AGV double-vehicle hydraulic butt joint linkage mechanism

Abstract

The invention discloses an AGV double-vehicle hydraulic butt joint linkage mechanism, and relates to the field of spaceflight equipment final assembly, the AGV double-vehicle hydraulic butt joint linkage mechanism comprises grasping forceps assemblies and pin shaft assemblies, one end of each vehicle body is provided with a positioning hole and a vertical plate structure, the other end of each vehicle body is provided with the grasping forceps assembly and the pin shaft assembly, and the pin shaft assemblies and the positioning holes are matched for positioning butt joint between the two vehicle bodies; after the two vehicle bodies are in butt joint, the vertical plate structures are grasped through the grasping forceps assembly to fix the two vehicle bodies. The precision is high, and a certain load can be borne.

Description

Technical Field

[0001] This invention belongs to the field of aerospace equipment assembly technology, and is applied to a hydraulic docking linkage mechanism that needs to dock and link two AGV vehicles when product docking or the working state needs to be changed. Background Art

[0002] At present, AGVs are mostly used as single vehicles, which can only meet the requirements of products within a certain length range. When two vehicles carrying products are docked, the length of the products changes. At this time, the two vehicles cannot move together, and another larger AGV needs to be used, and the lifting and transportation will waste a lot of time.

[0003] If the traditional connection method, such as the connection with lugs and bolts, is used, the two vehicles cannot ensure high-precision synchronous movement, and will shake during movement. Under such conditions, some fragile and high-value items may be damaged. Therefore, a high-precision dual-vehicle docking linkage mechanism that can withstand a certain load is needed. Summary of the invention

[0004] The technical problem solved by the present application is to overcome the deficiencies of the prior art and provide an AGV double-vehicle hydraulic docking linkage mechanism with high precision and capable of bearing a certain load.

[0005] Many AGVs need to dock and link two vehicles when in use, and operate in combination to meet the needs of longer product sizes and bear larger loads. This is an operation necessary for building a flexible automation system. In this operation, the dual-vehicle docking and linkage structure can play a very important role, so the present invention has a good application prospect in the AGV market.

[0006] The technical solutions provided by this application are as follows:

[0007] An AGV double-car hydraulic docking linkage mechanism is used for connecting two car bodies, where the two car bodies are a docking car body and a docked car body, respectively, and include a gripper assembly and a pin assembly. One end of each car body is provided with a positioning hole and a vertical plate structure, and the other end is installed with the gripper assembly and the pin assembly. The pin assembly and the positioning hole are used in conjunction with each other for positioning and docking between the two car bodies. When the two car bodies are docked, the gripper assembly is used to grip the vertical plate structure to fix the two car bodies.

[0008] The vehicle body is provided with a drive unit mounting plate, the wheel set is mounted on the drive unit mounting plate, and the drive unit mounting plate and the vehicle body are connected via a hydraulic suspension, so that the relative height between the drive unit mounting plate and the vehicle body can be adjusted by controlling the elongation of the hydraulic suspension;

[0009] The pin shaft assembly includes a guide sleeve, a pin shaft, a floating joint, a hydraulic cylinder and a fixed support. The guide sleeve is fixedly connected to the vehicle body, the fixed support is fixedly connected to the drive unit mounting plate, the hydraulic cylinder is connected to the fixed support through a buffer mechanism, the telescopic rod of the hydraulic cylinder is connected to one end of the pin shaft through a floating joint, the pin shaft is located in the through hole of the guide sleeve and is slidably connected to the guide sleeve; along the direction away from the hydraulic cylinder, the end of the pin shaft away from the floating joint is a cone with a gradually decreasing diameter.

[0010] The buffer mechanism includes a floating support block, a support spring, a rotating pin and a limit stop. The floating support block is fixedly connected to the hydraulic cylinder. The floating support block is horizontally rotatably connected to the fixed support through the rotating pin. Two limit stops are fixedly connected to the side of the fixed support facing the floating support block. The two limit stops are respectively located above and below the rotating pin. The limit stop above the rotating pin has a first inclined surface, and the limit stop below the rotating pin has a second inclined surface. The distance between the first inclined surface and the second inclined surface gradually increases along the direction pointing to the hydraulic cylinder. The surface of the floating support block opposite to the first inclined surface is parallel to the first inclined surface, and the surface opposite to the second inclined surface is parallel to the second inclined surface. Support springs are arranged between the floating support block and the first inclined surface and the second inclined surface.

