Rotary lifting device and using method

Abstract

The invention relates to a rotary lifting device and a using method, the rotary lifting device comprises a bottom support, lifting columns, a mounting seat, a slewing bearing, a positioning oil cylinder and a locking assembly, a groove is formed in the top of the bottom support, two guide rails are fixed in the groove, the four lifting columns are fixed on the bottom support respectively, the mounting seat is located in the groove, the mounting seat comprises a supporting plate and a supporting frame, and the supporting frame is fixed on the supporting plate. A sliding block matched with the guide rail is fixed to the bottom of the supporting plate, guiding shafts parallel to the guide rail are arranged on the two sides of the supporting frame respectively, springs extruded on the bottom support are arranged on the guiding shafts in a sleeving mode, an inner ring of the slewing bearing is fixed to the supporting plate of the installation base, a platen is fixed to an outer ring of the slewing bearing, and the positioning oil cylinder penetrates through the bottom support and the installation base and is fixed to the platen. The locking assembly comprises two locking clamping pieces and two locking oil cylinders, the two ends of the locking oil cylinders are correspondingly hinged to U-shaped forks of the two locking clamping pieces, and the device has the advantages of being simple in structure, convenient to operate and control, high in adaptability and high in reliability; the method has the advantages of simple process, safety and reliability.

Description

Technical Field

[0001] The invention relates to a lifting device, in particular to a controllably rotatable lifting device and a method for using the device. Background Art

[0002] In the field of logistics warehousing and AGV transfer, when it is necessary to realize the rotation of the upper body and the product, the current method in this field mainly adopts the method of designing a rotating mechanism for the upper body, in which the upper body is placed on the AGV and the product is placed on the upper body. Although this method can realize the rotation function of the product relative to the AGV, when the product needs to be transported by multiple AGVs in coordination, the rotating mechanisms on the multiple AGVs can only ensure that the internal stress of the product during the rotation process is small enough to avoid damage or destruction to the product due to the large internal stress. It is not only difficult to control, but also has poor adaptability. Summary of the invention

[0003] The purpose of the present invention is to provide a rotary lifting device and a method for using the same. The device has the advantages of simple structure, convenient operation, strong adaptability and high reliability; the method has the advantages of simple process, safety and reliability.

[0004] In order to solve the above problems existing in the prior art, the present invention provides a rotary lifting device, including a base, a lifting column, a mounting seat, a slewing bearing, a positioning cylinder and a locking assembly. The top of the base is provided with a groove, and two parallel guide rails are fixed in the groove. The lifting column is provided with four and the upper ends thereof are respectively fixed on the base, and the mounting seat is in the groove of the base. The mounting seat includes a support plate and a support frame fixed to the bottom of the support plate, a slider matching the guide rail is fixed to the bottom of the support plate, and guide shafts parallel to the guide rails are respectively provided on both sides of the support frame, and a guide shaft is sleeved on the guide shaft and is pressed on the base The spring on the inner ring of the slewing bearing is fixed on the support plate of the mounting seat, and a table plate is fixed on the outer ring of the slewing bearing. The positioning cylinder passes through the base and the mounting seat and fixes its upper end to the bottom of the table plate. The locking assembly includes two locking clamps and two locking cylinders. The two locking clamps are symmetrically distributed on both sides of the slewing bearing. The locking clamps include an arc-shaped hoop plate and a U-shaped fork fixed at both ends of the arc-shaped hoop plate. A guide rod passing through the base is horizontally fixed in the middle of the arc-shaped hoop plate. The two locking cylinders are symmetrically distributed on both sides of the slewing bearing, and the two ends of the locking cylinders are hinged to the U-shaped forks of the two locking clamps.

[0005] Furthermore, the present invention provides a rotary lifting device, wherein the lifting column is a trapezoidal screw lifter, the four lifting columns are divided into two groups, a reversing reducer is provided between the two lifting columns in each group, the input end of the reversing reducer is connected to a servo motor, and the two output ends of the reversing reducer are respectively connected to the corresponding lifting column input ends through a coupling and a transmission shaft.

[0006] Furthermore, the present invention provides a rotary lifting device, wherein the table plate is symmetrically provided with two pieces, a bracket plate fixed on the outer ring of the slewing bearing is provided between the two table plates, an angle encoder is installed on the support plate of the mounting seat through a U-shaped frame, the angle encoder is located in the internal position of the slewing bearing, and the rotating shaft of the angle encoder is fixed on the bracket plate.

