AGV rapid combination device and use method thereof

Abstract

The invention relates to the technical field of automatic guided vehicles, and discloses an AGV rapid combination device and a using method thereof.The AGV rapid combination device comprises a machine shell, a combination device is arranged on the outer side of the machine shell, the combination device comprises a connecting sub-module and a connecting mother module, the connecting sub-module is fixedly connected to the outer side of the machine shell, and the connecting mother module is fixedly connected to the outer side of the machine shell; the connecting mother module is arranged on the inner side of the machine shell, the connecting sub module is used for being matched with the connecting mother module to achieve mechanical self-locking connection and separation, one or more sets of combination devices can be installed on the side wall of the machine shell, and a driving and transmission part is arranged in the machine shell and used for adjusting the height of the connecting mother module. Therefore, the connection sub-module and the connection mother module are quickly separated. By combining the characteristics of the structure A and the structure B, the combination device is designed, and the situation that combination is conducted after correction is conducted through a correction device is not needed, so that the positioning precision is improved, and the time needed by combination is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles, and in particular to an AGV quick assembly device and a use method thereof. Background Art

[0002] AGV (Automated Guided Vehicle) is widely used in various industrial handling and logistics systems, which can realize automatic transportation and efficient dispatching of materials. In order to meet the handling needs of large or special-shaped workpieces, multiple AGVs often need to work together, so a device that can quickly and stably realize the combination of multiple AGVs is particularly important. The AGV fast combination device enables multiple AGVs to work closely together through physical connection, improving the flexibility and efficiency of handling operations.

[0003] Existing AGV rapid assembly devices usually rely on mechanical connection structures. The common implementation method is to perform physical guidance through a guide mechanism so that the connection ends between AGVs can be docked. During the docking process, a correction device is often used to reduce errors so that multiple AGVs can be gradually aligned and complete the assembly operation. After assembly, the mechanical locking structure can ensure a stable connection between AGVs, thereby maintaining stability when transporting larger workpieces.

[0004] However, the existing AGV rapid assembly device still has many shortcomings in practical applications. For example, during the docking process, the initial positioning accuracy of the AGV is required to be high and the fault tolerance is poor, which can easily lead to docking failure. When the transmission system runs under long-term high load, it is easy to cause transmission instability due to loosening of the synchronous belt or chain, which increases equipment wear and maintenance costs. In addition, the friction and noise during the assembly process are large, which affects the long-term reliability and operation efficiency of the system. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an AGV quick assembly device and a method for using the same. The present invention improves the fault tolerance and precision of the AGV assembly through the width and narrow transition design of the slideway and the mechanical self-locking structure, making the docking more efficient and stable. The synchronous belt or chain transmission system and the tensioning device controlled by the motor ensure the transmission stability under high load and reduce wear and maintenance costs. At the same time, the friction and noise are reduced, thereby improving the long-term reliability and operating efficiency of the system.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an AGV quick assembly device and a method of using the same, comprising a casing, a combination device being arranged on the outside of the casing, the combination device comprising a connecting sub-module and a connecting mother module, the connecting sub-module being fixedly connected to the outside of the casing, the connecting mother module being arranged on the inside of the casing, the connecting sub-module being used to cooperate with the connecting mother module to achieve mechanical self-locking connection and separation, one or more sets of the combination device can be installed on the side wall of the casing, and a driving and transmission member is arranged inside the casing, which is used to adjust the height of the connecting mother module, so as to quickly separate the connecting sub-module and the connecting mother module.

[0007] Preferably, the connection submodule includes:

[0008] A connecting sub-end box, a connecting sub-end, a guide rail slider, an elastic element, a damper and a correction pulley. The connecting sub-end box is used to connect with the device to fix the connecting sub-module, the guide rail slider is used to limit the movement direction of the connecting sub-end, the elastic element is used to absorb and dissipate vibration, and the correction pulley is used to assist docking and reduce wear.