[0011] The surfaces of the floating support block opposite to the first inclined surface and the second inclined surface are both screwed with at least one guide shaft, the guide shaft is placed in the support spring, an oblong hole is opened on the limit stopper, and the guide shaft can move in the oblong hole as the mechanism moves.

[0012] The floating joint includes a joint and a connecting nut. One end of the joint is threadedly connected to the pin shaft, and an annular groove is arranged on the outer circumferential surface of the other end of the joint. The side of the annular groove close to the hydraulic cylinder is an insertion part, and the end of the insertion part away from the annular groove is a spherical surface. The connecting nut is provided with a floating groove, and the outlet diameter of the floating groove is smaller than the inner diameter of the floating groove. The outer circumferential surface of the insertion part is threadedly matched with the inner wall of the outlet of the floating groove. The insertion part is threadedly turned into the interior of the floating groove. After the turning, the spherical surface of the insertion part can swing inside the floating groove to realize a small angle rotation; the other end of the connecting nut is connected to the telescopic rod of the hydraulic cylinder.

[0013] The gripper assembly includes a gripper, a swivel bracket, a swivel hydraulic cylinder and a fixed bracket. The fixed bracket is fixedly connected to one end of a positioning hole of a docked vehicle body. The swivel bracket and the swivel hydraulic cylinder are both fixedly connected to the fixed bracket. The swivel hydraulic cylinder is located on one side of the swivel bracket. The upper surface of the swivel bracket is horizontally rotatably connected to the middle of the gripper. The top end of the telescopic rod of the swivel hydraulic cylinder is horizontally rotatably connected to the end of the gripper away from the docked vehicle body. The end of the gripper close to the docked vehicle body is bent downward to form a gripping portion, so that the gripper forms an L shape. The docked vehicle body is provided with a vertical plate structure. When the vertical plate structure is clamped between the gripping portion and the swivel bracket, the docking vehicle body and the docked vehicle body are connected.

[0014] The vehicle body is provided with a laser vision detection component, which includes three sets of laser displacement sensors, which are installed at one end of the vehicle body. Among the three sets of laser displacement sensors, any two sets of laser displacement sensors are connected to form a right triangle; the yaw and pitch deviation angles and end face spacing of the butt joint surfaces of the two vehicle bodies are detected by the three sets of displacement sensors.

[0015] The laser vision detection component also includes a QR code detection module, which includes a QR code label and a QR code detection device. The QR code detection device is installed at the end of the vehicle body connected to the laser displacement sensor, and the QR code label is installed at the other end. The QR code detection device is used to obtain an image of the QR code label to detect the roll angle, left and right and up and down movement differences, and the ID information of the docked vehicle body.

[0016] In summary, this application at least includes the following beneficial technical effects:

[0017] 1) A structural form in which the pin shaft and the gripper are extended through a hydraulic system for docking and linkage, and the pin shaft and the gripper can be retracted into the vehicle body.

[0018] 2) The docking form guided by the pin shaft can meet the docking requirements with higher precision. And the pin shaft can prevent the two vehicles from moving up and down or left and right, so that the two vehicles are tightly connected when linked.

[0019] 3) The gripper driven by the hydraulic system can bear a certain pulling force, which can prevent the two vehicles from pulling apart during linkage, so that the linkage of the two vehicles can be regarded as synchronous movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the position of the hydraulic docking linkage mechanism;

[0021] Figure 2 It is a schematic diagram of the use of the hydraulic docking linkage mechanism in double vehicle docking;

[0022] Figure 3 It is a schematic diagram of the pin assembly structure;

[0023] Figure 4 It is a schematic diagram of the local structure of the pin shaft assembly;

[0024] Figure 5 It is a structural schematic diagram of a floating joint;

[0025] Figure 6 1 is a schematic diagram of the structure of the grasping forceps assembly;

[0026] Figure 7 It is a schematic diagram of the positions of the displacement sensor and the QR code detection sensor;

[0027] Figure 8 This is the schematic diagram of the vehicle body docking sensor.

