AGV device and automatic production line

Abstract

The invention provides an AGV device and an automatic production line. The AGV device comprises an AGV body; the bearing frame is used for bearing and fixing assembly parts, and the bearing frame is arranged above the AGV body and movably connected with the AGV body; a first limiting structure and a second limiting structure are arranged between the AGV body and the bearing frame, the first limiting structure is provided with an annular first adjusting gap, and the second limiting structure is provided with a single-side second adjusting gap. Automatic splicing and assembling of the splicing parts can be achieved, and the production efficiency and the production safety are improved.

Description

Technical Field

[0001] The present application relates to the field of automated production technology, and in particular to an AGV device and an automated production line. Background Art

[0002] The body tooling is a structure designed specifically for the vehicle model. The overall weight of the body tooling is relatively large. Therefore, a split assembly structure is generally adopted, that is, multiple assembly parts are assembled together to form a complete body tooling. The assembled parts are generally transported by AGV devices. Due to the inevitable errors in the movement route of the AGV device, manual assembly is required, which has low production efficiency and high risk. Summary of the invention

[0003] The present application provides an AGV device and an automated production line to realize the automated assembly of assembled parts, thereby improving production efficiency and production safety.

[0004] The first aspect of the present application provides an AGV device, which includes:

[0005] AGV body;

[0006] A carrier frame, used for carrying and fixing the assembled parts, the carrier frame is arranged above the AGV body and is movably connected to the AGV body;

[0007] A first limiting structure and a second limiting structure are provided between the AGV body and the supporting frame. The first limiting structure has a first annular adjustment gap, and the second limiting structure has a second unilateral adjustment gap.

[0008] Optionally, the first limiting structure includes a limiting pin and a limiting hole, the limiting pin is protruding from the top of the AGV body, and the limiting hole is arranged on the supporting frame.

[0009] Optionally, the second limiting structure includes a limiting wheel and a limiting surface, the limiting wheel is rotatably connected to the top of the AGV body, and the limiting surface is a vertical surface of the supporting frame.

[0010] Optionally, the bearing frame comprises a plurality of side beams and at least one cross beam, the side beams are connected end to end to form a closed rectangular frame structure, and the two ends of the cross beam are respectively connected to two opposite side beams;

[0011] The first limiting structure is arranged on the cross beam, and the second limiting structure is arranged on the side beam.

[0012] Optionally, a universal ball bearing is provided between the carrier frame and the AGV body.

[0013] Optionally, the AGV device further comprises a guide plate, wherein the guide plate is arranged on an edge of the carrier;

[0014] The guide plate comprises a straight section and an inclined section, wherein the inclined section is arranged at at least one end of the straight section, and along a direction away from the straight section, the inclined section gradually inclines toward a direction approaching the supporting frame.

[0015] Optionally, the AGV device further includes a guide rail, which is connected to the top of the carrier frame, and extends along the length direction of the carrier frame, and the assembly component moves along the guide rail to a predetermined position of the carrier frame.

[0016] Optionally, the top of the carrier frame includes:

[0017] A mounting surface supported on the bottom surface of the guide rail;

[0018] A limiting surface, stopped at a side surface of the guide rail;

[0019] A tightening component is provided, which can stop or release the other side surface of the guide rail.

[0020] Optionally, the tightening component includes:

[0021] A fixing portion, arranged on one side of the guide rail, with a gap between the fixing portion and the guide rail;

[0022] The movable part is arranged through the fixed part, and the movable part moves along the direction in which the fixed part points to the guide rail to stop or release the guide rail.

[0023] Optionally, a positioning block is provided at the front end of the carrier, the positioning block includes two positioning inclined surfaces arranged opposite to each other, and the positioning block is used to adjust the position of the carrier at a target position.

[0024] A second aspect of the present application provides an automated production line, which includes any one of the AGV devices provided in the present application.