[0007] Furthermore, the present invention provides a rotary lifting device, wherein two limit blocks are fixed on the support plate of the mounting seat, the two limit blocks are located at the internal position of the slewing bearing, and a stop rod cooperating with the limit blocks is provided at the bottom of the platform.

[0008] Furthermore, the present invention provides a rotary lifting device, wherein a positioning sensor is fixed on the support plate of the mounting seat, the positioning sensor is located at an internal position of the slewing bearing, and a hole corresponding to the positioning sensor is provided on the table.

[0009] Furthermore, the present invention provides a rotary lifting device, wherein a pull-wire sensor is provided on the base, and the pull-wire sensor is used to detect the lifting height of the base and the table.

[0010] Furthermore, the present invention provides a rotary lifting device, wherein the base is formed by welding plates, and a guide sleeve is provided on the base for slidingly cooperating with the guide rod; and the lower end of the positioning cylinder is hinged with a ground contacting foot plate through a pin shaft.

[0011] Furthermore, the present invention provides a rotary lifting device, wherein the lifting column has a built-in force sensor and an alarm, the force sensor is used to monitor the load of the lifting column, and the alarm is used to trigger an alarm signal when the load of the lifting column exceeds a set value.

[0012] Furthermore, the present invention provides a rotary lifting device, wherein the central angle of the two limit blocks relative to the center of the slewing bearing is 90°.

[0013] Based on the same concept, the present invention also provides a method for using the above-mentioned rotary lifting device, comprising the following steps:

[0014] S1. Install the rotary lifting device on the AGV, wherein the lower ends of the four lifting columns and the reversing reducer are respectively fixed on the body of the AGV, and the body of the AGV is provided with a through hole for the positioning cylinder to pass through;

[0015] S2. When the product only needs to be transported by a single AGV, the product is placed on the rotary lifting device platform corresponding to the single AGV. When the posture of the AGV relative to the product needs to be adjusted, the locking cylinder is extended to unlock the outer ring of the slewing bearing by the locking assembly, and the positioning cylinder is extended to support on the ground; after the posture adjustment of the AGV is completed, the positioning cylinder is retracted, and the locking cylinder is shortened to lock the outer ring of the slewing bearing by the locking assembly;

[0016] S3. When a product needs to be transported by two AGVs, the product is placed on the rotating lifting device platforms corresponding to the two AGVs. When the postures of the two AGVs relative to the product need to be adjusted, the rotating lifting device corresponding to one AGV is extended through the locking cylinder to unlock the outer ring of the slewing bearing by the locking assembly, and the positioning cylinder is extended to support on the ground, so that the rotating lifting device corresponding to the other AGV is in a state where the locking assembly locks the outer ring of the slewing bearing and the positioning cylinder is suspended; when the posture adjustment of the two AGVs is completed, the extended positioning cylinder and the extended locking cylinder are reset respectively.