[0028] Description of the accompanying figures: 1. Grasping forceps assembly; 2. Pin assembly;

[0029] 1-1, guide sleeve; 1-2, pin shaft; 1-3, floating joint; 1-4, hydraulic cylinder; 1-5 floating support block; 1-6, support spring; 1-7, limit stopper; 1-8, fixed support; 1-9, rotating pin shaft; 1-10, rotating support; 1-11, guide shaft;

[0030] 2-1, grasping forceps; 2-2, rotating bracket; 2-3, rotating hydraulic cylinder; 2-4, fixed bracket;

[0031] 3. Laser displacement sensor; 4. QR code detection sensor;

[0032] 1-3-1, connector; 1-3-2, connecting nut. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] The present application embodiment discloses an AGV double-vehicle hydraulic docking linkage mechanism, such as Figure 1 and Figure 2 As shown, it includes a gripper assembly 1 and a pin assembly 2. The vehicle body is provided with a drive unit mounting plate, the wheel assembly is mounted on the drive unit mounting plate, and the drive unit mounting plate and the vehicle body 1 are connected through a hydraulic suspension, so that the relative height between the drive unit mounting plate and the vehicle body can be adjusted by controlling the extension of the hydraulic suspension.

[0035] When performing automatic docking, the two vehicles are first docked, the two vehicles are aligned through the laser vision detection component, and then the two vehicles are docked through the hydraulic docking mechanism. Figure 7 and Figure 8As shown, the visual detection component includes 1 set of QR code detection module and 3 sets of laser displacement sensors, wherein 1 set of QR code detection module includes QR code label and QR code detection equipment. The laser displacement sensor is installed at the front end of the vehicle body, and the QR code label is attached to the rear end of the docked vehicle body. Among the 3 sets of laser displacement sensors, any two sets of laser displacement sensors are connected to form a right triangle. The 3 sets of displacement sensors detect the yaw, pitch deviation angle and end face spacing of the docking surface of the two vehicle bodies; the QR code detects the roll angle, left and right and up and down movement difference and the ID information of the docked vehicle body. The controller of the docking mobile platform performs calculation according to the six-axis posture collected by the sensor. By controlling the extension of the hydraulic suspension, the posture of the vehicle body is continuously adjusted so that the vehicle body is coaxial and parallel with the docked vehicle body, and then the vehicle body gradually approaches the docked vehicle body to realize the automatic docking of the two vehicle bodies.

[0036] One end of the vehicle body is provided with a positioning hole and a vertical plate structure, and the other end of the vehicle body is installed with a gripper assembly 1 and a pin assembly 2.

[0037] like Figure 3 and Figure 4 As shown, the pin assembly 2 includes a guide sleeve 1-1, a pin 1-2, a floating joint 1-3, a hydraulic cylinder 1-4, a floating support block 1-5, a support spring 1-6, a limit block 1-7, a fixed support 1-8, a rotating pin 1-9, a rotating support 1-10 and a guide shaft 1-11.

[0038] The rotating support 1-10, the limit stopper 1-7 and the fixed support 1-8 are connected and fixed by screws, and the floating support block 1-5 and the rotating support 1-10 are rotatably connected by a rotating pin shaft 1-9. The floating support block 1-5 is horizontally rotatably connected to the rotating support 1-10 through a rotating pin 1-9, and the fixed support 1-8 is fixedly connected to the drive unit mounting plate. Two limit blocks 1-7 are fixedly connected to the fixed support 1-8 on the side facing the floating support block 1-5. The two limit blocks 1-7 are respectively located above and below the rotating pin 1-9. The limit block 1-7 above the rotating pin 1-9 has a first inclined surface, and the limit block 1-7 below the rotating pin 1-9 has a second inclined surface. The distance between the first inclined surface and the second inclined surface gradually increases along the direction pointing to the hydraulic cylinder 1-4. The surface of the floating support block 1-5 opposite to the first inclined surface is parallel to the first inclined surface, and the surface opposite to the second inclined surface is parallel to the second inclined surface; support springs 1-6 are arranged between the floating support block 1-5 and the first inclined surface and the second inclined surface. The surfaces of the floating support block 1-5 opposite to the first inclined surface and the second inclined surface are both screwed with at least one guide shaft 1-11, and the guide shaft 1-11 is placed in the support spring 1-6. An oblong hole is opened on the limit block 1-7, and the guide shaft 1-11 can move in the oblong hole as the mechanism moves.