[0025] The technical solution provided by this application can achieve the following beneficial effects:

[0026] The AGV device provided in the present application includes an AGV body and a carrier frame. The AGV body can automatically move along a predetermined route, and the carrier frame is used to carry and fix assembled parts. The carrier frame is arranged above the AGV body, so that the assembled parts, the carrier frame and the AGV body move along the predetermined route together, and the assembled parts are transported by the AGV body. The carrier frame is movably connected to the AGV body, so that the assembled parts can move relative to the AGV body together with the carrier frame. Even if there is a certain deviation in the movement route of the AGV body, the position of the assembled parts can be corrected by adjusting the position of the carrier frame, ensuring that the assembled parts can be accurately transported to the target position, thereby realizing the automated assembly of the assembled parts.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the structure of the AGV device provided in an embodiment of the present application;

[0029] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0030] Figure 3 for Figure 2 A top view of the local structure shown;

[0031] Figure 4 for Figure 1 A partial enlarged view of point B in the middle;

[0032] Figure 5 A schematic diagram of the structure of the AGV device provided in an embodiment of the present application from another angle;

[0033] Figure 6 for Figure 5 A partial enlarged view of point C in the middle.

[0034] Reference numerals:

[0035] 1-AGV body;

[0036] 2-Carrying frame;

[0037] 2a-side beam;

[0038] 2b- crossbar;

[0039] 21- positioning block;

[0040] 211- positioning slope;

[0041] 22-first locking member;

[0042] 23-mounting surface;

[0043] 24- positioning surface;

[0044] 25-tightening components;

[0045] 251-fixed part;

[0046] 252-Activities Department;

[0047] 26- stop block;

[0048] 27- telescopic pin;

[0049] 28-motor;

[0050] 3- the first limiting structure;

[0051] L1-first adjustment gap;

[0052] 32-limit pin;

[0053] 33-limiting hole;

[0054] 4- the second limiting structure;

[0055] L2-second adjustment gap;

[0056] 42-limiting wheel;

[0057] 43-limiting surface;

[0058] 5-Universal ball bearing;

[0059] 6- Support plate;

[0060] 7-guide plate;

[0061] 71-straight section;

[0062] 72- inclined section;

[0063] 8-Guide rails.

[0064] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] In the description of this application, unless otherwise clearly specified and limited, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "plurality" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense, for example, "connected" can be a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0067] In the description of this specification, it should be understood that the directional words such as "upper" and "lower" described in the embodiments of the present application are described at the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0068] like Figure 1-Figure 6 As shown, an embodiment of the present application provides an AGV device, which includes an AGV body 1 and a carrier 2. The AGV body 1 can automatically move along a predetermined route, and the carrier 2 is used to carry and fix the assembled parts. The carrier 2 is arranged above the AGV body 1, so that the assembled parts, the carrier 2 and the AGV body 1 move along the predetermined route together, and the assembled parts are transported by the AGV body 1. The carrier 2 is movably connected to the AGV body 1, so that the assembled parts can move relative to the AGV body 1 together with the carrier 2. In other words, even if there is a certain deviation in the movement route of the AGV body 1, the position of the assembled parts can be corrected by adjusting the position of the carrier 2, ensuring that the assembled parts can be accurately transported to the target position, thereby realizing the automatic assembly of the assembled parts.

[0069] Specifically, there are inevitable errors in the movement route of the AGV body 1, that is, the actual movement route of the AGV body 1 cannot completely coincide with the predetermined route. When the actual movement route of the AGV body 1 coincides with the predetermined route, the assembled parts can be accurately transported to the target position. When the movement route of the AGV body 1 deviates, the assembled parts will also deviate from the target position accordingly. At this time, by adjusting the position of the carrier 2, the position of the assembled parts can be corrected and the assembled parts can be adjusted to the target position. In each embodiment of the present application, the movement direction of the AGV body 1 is the front-to-back direction, and the width direction of the AGV body 1 is the left-to-right direction.

[0070] refer to Figure 1A telescopic pin 27 is provided on the top of the carrier 2. The telescopic pin 27 can be telescoped in the vertical direction to be inserted into or removed from the pin hole of the assembly component. When the telescopic pin 27 is inserted into the pin hole of the assembly component, the assembly component is locked on the top of the carrier 2 to prevent the position of the assembly component from changing during transportation, resulting in the inability to transport the assembly component to the target position; when the telescopic pin 27 is removed from the pin hole of the assembly component, the assembly component can move along the carrier 2, thereby realizing the loading, unloading and replacement of the assembly component.

