so that the ball head 340 can pass through the connecting ring 230 to reach above the connecting ring 230, at this time, the supporting plate 210 can rotate relative to the movable rod 320 through the connecting ring 230, that is, the front end of the supporting plate 210 can rotate relative to the AGV 100, when loading the container, the electromagnet in the energized state can be magnetically attracted to the side wall of the abutting block 410 to form a fixed connection, the telescopic drive member 433 is controlled to drive the connecting rod 431 to move outward along the length direction of the supporting plate 210, and the corresponding abutting block 410 is driven by the two electromagnets to move outward along the length direction of the supporting plate 210, so that the container is placed in the limiting space surrounded by the abutting blocks 410, at this time, the abutting block 410 compresses the elastic member 420, the elastic member 420 accumulates elastic potential energy, after the container is loaded, the electromagnet is de-energized, the electromagnet is disconnected with the abutting block 410, the abutting block 410 moves inward along the length direction of the supporting plate 210 under the compression of the elastic potential energy of the elastic member 420, and abuts against the side wall in the width direction of the container, in the transverse direction of the vehicle, the supporting plate 210 can slide relative to the AGV 100, but the rotating freedom is released, and a plurality of rollers 220 are arranged at the bottom of the supporting plate 210, which can provide sufficient floating space, so that the two AGV 100 have a steering allowance in the turning process of the vehicle, and the loaded container is not damaged, in the longitudinal direction of the vehicle, sufficient space is ensured when the container is loaded, and longitudinal floating is ensured during the operation of the double AGV 100, during transportation, when acceleration or deceleration occurs, the abutting block 410 in the front-rear direction of the container compresses the corresponding elastic member 420, and plays a buffering role.

[0049] The double AGV 100 flexible cooperative carrying system has the following beneficial effects:

[0050] (1) When the ball head 340 is below the connecting ring 230, the supporting plate 210 is disconnected from the movable rod 320, that is, the supporting plate 210 is disconnected from the AGV 100, which can be disassembled according to user needs, does not affect the use of a single AGV 100, and maximizes the transportation efficiency of the AGV 100;

[0051] (2) The two AGVs 100 are used to realize the maximum efficiency of port container transportation, the control center can directly dispatch two idle 20-foot AGVs 100 closest to the shore crane for cooperative transportation operation, which is no longer limited by the size of the container, can independently perform the transportation operation task, and can also cooperatively carry 40-foot containers, effectively simplifying the port horizontal transportation scheduling process;

[0052] (3) In the transverse direction of the vehicle, the supporting plate 210 can roll relative to the AGV 100 through the roller 220 and is rotationally connected to the AGV 100 through the connecting ring 230, which releases the rotational freedom, can provide sufficient floating space, ensures that the two AGVs 100 have a steering margin during turning, and will not cause damage to the loaded container, and in the longitudinal direction of the vehicle, it can ensure sufficient space when loading the container, and can ensure the longitudinal floating of the two AGVs 100 during operation, and when the speed is increased or decreased during transportation, the container is pressed against the block 410 in the front-rear direction, and the corresponding elastic member 420 is compressed, which plays a buffering role.

[0053] The specific embodiments of the application described above do not constitute a limitation on the scope of protection of the application. Any other corresponding changes and modifications made according to the technical concept of the application shall be included in the scope of protection of the claims of the application.

Claims

1. A dual AGV flexible collaborative transport system, characterized in that, include: Two AGVs, one for navigation and one for following; Two top support units, each corresponding to one of the two AGVs, each include a pallet. The two pallets are placed on the corresponding AGVs, and the two pallets are used to place the two ends of the container respectively. Two lateral flexible connection units are respectively disposed at the front end of the corresponding AGV, one end of which is detachably and fixedly connected to the AGV, and the other end of which is rotatably connected to the front end of the pallet. Two longitudinal flexible connecting units are respectively disposed at the far ends of the two pallets. The longitudinal flexible connecting unit has a deformable structure, with one end fixedly connected to the pallet and the other end abutting against the end of the container. The longitudinal flexible connecting unit includes two abutments and two elastic members. The two abutments are slidably connected to the pallet and can move along the length direction of the pallet. The two elastic members correspond one-to-one with the two abutments and are disposed on the outside of the abutments. The two ends of the elastic members are fixedly connected to the pallet and the abutments respectively, so that the abutments abut against the side wall of the container in the width direction.

2. The dual AGV flexible collaborative handling system according to claim 1, characterized in that, The top support unit also includes several rollers, each of which is fixed to the lower surface of the support plate and is rolled on the AGV via each of the rollers.

3. The dual AGV flexible collaborative handling system according to claim 1, characterized in that, The top support unit also includes a connecting ring, which is fixed to the front end of the support plate, and the other end of the transverse flexible connecting unit is rotatably connected to the connecting ring.

4. The dual AGV flexible collaborative handling system according to claim 3, characterized in that, The lateral flexible connection unit includes a mounting base, a movable rod, a limiting rod, a ball joint, a lead screw, a movable block, and a rotation drive component. The mounting base is detachably and fixedly connected to the AGV. The mounting base has a guide channel extending vertically and a limiting slot extending vertically and communicating with the guide channel. The movable rod is vertically positioned, with its lower end slidably disposed within the guide channel. One end of the limiting rod is fixedly connected to the movable rod, and the other end of the limiting rod slides through the limiting slot and extends outside the guide channel. The ball joint... The ball head is fixed to the top of the movable rod, and the diameter of the ball head is smaller than the inner diameter of the connecting ring. The lead screw is vertically arranged and rotatably mounted on the mounting base. The movable block has a screw hole and is sleeved on the lead screw through the screw hole. The screw hole is screwed to the lead screw. The movable block is fixedly connected to the other end of the limiting rod. The rotation drive is fixed to the mounting base, and the output end of the rotation drive is fixedly connected to one end of the lead screw to drive the lead screw to rotate so that the ball head passes through the connecting ring and reaches above or below the connecting ring.

5. The dual AGV flexible collaborative handling system according to claim 1, characterized in that, The longitudinal flexible connection unit further includes a drive assembly for connecting with the two abutments to drive both abutments to move along the length of the pallet and to separate the abutments from the sidewalls in the width direction of the container.

6. The dual AGV flexible collaborative handling system according to claim 5, characterized in that, The driving assembly is disposed between the two abutments. The driving assembly includes a connecting rod, two connecting blocks, and a telescopic driving member. The connecting rod is arranged along the width direction of the tray. The two connecting blocks are respectively fixed to both ends of the connecting rod. The two connecting blocks are respectively used to detachably and fixedly connect to the side wall of the corresponding abutment. The fixed end of the telescopic driving member is hinged to the tray, and the telescopic end of the telescopic driving member is hinged to the middle position of the connecting rod to drive the connecting rod to move along the length direction of the tray.

7. The dual AGV flexible collaborative handling system according to claim 1, characterized in that, Two sliding grooves are formed opposite each other at the far ends of the two trays, and each sliding groove extends along the length of the tray. Each abutment is slidably disposed in the corresponding sliding groove.

8. The dual AGV flexible collaborative handling system according to claim 7, characterized in that, The top support unit also includes two guide rods, each corresponding to one of the two slide grooves. The guide rods are fixedly installed in the slide grooves along their length. The abutment is slidably sleeved on the guide rods, and the elastic element is sleeved on the guide rods. The two ends of the elastic element abut against the groove wall and the side wall of the abutment, respectively.

9. The dual AGV flexible collaborative handling system according to claim 8, characterized in that, The top support unit also includes several blocks, each of which is fixed to both sides of the pallet and used to abut against the side wall of the container along its length.

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