[0039] The hydraulic cylinder 1-4 is bolted to the floating support block 1-5. The telescopic rod joint of the hydraulic cylinder 1-4 is connected to the pin 1-2 through the floating joint 1-3. The pin 1-2 moves in the through hole of the guide sleeve 1-1 along the axial direction of the through hole. The guide sleeve 1-1 is fixedly connected to the vehicle body. The end of the pin away from the floating joint 1-3 is a cone with a gradually decreasing diameter in the direction away from the hydraulic cylinder 1-4. The end of the pin 1-2 cooperates with the positioning hole, and the tapered end of the pin 1-2 plays a guiding and positioning role.

[0040] When the hydraulic cylinder pushes out the pin, if the telescopic rod of the hydraulic cylinder and the pin are not on the same axis, in order to prevent the telescopic rod of the hydraulic cylinder from being bent and damaged by the lateral force, the floating joint 1-3 will swing at a small angle, and at the same time, the floating support block 1-5 will also swing at a small angle, compressing the spring 1-6. At this time, the guide shaft 1-11 moves in the oblong hole of the limit block 1-7, playing a guiding role to prevent the spring from popping out. When the rotation angle of the floating support block 1-5 exceeds 1 degree, the two sides of the limit block 1-7 can limit the movement of the floating support block 1-5 to prevent large deflection. Such a structure can ensure that the telescopic rod of the hydraulic cylinder and the pin are always on the same axis, and ensure that the telescopic rod of the hydraulic cylinder is not subject to lateral force.

[0041] Due to special reasons such as space limitations, when the guide sleeve 1-1 is fixedly connected to the vehicle body, the fixed support 1-8 is installed on the drive unit mounting plate. At this time, when the vehicle body is driving on the ground, the uneven ground will cause up and down vibrations between the drive unit mounting plate and the vehicle body. The floating support block 1-5, support spring 1-6, limit block 1-7, and guide shaft 1-11 provided in this application can buffer most of the above-mentioned vibrations, and combined with the floating joint 1-3, it will basically not affect the driving of the hydraulic cylinder 1-4 on the pin shaft 1-2.

[0042] When two vehicles are docked, the pin is first extended from the vehicle body by the hydraulic cylinder. At this time, the two vehicles are guided by the pin and approach each other. Then the hydraulic cylinder drives the gripper to hold the two vehicles tightly to achieve a rigid connection. The gripper assembly and the pin assembly are fixed to the vehicle body through a bracket. When not in use, they can be retracted into the vehicle body by the hydraulic cylinder control, without occupying external space. The hydraulic system can simultaneously control the movement of two groups of gripper assemblies and the pin assembly together to make the connection more secure. There is a guide sleeve to guide the pin when it is extended and retracted, so that the precision is higher when it is extended and docked.

[0043] like Figure 5As shown, the floating joint 1-3 includes a joint 1-3-1 and a connecting nut 1-3-2. The ball head at the rear end of the joint 1-3-1 is a screw rod processed into a spherical surface, which can be rotated into the thread at the front end of the connecting nut 1-3-2. After being rotated, the ball head at the rear end of the joint 1-3-1 can swing in the square cavity at the front end of the connecting nut 1-3-2 to achieve a small angle rotation. The front end of the joint 1-3-1 is threadedly connected to the pin 1-2, and the rear end of the connecting nut 1-3-2 is threadedly connected to the head of the extension rod of the hydraulic cylinder-4.

[0044] like Figure 6 As shown, the gripper assembly 1 includes a gripper 2-1, a swivel bracket 2-2, a swivel hydraulic cylinder 2-3 and a fixed bracket 2-4, the fixed bracket 2-4 is fixedly connected to one end of the docked vehicle body with a positioning hole, the swivel bracket 2-2 and the swivel hydraulic cylinder 2-3 are both fixedly connected to the fixed bracket 2-4, the swivel hydraulic cylinder 2-3 is located on one side of the swivel bracket 2-2, the upper surface of the swivel bracket 2-2 is horizontally rotatably connected to the middle of the gripper 2-1, and the top end of the telescopic rod of the swivel hydraulic cylinder 2-3 is horizontally rotatably connected to the end of the gripper 2-1 away from the docked vehicle body. The end of the gripper 2-1 close to the docked vehicle body is bent downward to form a gripping portion, so that the gripper 2-1 forms an L shape, and the docked vehicle body is provided with a vertical plate structure, and when the vertical plate structure is clamped between the gripping portion and the swivel bracket 2-2, the docking vehicle body and the docked vehicle body are connected.