[0009] Preferably, the connecting mother module comprises:

[0010] The connecting female end box body, the connecting female end, the transmission member, the guide rail slider and the limit block, the connecting female end is vertically moved by the pulley driving the transmission member, the limit block is used to limit the position of the connecting female end to ensure that the connecting female end is in the correct position during the assembly process, the middle of the connecting female end box body is provided with a guide rail, the guide rail is used to limit the connecting female end so that it can only move vertically, the outer peripheral thread of the transmission member is connected to the transmission member nut, and the transmission member nut and the connecting female end are connected.

[0011] Preferably, the limit block comprises:

[0012] The upper limit position is limited by the upper limit block, at which point the bottom surface of the slideway of the female connection end is flush with the bottom surface of the installation opening of the female connection module;

[0013] The lower limit position is limited by a lower limit block, and at this time, the female end of the connection does not interfere with the sub-end of the connection.

[0014] Preferably, a slide groove is provided on the connecting female end, and the slide groove has a transition structure from wide to narrow. The transition process is divided into two stages. The groove surface slope is larger in the first stage, and the groove surface slope is smaller in the second stage. It is used to cooperate with the connecting sub-end for correction and form a mechanical self-locking connection.

[0015] Preferably, the wide groove end of the slide groove is used to dock with the correction pulley of the connecting submodule, and its width is wider than the maximum width of the correction pulley, and the narrow groove end cooperates with the groove of the connecting sub-end to achieve a mechanical self-locking connection.

[0016] Preferably, the driving and transmission parts are controlled by one or more motors, which drive the movement of multiple pulleys through synchronous belts or chains, and a tensioning device is provided in the system to maintain the tension of the synchronous belts or chains. At the same time, the motor is fixed to the inside of the casing through a motor bracket.

[0017] Preferably, the tensioning device comprises:

[0018] A fixed support, an adjusting block, a tensioning wheel and an adjusting bolt, wherein the adjusting block can adjust the tension of the synchronous belt through the adjusting bolt.

[0019] The present invention also provides a method for using the AGV quick assembly device, comprising the following steps:

[0020] S1: There is at least one AGV subject to be combined in the area to be combined. When a new AGV enters the area to be combined, it becomes an AGV object to be combined;

[0021] S2: Before assembly, all the connection submodules are in a free state, the connection female end of the connection female module is at the upper limit position, the main body of the AGV to be assembled remains stationary, and the object of the AGV to be assembled is assisted by the laser scanner sensor for docking;

[0022] S3: The AGV object to be assembled moves slowly, and the correction pulley of the connecting sub-module slides in the slide groove of the connecting mother module until the correction pulley is separated from the slide groove, and the connecting sub-end returns to a free state, forming a mechanical self-locking connection.

[0023] Preferably, after the combined AGV completes the operation, the motor controls the pulley to move the connecting female end to the lower limit position, and then the AGV separates, and the motor restores the connecting female end to the upper limit position to prepare for the next combination.

[0024] The present invention provides an AGV quick assembly device and a method for using the same. It has the following beneficial effects:

[0025] 1. The present invention combines the characteristics of structure A and structure B to design a combination device, which does not need to be calibrated by a correction device before combination, thereby improving positioning accuracy and the time required for combination.

[0026] 2. The present invention uses a motor to control the synchronous belt or chain transmission system, combined with a tensioning device to maintain the stability of the tension of the transmission system, to ensure that the combined device can still maintain stable operation under high load conditions, and at the same time can facilitate the connection between the contact devices, so as to quickly adjust according to the workpiece.