[0071] Specifically, the telescopic pin 27 can provide telescopic driving force through the motor 28 or the cylinder. When the telescopic pin 27 provides telescopic driving force through the motor 28, a screw nut mechanism or a gear rack mechanism can be provided between the motor 28 and the telescopic pin 27 to convert the rotational motion output by the motor 28 into the linear motion required by the telescopic pin 27.

[0072] like Figure 1-Figure 3 As shown, a first limiting structure 3 and a second limiting structure 4 are provided between the AGV body 1 and the carrier 2, which are used to limit the deviation range that the carrier 2 can correct (i.e., the relative motion range between the carrier 2 and the AGV body 1), ensure that the carrier 2 is stably maintained above the AGV body 1, and prevent accidents such as tilting, shaking or falling of the carrier 2, which affect the normal handling of the assembled parts. The first limiting structure 3 has an annular first adjustment gap L1, thereby forming a circumferential limit for the carrier 2, playing a major limiting role, with a simple structure and being able to meet higher plane limiting requirements. The second limiting structure 4 has a unilateral second adjustment gap L2, thereby forming a unilateral limit for the carrier 2, playing an auxiliary limiting role, that is, the second limiting structure 4 and the first limiting structure 3 are jointly subjected to force, preventing the first limiting structure 3 from being subjected to excessive force or impact, causing the first limiting structure to be damaged such as deformation or fracture, making it difficult to achieve the expected limiting effect.

[0073] Specifically, within the allowable error range, the width of the second adjustment gap L2 is equal to that of the first adjustment gap L1, or the second adjustment gap L2 is slightly smaller than the first adjustment gap L1. When the width of the second adjustment gap L2 is equal to that of the first adjustment gap L1, the first limiting structure 3 and the second limiting structure 4 simultaneously play a role of stop and limit, that is, the first limiting structure 3 and the second limiting structure 4 are subjected to force at the same time; when the second adjustment gap L2 is slightly smaller than the first adjustment gap L1, the second limiting structure 4 plays a role of stop and limit later than the first limiting structure 3, that is, the second limiting structure 4 is subjected to force later than the first limiting structure 3, and the first limiting structure 3 needs to produce a slight deformation before the second limiting structure 4 is subjected to force, thereby limiting the deformation amount of the first limiting structure 3.

[0074] Furthermore, two first limiting structures 3 are provided between the AGV body 1 and the carrier 2, and the two first limiting structures 3 are arranged at intervals in the front-to-back direction, which can effectively prevent the carrier 2 and the AGV body 1 from swinging relative to each other, resulting in excessive positional deflection of the assembled parts, and can reasonably control the production cost and simplify the assembly of the carrier 2 and the AGV body 1. It can be understood that only one first limiting structure 3 or multiple first limiting structures 3 can be provided between the AGV body 1 and the carrier 2.

[0075] Furthermore, the first limiting structure 3 includes a limiting pin 32 and a limiting hole 33. The limiting pin 32 is convexly arranged on the top of the AGV body 1 so that the top of the AGV body 1 has a continuous and complete surface to ensure the structural strength of the AGV body 1; the limiting hole 33 is arranged on the carrier 2, and the limiting pin 32 and the limiting hole 33 are plugged and matched; the axial diameter of the limiting pin 32 is smaller than the aperture of the limiting hole 33, so that a first annular adjustment gap L1 is formed between the limiting pin 32 and the limiting hole 33. It can be understood that in other embodiments, the limiting pin 32 can be convexly arranged below the carrier 2, and the limiting hole 33 can be arranged on the top of the AGV body 1.

[0076] Furthermore, a plurality of second limiting structures 4 are provided between the AGV body 1 and the carrier frame 2, and the second limiting structures 4 are arranged at intervals around the first limiting structure 3, thereby forming a single-sided limit in multiple directions of the carrier frame 2, ensuring that multiple circumferential positions of the first limiting structure 3 have auxiliary limits, thereby effectively preventing the first limiting structure 3 from being damaged due to excessive force.

[0077] Furthermore, the second limiting structure 4 includes a limiting wheel 42 and a limiting surface 43. The limiting wheel 42 is installed on the top of the AGV body 1, and the axis of the limiting wheel 42 extends in the vertical direction; the limiting surface 43 is the vertical surface of the carrier frame 2, and the limiting surface 43 is located on one side of the limiting wheel 42. When the first limiting structure 3 is located in the center position, the interval between the limiting wheel 42 and the limiting surface 43 forms a second limiting gap. When the limiting wheel 42 and the limiting surface 43 are pressed against each other, a line contact is formed between the limiting wheel 42 and the limiting surface 43 to reduce the contact area and increase the sensitivity and accuracy of the limit. It can be understood that in other embodiments, the limiting wheel 42 can be installed on the carrier frame 2, and the limiting surface 43 can be set on the top of the AGV body 1.