[0017] Compared with the prior art, the rotary lifting device and the use method of the present invention have the following advantages: the present invention provides a bottom bracket, a lifting column, a mounting seat, a slewing bearing, a positioning cylinder and a locking assembly, so that the bottom bracket is provided with a groove at its top, and two parallel guide rails are fixed in the groove, four lifting columns are provided and their upper ends are respectively fixed on the bottom bracket, the mounting seat is provided in the groove of the bottom bracket, and the mounting seat is provided with a support plate and a support frame fixed to the bottom of the support plate, wherein a slider matching the guide rail is fixed to the bottom of the support plate, and guide shafts parallel to the guide rails are respectively provided on both sides of the support frame, and the guide shafts are sleeved with a screw extruded on the bottom bracket. The spring on the bottom bracket fixes the inner ring of the slewing bearing on the support plate of the mounting seat, fixes the table on the outer ring of the slewing bearing, allows the positioning cylinder to pass through the bottom bracket and the mounting seat and fixes its upper end to the bottom of the table, and sets two locking clamps and two locking cylinders in the locking assembly, arranges the two locking clamps symmetrically on both sides of the slewing bearing, and sets the locking clamps with arc hoop plates and U-shaped forks fixed at both ends of the arc hoop plates, wherein the middle of the arc hoop plates is horizontally fixed with a guide rod passing through the bottom bracket, and arranges the two locking cylinders symmetrically on both sides of the slewing bearing, and makes the two ends of the locking cylinders corresponding to the U-shaped forks of the two locking clamps. Thus, a rotary lifting device with simple structure, convenient operation, strong adaptability and high reliability is formed. In practical application, the rotary lifting device is first fixed on the AGV through four lifting columns, and a through hole for the positioning cylinder to pass through is set on the body of the AGV, and then the upper body is placed on the table of the rotary lifting device, and the product is placed on the upper body, and the upper body and the product can be transported by the AGV. The present invention realizes the lifting function by arranging four lifting columns, and by arranging a sliding mechanism composed of a guide rail and a slider and a buffer mechanism composed of a guide shaft and a spring between the mounting seat and the base, when the products are transported by two AGVs, the coordinated angle error and the coordinated distance error between the two vehicles can be eliminated, effectively reducing the internal stress caused by the error to the upper body and the product, and improving the adaptability and safety. The rotation function is realized by arranging a slewing bearing, and the positioning function of the table, the upper body and the product is realized by arranging a positioning cylinder. When the AGV needs to adjust its posture, the locking assembly unlocks the outer ring of the slewing bearing, and the positioning cylinder is extended to support on the ground. Since the friction coefficient of the rotation of the slewing bearing is small, and the static friction coefficient between the positioning cylinder and the ground is large, it is ensured that the table, the upper body and the product will not rotate with the AGV. By arranging the locking assembly, the locking assembly is allowed to lock the outer ring of the slewing bearing during the transportation process, so that the slewing bearing and the table form a fixed relationship with the AGV, ensuring stability and reliability.

[0018] The following is a detailed description of a rotary lifting device and a method of use of the present invention in conjunction with the specific embodiments shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1It is a front view of a rotary lifting device of the present invention;

[0020] Figure 2 A top view of a rotary lifting device of the present invention;

[0021] Figure 3 Axonometric view of a rotary lifting device of the present invention Figure 1 ;

[0022] Figure 4 Axonometric view of a rotary lifting device of the present invention Figure 2 ;

[0023] Figure 5 Axonometric measurement of the combined state of the mounting seat and the slewing bearing in the present invention Figure 1 ;

[0024] Figure 6 Axonometric measurement of the combined state of the mounting seat and the slewing bearing in the present invention Figure 2 ;

[0025] Figure 7 This is a diagram showing the installation and use status of a rotary lifting device of the present invention. DETAILED DESCRIPTION

[0026] First of all, it should be explained that the directional words such as up, down, left, right, front and back described in the present invention are only described according to the drawings for the convenience of understanding, and are not intended to limit the technical solution and the scope of protection of the present invention.

[0027] like Figures 1 to 7The specific embodiment of a rotary lifting device of the present invention includes a base 1, a lifting column 2, a mounting seat 3, a slewing bearing 4, a positioning cylinder 5 and a locking assembly. The base 1 is provided with a groove 11 at its top, and two parallel guide rails 12 are fixed in the groove 11. Four lifting columns 2 are provided and their upper ends are fixed on the base 1 respectively. The mounting seat 3 is provided in the groove 11 of the base 1, and the mounting seat 3 is provided with a support plate 31 and a support frame 32 fixed at the bottom of the support plate 31, wherein a slider 33 matching the guide rail 12 is fixed at the bottom of the support plate 31, and guide shafts 34 parallel to the guide rail 12 are provided on both sides of the support frame 32, and springs 35 pressed on the base 1 are sleeved on the guide shafts 34. The inner ring of the slewing bearing 4 is fixed on the support plate 31 of the mounting seat 3, and a table 41 is fixed on the outer ring of the slewing bearing 4, and the positioning cylinder 5 passes through the base 1 and the mounting seat 3 and its upper end is fixed at the bottom of the table 41. The locking assembly is provided with two locking clamps 6 and two locking cylinders 7, the two locking clamps 6 are symmetrically arranged on both sides of the slewing bearing 4, and the locking clamps 6 are provided with an arc hoop plate 61 and a U-shaped fork 62 fixed at both ends of the arc hoop plate 61, wherein a guide rod 63 passing through the base 1 is horizontally fixed in the middle of the arc hoop plate 61, the two locking cylinders 7 are symmetrically arranged on both sides of the slewing bearing 4, and the two ends of the locking cylinders 7 are hinged to the U-shaped forks 62 of the two locking clamps 6.