[0027] 3. The combination device in the present invention adopts a mechanical self-locking connection method, which not only simplifies the combination process, but also solves the problem of power loss caused by frequent operations in the traditional electric control combination process. The present invention optimizes the combination and separation control system and can control the combination and separation of the four directions of the AGV through a motor, thereby simplifying the combination and separation process, shortening the combination and separation time, reducing the risk of failure, and reducing power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a stereogram of the present invention in working state;

[0029] Figure 2 It is a schematic diagram of the internal structure of the casing of the present invention;

[0030] Figure 3 It is a structural schematic diagram of the connection submodule of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the connection mother module of the present invention;

[0032] Figure 5 It is a schematic diagram of the structure of the driving and transmission parts of the present invention.

[0033] Among them, A, combined device; B, housing; C, drive and transmission parts; A1, connecting sub-module; A2, connecting mother module; 1, motor; 2, motor bracket; 3, synchronous belt; 4, laser scanner sensor; 5, correction pulley; 6, connecting sub-end; 7, elastic element; 8, damper; 9, guide rail slider; 10, guide rail; 11, connecting sub-end box; 12, connecting mother-end box; 13, limit block; 14, connecting mother-end; 15, pulley; 16, transmission part; 17, transmission part nut; 18, fixed support; 19, adjustment block; 20, tensioning wheel; 21, adjustment bolt; 22, slide groove. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Please see attached Figure 1 -Attached Figure 5The embodiment of the present invention provides an AGV quick assembly device, including a housing B, a combination device A is arranged on the outside of the housing B, the combination device A includes a connecting submodule A1 and a connecting mother module A2, the connecting submodule A1 is fixedly connected to the outside of the housing B, the connecting mother module A2 is arranged on the inside of the housing B, the connecting submodule A1 is used to cooperate with the connecting mother module A2 to achieve mechanical self-locking connection and separation, and the side wall of the housing B can be installed with one or more sets of combination devices A. The combination device A not only simplifies the assembly process, but also reduces the power consumption of the AGV, which is suitable for long-term and multi-batch handling operations, and is particularly suitable for scenes with strict requirements on energy consumption. The housing B is provided with a driving and transmission member C inside, which is used to adjust the height of the connecting mother module A2, so as to quickly separate the connecting submodule A1 and the connecting mother module A2, and the height of the connecting mother module A2 is adjusted by the driving and transmission member C, so that the connecting submodule A1 and the connecting mother module A2 are misaligned, thereby achieving unlocking.

[0036] Please see attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, the connection submodule A1 includes:

[0037] The sub-terminal box 11, the sub-terminal 6, the guide rail slider 9, the elastic element 7, the damper 8 and the correction pulley 5 are provided. The sub-terminal box 11 is used to connect with the device so as to fix the sub-module A1. The guide rail slider 9 is used to limit the movement direction of the sub-terminal 6. The elastic element 7 is used to absorb and dissipate vibrations. At the same time, the damper 8 plays a buffering role so that the sub-terminal 6 can slowly recover after entering the connection to achieve mechanical self-locking. The correction pulley 5 is used to assist docking and reduce wear. The sub-terminal 6 is the main part of the mechanical contact between the sub-module A1 and the connecting mother module A2. The sub-terminal 6 is installed in the side wall of the casing B, and its movement direction is limited by the guide rail slider 9. The head end of the sub-terminal 6 is installed with a correction pulley 5, and the middle part is installed with an elastic element 7, which is used to buffer and Correction function: when the AGV performs a combination operation, the connecting sub-end 6 moves along the slide groove 22 through the guide rail slider 9. The guide rail slider 9 prevents the connecting sub-end 6 from being laterally offset during the combination, ensuring that it always moves along the center line of the slide groove 22 until it cooperates with the connecting female end 14 to achieve mechanical self-locking. This linear sliding design effectively avoids lateral offset or shaking, ensuring that the connecting sub-end 6 can accurately enter the slide groove 22 of the connecting female end 14, thereby improving the accuracy of the connection and reducing the deviation that may occur during the docking process. In addition, the elastic element 7 also ensures the smooth transmission of force during the combination process, thereby improving the smoothness and safety of the combination operation. Finally, the correction pulley 5 reduces the need for manual intervention, simplifies the steps of the combination operation, and also improves the combination speed and accuracy.