[0078] Furthermore, the limiting wheel 42 is rotatably connected to the top of the AGV body 1, that is, the limiting wheel 42 can rotate around its own axis, which can not only reduce the wear between the limiting wheel 42 and the limiting surface 43 and extend the service life of the AGV device, but also reduce the processing error requirements of the limiting wheel 42. For example, the local error of the limiting wheel 42 can be avoided by rotation, thereby reducing production costs.

[0079] Furthermore, the load-bearing frame 2 is made of a hollow metal tube to reduce the overall weight. The load-bearing frame 2 includes a plurality of side beams 2a and at least one cross beam 2b, the side beams 2a are connected end to end to form a closed rectangular frame structure, and the two ends of the cross beam 2b are respectively connected to two opposite side beams 2a to meet the structural strength requirements of the load-bearing frame 2.

[0080] Furthermore, the first limiting structure 3 is arranged on the beam 2b, so that the first limiting structure 3 is as close to the central area of ​​the supporting frame 2 as possible to increase the positioning accuracy, so that the supporting frame 2 forms a uniform first adjustment gap L1 along the circumferential direction, ensuring that the supporting frame 2 can achieve the expected position adjustment range.

[0081] Furthermore, the second limiting structure 4 is arranged on the side beam 2a, so that the second limiting structure 4 is as close to the edge area of ​​the supporting frame 2 as possible to increase the distance between the second limiting structure 4 and the first limiting structure 3, thereby weakening the adverse effects caused by processing errors and assembly errors.

[0082] Furthermore, at least two second limiting structures 4 are arranged along each side beam 2a, and the two second limiting structures 4 are arranged along the length direction of the side beam 2a, and the two second limiting structures 4 are symmetrically arranged. On the one hand, the relative swing angle between the carrier 2 and the AGV body 1 is limited to prevent the position of the assembled parts from being deflected too much; on the other hand, it is ensured that when the carrier 2 swings slightly, the second limiting structure 4 can still play a stopping and limiting role. Specifically, when the carrier 2 swings slightly, the gap of one of the two second limiting structures 4 of the same side beam 2a increases, so that it cannot play a stopping and limiting role; but the adjustment gap of the other one will be reduced, so that it can play a stopping and limiting role.

[0083] Furthermore, if Figure 1 and Figure 4 As shown, the AGV device further includes a guide plate 7, which is arranged at the edge of the carrier frame 2 along the left-right direction and extends along the front-back direction of the carrier frame 2. The guide plate 7 is used to adjust the position of the carrier frame 2 during the movement of the AGV body 1, that is, during the movement of the AGV body 1, the guide plate 7 forms the positioning basis of the carrier frame 2. The processing accuracy of the guide plate 7 is higher than that of the carrier frame 2, thereby improving the position accuracy of the carrier frame 2 and ensuring that the assembled parts can be transported to the target position; the structural strength of the guide plate 7 is greater than that of the carrier frame 2, so that it will not be deformed due to external forces such as collisions, ensuring that the carrier frame 2 maintains a high position accuracy for a long time and extending the service life of the AGV device.

[0084] Specifically, a positioning piece can be set on the predetermined route of the AGV body 1, and the positioning piece and the guide plate 7 are pressed against each other, so as to adjust the position of the carrier 2 in the left-right direction. A plurality of guide plates 7 can be set on one side edge of the carrier 2, and each guide plate 7 is arranged at intervals in the front-back direction, so that during the movement of the AGV body 1, the position of the carrier 2 is adjusted multiple times, and the position accuracy of the carrier 2 is gradually improved, which can avoid a single adjustment amount that is too large, resulting in a position deviation of the AGV body 1, and can also avoid excessive accumulation of position errors of the carrier 2 during the movement of the AGV body 1, making it difficult to adjust. Guide plates 7 can be set on both side edges of the carrier 2 in the left-right direction, so as to adjust on both sides of the carrier 2.