[0028] The above arrangement thus constitutes a rotary lifting device with a simple structure, convenient operation, strong adaptability and high reliability. In practical applications, the rotary lifting device is first fixed to the AGV 100 by four lifting columns 2, and a through hole for the positioning cylinder 5 to pass through is provided on the body of the AGV. Then, the upper load is placed on the table 41 of the rotary lifting device, and the product is placed on the upper load, and the upper load and the product can be transported by the AGV. The present invention realizes the lifting function by setting four lifting columns 2. By setting a sliding mechanism composed of a guide rail 12 and a slider 33 and a buffer mechanism composed of a guide shaft 34 and a spring 35 between the mounting seat 3 and the base 1, when the product is transported by two AGVs, the coordinated angle error and coordinated distance error between the two vehicles can be eliminated, effectively reducing the internal stress caused by the error to the upper body and the product, and improving the adaptability and safety. The rotation function is realized by setting a slewing bearing 4, and the positioning function of the table 41, the upper body and the product is realized by setting a positioning cylinder 5. When the AGV needs to adjust its posture, the locking assembly unlocks the outer ring of the slewing bearing 4, and the positioning cylinder 5 is extended and supported on the ground. Since the friction coefficient of the rotation of the slewing bearing 4 is small, and the static friction coefficient between the positioning cylinder 5 and the ground is large, it is ensured that the table 41, the upper body and the product will not rotate with the AGV. By setting a locking assembly, the locking assembly is locked to the outer ring of the slewing bearing 4 during the transportation process, so that the slewing bearing 4 and the table 41 form a fixed relationship with the AGV, ensuring stability and reliability. It should be noted that the rotary lifting device provided by the present invention is not limited to use on AGVs, but can also be used on other vehicles or equipment; the aforementioned upper body refers to a bracket specifically used to place products. According to the specific structure of the supported product, the present invention usually designs the upper half of the upper body into an arc structure and the lower half into a flat bottom structure to facilitate stable placement, but is not limited to the above-listed structures, and can also be designed into other structural forms.

[0029] As an optimization scheme, this specific embodiment makes the lifting column 2 adopt a trapezoidal screw lifter, and divides the four lifting columns 2 into two groups, wherein a reversing reducer 21 is provided between the two lifting columns 2 in each group, and the input end of the reversing reducer 21 is connected to a servo motor (not shown in the figure), and the two output ends of the reversing reducer 21 are respectively connected to the corresponding input end of the lifting column 2 through a coupling 22 and a transmission shaft 23. This setting can effectively avoid the sudden fall of the rotating lifting device and the upper load and products carried by the lifting column 2 due to a fault by using the self-locking ability of the trapezoidal screw, thereby improving safety and reliability, and by allowing the two lifting columns 2 in each group to share a reversing reducer 21 and a matching servo motor, the structure is simplified and the control difficulty is reduced. In practical applications, the present invention also makes the lifting column 2 built-in with a force sensor and an alarm, so as to monitor the load of the lifting column 2 through the force sensor, and trigger an alarm signal through the alarm when the load of the lifting column 2 exceeds the set value, thereby improving the convenience and safety of control. As an optimization scheme, the present specific implementation makes two symmetrically arranged table plates 41, and a bracket plate 42 fixed on the outer ring of the slewing bearing 4 is arranged between the two table plates 41; accordingly, an angle encoder 9 is installed on the support plate 31 of the mounting seat 3 through a U-shaped frame 8, and the rotating shaft of the angle encoder 9 is fixed on the bracket plate 42, wherein the angle encoder 9 is located in the internal position of the slewing bearing 4. With this arrangement, when the slewing bearing 4 rotates, the bracket plate 42 will rotate with the rotating shaft of the angle encoder 9, thereby the rotation angle of the slewing bearing 4 can be measured by the angle encoder 9 for accurate control. In practical applications, in order to prevent the rotation angle from being too large, the present invention fixes two limit blocks 36 on the support plate 31 of the mounting seat 3, and sets a stopper rod matched with the limit blocks 36 at the bottom of the table plate 41, wherein the two limit blocks 36 are located in the internal position of the slewing bearing 4, so that the rotation angle of the slewing bearing 4 can be limited within a certain range through the blocking effect of the two limit blocks 36 on the stopper rod. Normally, the rotation angle of the slewing bearing 4 can meet the requirement within 90°, so the present invention sets the central angle of the two limit blocks 36 relative to the center of the slewing bearing 4 to 90°.