[0038] Please see attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, the connection mother module A2 comprises:

[0039] The female end box 12, the female end 14, the transmission member 16, the guide rail slider 9 and the limit block 13 are connected. The transmission member 16 is driven by the pulley 15 to make the female end 14 move in the female end box 12. The limit block 13 is used to limit the position of the female end 14 to ensure that the female end 14 is in the correct position during the assembly process. The female end 14 is a key component installed on the side wall of the casing B, which is used to guide the connection sub-module to enter and complete the mechanical self-locking connection. The transmission member 16 is the driving force source of the female end 14 during the assembly and separation process. The transmission member 16 drives the transmission member 16 to rotate through the pulley 15. The rotation of the transmission member 16 drives the transmission member nut 17 and the female end 14 to move up and down along the slide groove 22. Even when the motor 1 stops, the transmission member 16 can keep the female end 14 in its position to avoid the external force. The position is offset, and finally, under the action of the guide rail slider 9, the connecting female end 14 can move accurately in the vertical direction, avoiding the possibility of lateral offset. A guide rail 10 is arranged in the middle of the connecting female end box 12. The guide rail 10 is used to limit the connecting female end 14 so that it can only move vertically. The outer peripheral thread of the transmission member 16 is connected with a transmission member nut 17, and the transmission member nut 17 is connected to the connecting female end 14. The guide rail slider 9 ensures that the movement path of the connecting female end 14 remains straight through the slide rail slider structure, avoiding lateral shaking or offset. At the same time, under the action of the limit block 13, the connecting female end 14 and the connecting sub-end 6 can maintain precise alignment during the combination process, reducing the docking failure caused by track offset. This design improves the reliability of the combination and ensures that high precision and stability are always maintained during multiple combination operations.

[0040] Please refer to the attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, the limit block 13 comprises:

[0041] The upper limit position is limited by the upper limit block 13. At this time, the bottom surface of the slide groove 22 of the connecting female end 14 is flush with the bottom surface of the installation opening of the connecting female module A2. During the assembly process, the connecting sub-end 6 gradually enters the slide groove 22 of the connecting female end 14 under the guidance of the guide rail slider 9 and the correction pulley 5. The precise limitation of the upper limit position can ensure that the bottom surface of the slide groove 22 is aligned with the connecting sub-end 6, reduce the docking error during the assembly process, and improve the assembly efficiency and accuracy. At the same time, the mechanical limitation of the transmission member 16 ensures that the connecting female end 14 can still stay in the correct upper limit position even in the case of power failure or other control failures, and has a strong fault tolerance capability.

[0042] The lower limit position is limited by the limit block 13 located at the bottom. At this time, the connection mother end 14 does not interfere with the connection sub-end 6. The setting of the lower limit position is to ensure that the connection mother end 14 does not interfere with the connection sub-end 6 when separated after the assembly is completed. When the AGV completes the task and needs to be separated, the transmission member 16 drives the connection mother end 14 to move downward again until an appropriate gap is left between the upper surface of the connection mother end 14 and the bottom surface of the installation opening of the connection mother module A2, usually about 5 mm. At this time, the limit block 13 limits the connection mother end 14 from continuing to move downward, ensuring that the connection sub-end 6 can smoothly disengage from the slide groove 22, and no physical interference will occur during the separation process.

[0043] Through this design, the separation process becomes safer and more automated. The precise control of the lower limit position enables the female connection end 14 to always maintain a distance from the female connection end 6 during the separation process, avoiding physical collision or jamming caused by excessive movement. Especially in complex multi-AGV collaborative operation scenarios, the limit device can effectively reduce operational risks and ensure a smooth separation process between AGVs.