[0085] Furthermore, the guide plate 7 includes a straight section 71 and an inclined section 72 connected to each other, and the inclined section 72 is arranged at one end or both ends of the straight section 71, and along the direction away from the straight section 71, the inclined section 72 gradually inclines toward the direction close to the carrier 2. The straight section 71 plays a positioning role, and plays a role in left-right positioning of the carrier; the inclined section 72 plays a guiding role, and the movement of the carrier in the front-back direction is converted into the movement in the left-right direction through the inclined section 72, so as to adjust the position of the carrier during the movement of the AGV body 1.

[0086] Specifically, the inclined section 72 should be arranged at the front end of the straight section 71, so that the guide plate 7 can adjust the position of the bearing member during the forward movement of the AGV body 1. When the inclined sections 72 are arranged at both ends of the straight section 71, the guide plate 7 can adjust the position of the bearing member during the forward movement and the backward movement of the AGV body 1.

[0087] Furthermore, if Figure 1 , Figure 5 and Figure 6 As shown, a positioning block 21 is provided at the front end of the carrier 2. The positioning block 21 includes two positioning inclined surfaces 211 arranged opposite to each other. The positioning block 21 is used to adjust the position of the carrier 2 at the target position. On the one hand, the positioning inclined surface 211 can convert the movement of the carrier 2 in the front-to-back direction into the movement in the left-to-right direction, thereby adjusting the position of the carrier 2 at the target position with high precision; on the other hand, the positioning block 21 can form a wedge-shaped fit with the positioning groove arranged at the target position, thereby limiting the position of the carrier 2 along the front-to-back direction, ensuring that the assembled parts can accurately move to the target position. The use of this embodiment can control the position error of the assembly equipment within ±1mm, which is conducive to the rapid and efficient realization of the automated assembly of the assembled parts.

[0088] Furthermore, the carrier 2 is provided with a first locking member 22, which is an automatic locking member, and can cooperate with the locking mechanism at the target position to achieve automatic locking, so that the carrier 2 can stay stably at the target position. The carrier 2 is provided with a second locking member, which is a manual locking member, such as a latch, etc., and the user can manually lock the carrier 2 at the target position.

[0089] Furthermore, a plurality of universal ball bearings 5, such as bull's eye bearings, are provided between the carrier frame 2 and the AGV body 1, so that the carrier frame 2 can move in any direction on the top surface of the AGV body 1, meet the plane adjustment requirements of the carrier frame 2, and reduce the resistance of the position adjustment of the carrier frame 2. In addition, the universal ball bearings 5 ​​only provide support in the vertical direction, and do not provide force in the horizontal direction, so that the carrier frame 2 can remain stationary after being adjusted into place.

[0090] Furthermore, the AGV device also includes a support plate 6, which is arranged below the carrier frame 2 and is connected to the universal ball bearing 5. That is to say, the support plate 6 forms a support surface of the carrier frame 2, which can not only improve the surface flatness and increase the stability of the carrier frame 2 during movement, but also increase the structural strength to prevent the support surface from being subjected to excessive force and causing deformation and other damage, causing the carrier frame 2 to tilt.

[0091] Furthermore, the AGV device further includes a guide rail 8, which is connected to the top of the carrier frame 2. For example, the guide rail 8 can be connected to the top of the carrier frame 2 by fasteners such as bolts. The guide rail 8 corresponds to the support plate 6 up and down to increase the stability of the guide rail 8. The guide rail 8 extends in the front-to-back direction, and the assembled parts move along the guide rail 8 to the top of the carrier frame 2. The guide rail 8 guides and limits the assembled parts, improves the height position accuracy and left-right position accuracy of the assembled parts and the carrier frame 2, and ensures that when the carrier frame 2 is adjusted in place, the assembled parts are also adjusted in place accordingly.

[0092] Furthermore, the top of the carrier 2 includes a mounting surface 23, a positioning surface 24, and a tightening component 25. The mounting surface 23 is supported on the bottom surface of the guide rail 8, thereby determining the height of the guide rail 8; the positioning surface 24 is stopped on the first side surface of the guide rail 8, thereby providing left-right positioning for the guide rail 8; the tightening component 25 can stop or release the second side surface of the guide rail 8, and the second side surface is arranged opposite to the first side surface, thereby ensuring that the first side surface of the guide rail 8 and the positioning surface 24 remain in close contact, preventing the position of the guide rail 8 from being offset, and improving the positioning accuracy of the guide rail 8.