[0030] As a specific embodiment, the present invention fixes a positioning sensor 37 on the support plate 31 of the mounting seat 3, and sets a hole corresponding to the positioning sensor 37 on the table 41, so as to detect the positioning when placing the upper body, wherein the positioning sensor 37 is located in the internal position of the slewing bearing 4. In order to facilitate the detection of the lifting height of the base 1 and the table 41, that is, to detect the lifting height of the rotary lifting device, the present specific embodiment also sets a wire sensor (not shown in the figure) on the base 1. In practical applications, the present invention makes the base 1 welded by plates to simplify the structure and preparation process, and sets a guide sleeve 13 on the base 1 that slides with the guide rod 63 to improve the stability of the locking clamp 6. At the same time, the present invention also hinges the ground contact foot plate 51 at the lower end of the positioning cylinder 5 through a pin shaft to improve adaptability and increase friction.

[0031] Based on the same concept, the present invention also provides a method for using a rotary lifting device, comprising the following steps:

[0032] S1. Install the rotary lifting device on the AGV, wherein the lower ends of the four lifting columns 2 and the reversing reducer 21 are respectively fixed on the body of the AGV, and the body of the AGV is provided with a through hole for the positioning cylinder 5 to pass through.

[0033] S2. When the product only needs to be transported by a single AGV, the product is placed on the rotary lifting device table 41 corresponding to the single AGV. When the posture of the AGV relative to the product needs to be adjusted, the locking cylinder 7 is extended to unlock the outer ring of the slewing bearing 4 by the locking assembly, and the positioning cylinder 5 is extended to support on the ground; after the posture adjustment of the AGV is completed, the positioning cylinder 5 is retracted, and the locking cylinder 7 is shortened to lock the outer ring of the slewing bearing 4 by the locking assembly. This step ensures that the product is protected from internal stress when the relative posture of the AGV and the product changes.

[0034] S3. When a product needs to be transported by two AGVs, the product is placed on the rotary lifting device table 41 corresponding to the two AGVs. When the posture of the two AGVs relative to the product needs to be adjusted, the rotary lifting device corresponding to one AGV is extended through the locking cylinder 7 to unlock the outer ring of the slewing bearing 4 by the locking component, and the positioning cylinder 5 is extended to support on the ground, so that the rotary lifting device corresponding to the other AGV is in a state where the locking component locks the outer ring of the slewing bearing 4 and the positioning cylinder 5 is suspended; when the posture adjustment of the two AGVs is completed, the extended positioning cylinder 5 and the extended locking cylinder 7 are reset respectively. When one AGV is moved with the linkage of the two vehicles, internal stress of the product caused by errors can be avoided, ensuring product safety.

[0035] The method for using the rotary lifting device provided by the present invention has the advantages of simple process, safety and reliability.

[0036] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the protection scope of the present invention. Without departing from the design concept of the present invention, various modifications made by those skilled in the art based on the technical solution of the present invention should fall within the protection scope determined by the claims of the present invention.

Claims

1. A rotary lifting device, characterized in that: The invention comprises a base (1), a lifting column (2), a mounting seat (3), a slewing bearing (4), a positioning oil cylinder (5) and a locking assembly. The top of the base (1) is provided with a groove (11), two parallel guide rails (12) are fixed in the groove (11), four lifting columns (2) are provided and their upper ends are respectively fixed on the base (1), the mounting seat (3) is located in the groove (11) of the base (1), the mounting seat (3) comprises a support plate (31) and a support frame (32) fixed to the bottom of the support plate (31), a slider (33) matched with the guide rail (12) is fixed to the bottom of the support plate (31), guide shafts (34) parallel to the guide rail (12) are respectively provided on both sides of the support frame (32), a spring (35) pressed on the base (1) is sleeved on the guide shaft (34), and the slewing bearing (4) is provided with a positioning oil cylinder (5) and a locking assembly. The inner ring of the bearing (4) is fixed on the support plate (31) of the mounting seat (3), and a table plate (41) is fixed on the outer ring of the slewing bearing (4). The positioning cylinder (5) passes through the base support (1) and the mounting seat (3) and has its upper end fixed on the bottom of the table plate (41). The locking assembly includes two locking clamps (6) and two locking cylinders (7). The two locking clamps (6) are symmetrically distributed on both sides of the slewing bearing (4). The locking clamps (6) include an arc hoop plate (61) and a U-shaped fork (62) fixed at both ends of the arc hoop plate (61). A guide rod (63) passing through the base support (1) is horizontally fixed in the middle of the arc hoop plate (61). The two locking cylinders (7) are symmetrically distributed on both sides of the slewing bearing (4), and the two ends of the locking cylinders (7) are correspondingly hinged to the U-shaped forks (62) of the two locking clamps (6).