[0044] Through the limit control of the upper and lower limit positions, the AGV combination device of the present invention can not only accurately control the moving range of the connecting female end 14, but also effectively improve the automation level of the system. The system does not require complicated electrical control adjustments, and only relies on mechanical limit devices to ensure smooth combination and separation. At the same time, because the limit device has a high fault tolerance capability, even in power outages or other unexpected situations, the system can still maintain a preset safe position, reducing the risk in operation.

[0045] Please see attached Figure 3 -Attached Figure 5In a preferred embodiment of the present invention, a slide groove 22 is provided on the female connection end 14. The slide groove 22 has a transition structure from wide to narrow. The transition process is divided into two stages. The groove surface slope in the first stage is large, and the groove surface slope in the second stage is small. It is used to cooperate with the connecting sub-end 6 for correction and form a mechanical self-locking connection. The wide groove is designed to provide a large fault tolerance space, allowing the connecting sub-end 6 to smoothly enter the slide groove 22 even if there is a certain positioning error during the initial docking. This large slope design allows the connecting sub-end 6 to contact the side wall of the slide groove 22 in a wide range and gradually enter. In docking state, this narrow groove structure with a small slope is used for high-precision correction and final mechanical self-locking connection. When the connecting sub-end 6 is guided by the wide groove to a position close to the final position in the first stage, the correction pulley 5 enters the narrow groove area, and the width of the slide groove 22 gradually decreases. The connecting sub-end 6 is forced to align to the precise docking position in this process. The design of the small slope makes the sliding of the connecting sub-end 6 smoother, avoids sudden force changes, and improves the smoothness of docking. The transition design of the slide groove 22 enables the connecting sub-end 6 to gradually transition to the narrow groove area with a small slope in the second stage after entering the wide groove in the first stage. The narrow groove provides higher docking accuracy. In this stage, the connecting sub-end 6 is forced to be corrected to the precise docking position. This design not only improves the accuracy of docking, but also ensures the stability of the docking process and reduces docking failures caused by positioning errors.

[0046] Please refer to the attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, the wide groove end of the slide groove 22 is used to dock with the correction pulley 5 of the connecting submodule A1, and the width is wider than the maximum width of the correction pulley 5. The narrow groove end cooperates with the groove of the connecting sub-end 6 to achieve a mechanical self-locking connection. This design takes into account the initial positioning error that may exist when the AGV enters the combination area. Since the width of the slide groove 22 is greater than the correction pulley 5, the wide groove end can accommodate a certain range of docking errors, so that the correction pulley 5 can be guided to the correct docking position by the slide groove 22 during the process of entering the slide groove 22, even if the deviation is large. In the final stage of the combination process, the correction pulley 5 enters the narrow groove through the wide groove, and the connecting sub-end 6 gradually fits with the connecting female end 14. When the correction pulley 5 enters the narrow groove through the wide groove, the connecting sub-end 6 gradually fits with the connecting female end 14. When the positive pulley 5 enters the very end of the narrow groove, the groove connecting the sub-end 6 and the protruding structure connecting the female end 14 form a stable mechanical lock. At this time, the narrow groove end of the slide groove 22 not only provides high-precision docking guidance, but also realizes the mechanical self-locking function through its geometric cooperation. The design of the wide groove end accommodates a larger correction range, allowing the AGV to quickly perform initial docking after entering the combination area, reducing the requirements for the initial positioning accuracy of the AGV. This tolerant design makes the combination process more efficient and reduces the risk of docking failure due to positioning errors. This two-stage design not only improves the reliability of the combination process, but also reduces the need for manual intervention in the combination operation, thereby improving the efficiency of AGV collaborative work.