[0093] Furthermore, the tightening component 25 includes a fixed portion 251 and a movable portion 252. The fixed portion 251 is relatively fixed to the top of the AGV body 1, and the fixed portion 251 is arranged on one side of the guide rail 8, and a gap is left between the fixed portion 251 and the guide rail 8 to ensure smooth installation of the guide rail 8. The movable portion 252 (for example, an adjustment bolt, etc.) is passed through the fixed portion 251, and the movable portion 252 moves along the direction of the fixed portion 251 pointing to the guide rail 8 to stop or loosen the guide rail 8.

[0094] In one embodiment, the movable portion 252 and the fixed portion 251 cooperate with each other through a threaded structure, thereby converting rotational motion into linear motion, so that the movable portion 252 can approach or move away from the guide rail 8, with high adjustment accuracy and easy self-locking, effectively preventing the position of the guide rail 8 from changing during use.

[0095] Furthermore, the support frame 2 is also provided with a stop block 26, which is arranged at the rear end of the support frame 2 and is used to form front and rear positioning between the assembled component and the support frame 2. That is to say, when the assembled component and the stop block 26 are against each other, the assembled component is just placed in the bearing area of ​​the support frame 2.

[0096] In addition, an embodiment of the present application also provides an automated production line, which includes any AGV device provided in the embodiment of the present application.

[0097] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An AGV device, characterized in that: include: AGV body; A carrier frame, used for carrying and fixing the assembled parts, the carrier frame is arranged above the AGV body and is movably connected to the AGV body; A first limiting structure and a second limiting structure are provided between the AGV body and the supporting frame. The first limiting structure has an annular first adjustment gap, and the second limiting structure has a unilateral second adjustment gap.

2. The AGV device according to claim 1, characterized in that: The first limiting structure includes a limiting pin and a limiting hole. The limiting pin is protrudingly arranged on the top of the AGV body, and the limiting hole is arranged on the supporting frame.

3. The AGV device according to claim 1, characterized in that: The second limiting structure includes a limiting wheel and a limiting surface, the limiting wheel is rotatably connected to the top of the AGV body, and the limiting surface is the vertical surface of the supporting frame.

4. The AGV device according to claim 1, characterized in that: The bearing frame includes a plurality of side beams and at least one cross beam, wherein the side beams are connected end to end to form a closed rectangular frame structure, and the two ends of the cross beam are respectively connected to two opposite side beams; The first limiting structure is arranged on the cross beam, and the second limiting structure is arranged on the side beam.

5. The AGV device according to claim 1, characterized in that: A universal ball bearing is provided between the carrier frame and the AGV body.

6. The AGV device according to any one of claims 1 to 5, characterized in that: The AGV device further includes a guide plate, which is arranged on the edge of the carrier; The guide plate comprises a straight section and an inclined section, wherein the inclined section is arranged at at least one end of the straight section, and along a direction away from the straight section, the inclined section gradually inclines toward a direction approaching the supporting frame.

7. The AGV device according to any one of claims 1 to 5, characterized in that: The AGV device further comprises a guide rail, which is connected to the top of the carrier frame and extends along the length direction of the carrier frame. The assembly component moves along the guide rail to a predetermined position of the carrier frame.

8. The AGV device according to claim 7, characterized in that: The top of the carrier frame includes: A mounting surface supported on the bottom surface of the guide rail; A limiting surface, stopped at a side surface of the guide rail; A tightening component is provided, which can stop or release the other side surface of the guide rail.

9. The AGV device according to claim 7, characterized in that: The tightening component comprises: A fixing portion, arranged on one side of the guide rail, with a gap between the fixing portion and the guide rail; The movable part is arranged through the fixed part, and the movable part moves along the direction in which the fixed part points to the guide rail to stop or release the guide rail.

10. The AGV device according to any one of claims 1 to 5, characterized in that: A positioning block is provided at the front end of the carrier frame. The positioning block includes two positioning inclined surfaces arranged opposite to each other. The positioning block is used to adjust the position of the carrier frame at a target position.

11. An automated production line, characterized in that: The AGV device comprises any one of claims 1 to 10.

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