2. A rotary lifting device according to claim 1, characterized in that: The lifting column (2) is a trapezoidal screw lifter. The four lifting columns (2) are divided into two groups. A reversing reducer (21) is provided between the two lifting columns (2) in each group. The input end of the reversing reducer (21) is connected to a servo motor. The two output ends of the reversing reducer (21) are respectively connected to the input end of the corresponding lifting column (2) through a coupling (22) and a transmission shaft (23).

3. A rotary lifting device according to claim 2, characterized in that: The table plates (41) are symmetrically provided with two pieces, and a bracket plate (42) fixed on the outer ring of the slewing bearing (4) is provided between the two table plates (41). An angle encoder (9) is installed on the support plate (31) of the mounting seat (3) via a U-shaped frame (8). The angle encoder (9) is located in an internal position of the slewing bearing (4), and the rotating shaft of the angle encoder (9) is fixed on the bracket plate (42).

4. A rotary lifting device according to claim 3, characterized in that: Two limit blocks (36) are fixed on the support plate (31) of the mounting seat (3), and the two limit blocks (36) are located inside the slewing bearing (4). A stop rod cooperating with the limit blocks (36) is provided at the bottom of the platform (41).

5. A rotary lifting device according to claim 4, characterized in that: A positioning sensor (37) is fixed on the support plate (31) of the mounting seat (3), the positioning sensor (37) is located inside the slewing bearing (4), and a hole corresponding to the positioning sensor (37) is provided on the table (41).

6. A rotary lifting device according to claim 4, characterized in that: The base support (1) is provided with a wire sensor, which is used to detect the lifting height of the base support (1) and the table (41).

7. A rotary lifting device according to claim 4, characterized in that: The base (1) is formed by welding plates, and a guide sleeve (13) is provided on the base (1) for slidingly cooperating with the guide rod (63); the lower end of the positioning oil cylinder (5) is hingedly connected with a ground contact foot plate (51) via a pin shaft.

8. The rotary lifting device according to claim 4, characterized in that: The lifting column (2) has a built-in force sensor and an alarm. The force sensor is used to monitor the load of the lifting column (2), and the alarm is used to trigger an alarm signal when the load of the lifting column (2) exceeds a set value.

9. The rotary lifting device according to claim 4, characterized in that: The central angle of the two limit blocks (36) relative to the center of the slewing bearing (4) is 90°.

10. A method for using the rotary lifting device according to claim 4, characterized in that: The following steps are involved: S1. Install the rotary lifting device on the AGV, wherein the lower ends of the four lifting columns (2) and the reversing reducer (21) are respectively fixed on the body of the AGV, and the body of the AGV is provided with a through hole for the positioning cylinder (5) to pass through; S2. When a product only needs to be transported by a single AGV, the product is placed on the rotary lifting device table (41) corresponding to the single AGV. When the posture of the AGV relative to the product needs to be adjusted, the locking cylinder (7) is extended to unlock the outer ring of the slewing bearing (4) by the locking assembly, and the positioning cylinder (5) is extended to support the ground; after the posture adjustment of the AGV is completed, the positioning cylinder (5) is retracted, and the locking cylinder (7) is shortened to lock the outer ring of the slewing bearing (4) by the locking assembly; S3. When a product needs to be transported by two AGVs, the product is placed on the rotary lifting device platforms (41) corresponding to the two AGVs. When the postures of the two AGVs relative to the product need to be adjusted, the rotary lifting device corresponding to one AGV is extended through the locking cylinder (7) to unlock the outer ring of the slewing bearing (4) by the locking assembly, and the positioning cylinder (5) is extended to support on the ground, so that the rotary lifting device corresponding to the other AGV is in a state where the locking assembly locks the outer ring of the slewing bearing (4) and the positioning cylinder (5) is suspended in the air; when the posture adjustment of the two AGVs is completed, the extended positioning cylinder (5) and the extended locking cylinder (7) are reset respectively.

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