[0047] Please see attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, the driving and transmission member C is controlled by one or more motors 1, and the motor 1 drives the movement of multiple pulleys 15 through a synchronous belt 3 or a chain transmission, and a tensioning device is provided in the system for maintaining the tension of the synchronous belt 3 or the chain. At the same time, the motor 1 is fixed inside the housing B through a motor bracket 2. The core driving force of the driving and transmission member C comes from the motor 1, and the motor 1 drives the pulley 15 and the synchronous belt 3 or the chain to operate through its rotation. The number of motors 1 can be adjusted according to the actual configuration of the combination device A. In this solution, the motor 1 controls the combined action in all directions, and the output shaft of the motor 1 is connected to the synchronous belt 3 or the chain. Then, the rotational motion of the motor 1 is transmitted to the connecting female end 14 through the pulley 15 and the synchronous belt. The advantages of the synchronous belt 3 transmission are high transmission efficiency, low noise and easy maintenance. The close fit between the belt teeth of the synchronous belt 3 and the tooth grooves of the pulley 15 can ensure that slippage is avoided during the transmission process and provide accurate and stable drive. The tensioning device consists of a fixed support 18, an adjustment block 19, a tensioning wheel 20 and an adjustment bolt 21. The operator can change the position of the tensioning wheel 20 by adjusting the bolt 21, and then adjust the tension of the synchronous belt 3 or chain to ensure that it is always in an appropriate tension state to avoid relaxation resulting in a decrease in transmission efficiency or unstable system operation.

[0048] By rotating the adjusting bolt 21, the operator can easily adjust the tension of the synchronous belt 3 or the chain to ensure that the system is always in the best transmission state, which not only improves the durability of the transmission system, but also reduces maintenance costs and ensures the reliability and stability of the combination device A during long-term use.

[0049] Please see attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, the tensioning device comprises:

[0050] The fixed support 18 , the adjusting block 19 , the tensioning wheel 20 and the adjusting bolt 21 , the adjusting block 19 can adjust the tension of the synchronous belt 3 through the adjusting bolt 21 .

[0051] The present invention also provides a method for using the AGV quick assembly device, comprising the following steps:

[0052] S1: There is at least one AGV subject to be combined in the area to be combined. When a new AGV enters the area to be combined, it becomes an AGV object to be combined;

[0053] S2: Before assembly, all the connection submodules A1 are in a free state, the connection female end 14 of the connection female module A2 is in the upper limit position, the main body of the AGV to be assembled remains stationary, and the AGV object to be assembled is assisted in docking by the laser scanner sensor 4;

[0054] S3: The AGV object to be assembled moves slowly, and the correction pulley 5 of the connecting submodule A1 slides in the slide groove 22 of the connecting mother module A2 until the correction pulley 5 is separated from the slide groove 22, and the connecting sub-end 6 returns to a free state, forming a mechanical self-locking connection.

[0055] Please see attached Figure 3 -Attached Figure 5 In a preferred embodiment of the present invention, after the combined AGV completes the operation, the motor 1 controls the pulley 15 to move the connecting female end 14 to the lower limit position, and then the AGV is separated, and the motor 1 restores the connecting female end 14 to the upper limit position to prepare for the next combination.

[0056] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV quick assembly device, comprising a housing (B), characterized in that: A combination device (A) is arranged on the outer side of the casing (B), and the combination device (A) includes a connecting submodule (A1) and a connecting mother module (A2). The connecting submodule (A1) is fixedly connected to the outer side of the casing (B), and the connecting mother module (A2) is arranged on the inner side of the casing (B). The connecting submodule (A1) is used to cooperate with the connecting mother module (A2) to realize mechanical self-locking connection and separation. One or more sets of the combination device (A) can be installed on the side wall of the casing (B). A driving and transmission member (C) is arranged inside the casing (B), which is used to adjust the height of the connecting mother module (A2) so as to quickly separate the connecting submodule (A1) and the connecting mother module (A2).

2. The AGV quick assembly device according to claim 1, characterized in that: The connecting submodule (A1) comprises: A connecting sub-end box (11), a connecting sub-end (6), a guide rail slider (9), an elastic element (7), a damper (8) and a correction pulley (5); the connecting sub-end box (11) is used to connect with the device so as to fix the connecting sub-module (A1); the guide rail slider (9) is used to limit the movement direction of the connecting sub-end (6); the elastic element (7) is used to absorb and dissipate vibration; and the correction pulley (5) is used to assist docking and reduce wear.