[0045] When the telescopic rod of the rotary hydraulic oil cylinder 2-3 is retracted, one end of the gripper 2-1 is driven downward, and the gripper assembly 1 is in an open state. When the docking vehicle body and the docked vehicle body are docked in place through the pin shaft assembly 1, the telescopic rod of the rotary hydraulic oil cylinder 2-3 begins to extend, driving one end of the gripper 2-1 upward. At this time, the end of the gripper 2-1 close to the docking vehicle body is downward, and the gripping part extends into the inner side of the vertical plate structure of the docking vehicle body. As the telescopic rod of the rotary hydraulic oil cylinder 2-3 is gradually retracted, the vertical plate structure of the docking vehicle body is gripped, realizing the connection between the docking vehicle body and the docked vehicle body.

[0046] This automatic docking mode improves docking efficiency, reduces the number of manpower involved in assembly, and improves the level of automation and intelligence in product assembly.

[0047] The connection steps are:

[0048] 1. Alignment through laser vision technology;

[0049] 2. The two vehicles are connected rigidly through positioning pins and clamping mechanisms;

[0050] 3. To facilitate the withdrawal of one of the vehicles, the pin assembly adopts a retractable structure, which is driven by a retractable hydraulic cylinder. When the two vehicles are docked, when the docking ends of the two vehicles are aligned, the pin extends out.

[0051] After positioning, the two vehicles are clamped by the clamping claws in the clamp assembly. The clamps adopt a hinge structure and the clamps are driven by a rotary hydraulic cylinder to clamp the two vehicles to achieve a rigid connection.

[0052] 4. When one car needs to be withdrawn, the pin shaft is retracted, the car body is rotated and retracted, and the two cars are separated.

[0053] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0054] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. An AGV double-car hydraulic docking linkage mechanism, used for connecting two car bodies, the two car bodies are the docking car body and the docked car body, characterized in that: The invention comprises a gripper assembly (1) and a pin assembly (2); one end of each vehicle body is provided with a positioning hole and a vertical plate structure, and the other end is provided with the gripper assembly (1) and the pin assembly (2); the pin assembly (2) and the positioning hole cooperate to be used for positioning and docking between two vehicle bodies; when the two vehicle bodies are docked, the gripper assembly (1) grips the vertical plate structure to fix the two vehicle bodies.

2. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 1 is characterized in that: The vehicle body is provided with a drive unit mounting plate, the wheel set is mounted on the drive unit mounting plate, and the drive unit mounting plate and the vehicle body are connected via a hydraulic suspension, so that the relative height between the drive unit mounting plate and the vehicle body can be adjusted by controlling the elongation of the hydraulic suspension; The pin shaft assembly (2) comprises a guide sleeve (1-1), a pin shaft (1-2), a floating joint (1-3), a hydraulic cylinder (1-4) and a fixed support (1-8); the guide sleeve (1-1) is fixedly connected to a vehicle body; the fixed support (1-8) is fixedly connected to a drive unit mounting plate; the hydraulic cylinder (1-4) is connected to the fixed support (1-8) via a buffer mechanism; the telescopic rod of the hydraulic cylinder (1-4) is connected to one end of the pin shaft (1-2) via a floating joint (1-3); the pin shaft (1-2) is located in a through hole of the guide sleeve (1-1) and is slidably connected to the guide sleeve (1-1); along a direction away from the hydraulic cylinder (1-4), the end of the pin shaft away from the floating joint (1-3) is a cone with a gradually decreasing diameter.

3. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 2 is characterized in that: The buffer mechanism comprises a floating support block (1-5), a support spring (1-6), a rotating pin shaft (1-9) and a limit stopper (1-7); the floating support block (1-5) is fixedly connected to the hydraulic cylinder (1-4); the floating support block (1-5) is horizontally rotatably connected to the fixed support (1-8) via the rotating pin shaft (1-9); two limit stops (1-7) are fixedly connected to one side of the fixed support (1-8) facing the floating support block (1-5); the two limit stops (1-7) are respectively located above and below the rotating pin shaft (1-9); The limit stopper (1-7) above the rotating pin shaft (1-9) has a first inclined surface, and the limit stopper (1-7) below the rotating pin shaft (1-9) has a second inclined surface. The distance between the first inclined surface and the second inclined surface gradually increases along the direction pointing to the hydraulic oil cylinder (1-4). The surface of the floating support block (1-5) opposite to the first inclined surface is parallel to the first inclined surface, and the surface opposite to the second inclined surface is parallel to the second inclined surface. Support springs (1-6) are arranged between the floating support block (1-5) and the first inclined surface and the second inclined surface.

4. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 3 is characterized in that: The surfaces of the floating support block (1-5) opposite to the first inclined surface and the second inclined surface are both screwed to at least one guide shaft (1-11), the guide shaft (1-11) is placed in the support spring (1-6), an oblong hole is opened on the limit stopper (1-7), and the guide shaft (1-11) can move in the oblong hole along with the movement of the mechanism.

5. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 2 is characterized in that: The floating joint (1-3) comprises a joint (1-3-1) and a connecting nut (1-3-2); one end of the joint (1-3-1) is threadedly connected to the pin shaft (1-2); an annular groove is arranged on the outer circumferential surface of the other end of the joint (1-3-1); a side of the annular groove close to the hydraulic oil cylinder (1-4) is an insertion portion; an end of the insertion portion away from the annular groove is a spherical surface; a floating groove is provided on the connecting nut (1-3-2); an outlet diameter of the floating groove is smaller than an inner diameter of the floating groove; an outer circumferential surface of the insertion portion is threadedly matched with an inner wall of the outlet of the floating groove; the insertion portion is threadedly rotated into the interior of the floating groove; after being rotated, the spherical surface of the insertion portion can swing in the interior of the floating groove to achieve small-angle rotation; the other end of the connecting nut (1-3-2) is connected to the telescopic rod of the hydraulic oil cylinder (1-4).

6. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 1, characterized in that: The gripper assembly (1) comprises a gripper (2-1), a swivel bracket (2-2), a swivel hydraulic cylinder (2-3) and a fixed bracket (2-4); the fixed bracket (2-4) is fixedly connected to one end of a docked vehicle body provided with a positioning hole; the swivel bracket (2-2) and the swivel hydraulic cylinder (2-3) are both fixedly connected to the fixed bracket (2-4); the swivel hydraulic cylinder (2-3) is located on one side of the swivel bracket (2-2); the upper surface of the swivel bracket (2-2) is horizontally rotatably connected to the middle part of the gripper (2-1); and the top end of the telescopic rod of the swivel hydraulic cylinder (2-3) is horizontally rotatably connected to one end of the gripper (2-1) away from the docked vehicle body. One end of the gripper (2-1) close to the docking vehicle body is bent downward to form a gripping portion, so that the gripper (2-1) forms an L shape. The docking vehicle body is provided with a vertical plate structure. When the vertical plate structure is clamped between the gripping portion and the slewing bracket (2-2), the docking vehicle body and the docked vehicle body are connected.

7. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 1, characterized in that: The vehicle body is provided with a laser vision detection component, which includes three sets of laser displacement sensors, which are installed at one end of the vehicle body. Among the three sets of laser displacement sensors, any two sets of laser displacement sensors are connected to form a right triangle; the yaw and pitch deviation angles and end face spacing of the butt joint surfaces of the two vehicle bodies are detected by the three sets of displacement sensors.

8. The AGV double-vehicle hydraulic docking linkage mechanism according to claim 7, characterized in that: The laser vision detection component also includes a QR code detection module, which includes a QR code label and a QR code detection device. The QR code detection device is installed at the end of the vehicle body connected to the laser displacement sensor, and the QR code label is installed at the other end. The QR code detection device is used to obtain an image of the QR code label to detect the roll angle, left and right and up and down movement differences, and the ID information of the docked vehicle body.

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