3. The AGV quick assembly device according to claim 1, characterized in that: The connecting mother module (A2) comprises: A connecting female end box (12), a connecting female end (14), a transmission member (16), a guide rail slider (9) and a limit block (13); the transmission member (16) is driven by a pulley (15) to make the connecting female end (14) move vertically; the limit block (13) is used to limit the position of the connecting female end (14) to ensure that the connecting female end (14) is in a correct position during the assembly process; a guide rail (10) is arranged in the middle of the connecting female end box (12); the guide rail (10) is used to limit the position of the connecting female end (14) so ​​that it can only move vertically; the outer periphery of the transmission member (16) is threadedly connected to a transmission member nut (17); the transmission member nut (17) is connected to the connecting female end (14).

4. The AGV quick assembly device according to claim 3, characterized in that: The limit block (13) comprises: The upper limit position is limited by a limit block located at an upper position, at which time the bottom surface of the slide groove (22) of the connecting female end (14) is flush with the bottom surface of the installation opening of the connecting female module (A2); The lower limit position is limited by a lower limit block, and at this time, the connecting female end (14) and the connecting sub-end (6) do not interfere with each other.

5. The AGV quick assembly device according to claim 3, characterized in that: The connecting female end (14) is provided with a slide groove (22), which has a transition structure from wide to narrow. The transition process is divided into two stages. The groove surface slope in the first stage is relatively large, and the groove surface slope in the second stage is relatively small. It is used to cooperate with the connecting sub-end (6) for correction and to form a mechanical self-locking connection.

6. The AGV quick assembly device according to claim 5, characterized in that: The wide groove end of the slide groove (22) is used to dock with the correction pulley (5) of the connecting submodule (A1), and its width is wider than the maximum width of the correction pulley (5). The narrow groove end cooperates with the groove of the connecting submodule (6) to achieve a mechanical self-locking connection.

7. The AGV quick assembly device according to claim 1, characterized in that: The driving and transmission member (C) is controlled by one or more motors (1), and the motor (1) drives the movement of multiple pulleys (15) through a synchronous belt (3) or a chain transmission. A tensioning device is provided in the system to keep the synchronous belt (3) or the chain tensioned. At the same time, the motor (1) is fixed inside the casing (B) through a motor bracket (2).

8. The AGV quick assembly device according to claim 7, characterized in that: The tensioning device comprises: A fixed support (18), an adjusting block (19), a tensioning wheel (20) and an adjusting bolt (21); the adjusting block (19) can adjust the tension of the synchronous belt (3) through the adjusting bolt (21).

9. A method for using an AGV rapid assembly device, characterized in that: Using the AGV quick assembly device according to any one of claims 1 to 8, The following steps are involved: S1: There is at least one AGV subject to be combined in the area to be combined. When a new AGV enters the area to be combined, it becomes an AGV object to be combined; S2: Before assembly, all the connecting submodules (A1) are in a free state, the connecting female end (14) of the connecting female module (A2) is in an upper limit position, the main body of the AGV to be assembled remains stationary, and the object of the AGV to be assembled is assisted in docking by a laser scanner sensor (4); S3: The AGV object to be assembled moves slowly, and the correction pulley (5) of the connecting submodule (A1) slides in the slide groove (22) of the connecting mother module (A2) until the correction pulley (5) is disengaged from the slide groove (22), and the connecting sub-end (6) returns to a free state, forming a mechanical self-locking connection.

10. The AGV quick assembly device and the use method thereof according to claim 1, characterized in that: After the combined AGV completes the operation, the motor (1) controls the pulley (15) to move the connecting female end (14) to the lower limit position, and then the AGV separates, and the motor (1) restores the connecting female end (14) to the upper limit position to prepare for the next combination.

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