A BMS finished product unloading turnover dolly based on a latent AGV

Abstract

This invention relates to the field of material handling cart technology and discloses a BMS finished product unloading material handling cart based on a submersible AGV. The cart includes a cart body with multiple material trays slidingly passing through it. A crosshair is provided on the bottom wall of the cart body, and a QR code is affixed to the crosshair for visual positioning by an external submersible AGV. A docking pin is also provided on the bottom wall of the cart body, which is adapted to the pin holes on the external submersible AGV. By setting the crosshair and docking pin, this invention allows the submersible AGV to locate the specific position of the cart body by recognizing the crosshair during the turnover process. After the submersible AGV's lifting plate rises, the docking pin can be inserted into the pin holes on the lifting plate, effectively preventing the cart body from tipping over during turnover. Compared with existing technologies, this invention achieves automated operation in the BMS unloading process, offering advantages such as high automation and a smoother turnover process.

Description

Technical Field

[0001] This invention relates to a BMS finished product unloading and turnover material cart based on a submersible AGV, belonging to the technical field of turnover material carts. Background Technology

[0002] In recent years, with the booming development of new energy vehicles, the demand for Battery Management Systems (BMS) to ensure the safe operation of power batteries has also been increasing. Currently, in the unloading process of finished BMS products, due to the high requirements for drop protection of its internal components and the variety of product types, the flexibility of its turnover is particularly important. It is necessary to achieve both automated production and the ability to manually handle special models.

[0003] Therefore, in the existing technology, during the turnover process of BMS production, BMS are often stacked in bins and transported by handcarts. For example, Chinese patent application CN202410507658.5 discloses an automatic loading and unloading cart for new energy battery frames. It uses positioning frames in the loading and unloading areas to push one end of the cart body into the positioning frame for unloading and storing battery frames or retrieving them. Each layer of the supporting mechanism rotates around the positioning support shaft under the gravity of the weight block, without affecting the unloading or retrieval of the next layer of battery frames, thus improving the efficiency of loading and unloading battery frames. Furthermore, the guide wheels on the positioning frame, combined with the inclined design at both ends of the cart body, facilitate the operator to push the cart body into the positioning frame and use the positioning frame to position the cart body, thereby enabling the cart body to store materials in the unloading area or retrieve materials in the loading area, providing good flexibility. However, it still requires manual pushing during use, that is, it still uses the method of people pushing carts to transport material boxes, which is not conducive to the automation and unmanned operation of the turnover process.

[0004] Automated Guided Vehicles (AGVs), also known as stealth AGVs, are automated transportation devices widely used in industrial production and logistics. They feature a low, flat design that allows them to easily hide under specific shelves, carts, and other transportable objects. Equipped with drive wheels, guide wheels, navigation devices for path recognition, control systems, and power systems, they can transport objects to designated locations along pre-set paths. However, traditional carts lack the necessary positioning mechanisms for stealth AGVs. This makes it difficult for stealth AGVs to accurately align with carts in most cases, requiring manual intervention for position control to ensure accurate docking. Otherwise, carts may tip over during transport, affecting the products on them, which hinders the automation and unmanned operation of the BMS (Business Management System) workflow. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, this invention provides a BMS finished product unloading and turnover material cart based on a submersible AGV.

[0006] The technical solution of the present invention is as follows: A BMS finished product unloading and turnover trolley based on a hidden AGV includes a trolley body with multiple material trays slidingly passing through it. The bottom wall of the trolley body is provided with cross-shaped engravings, and QR codes for visual positioning by an external hidden AGV are affixed to the cross-shaped engravings. The bottom wall of the trolley body is also provided with a docking pin shaft that is adapted to the pin holes on the external hidden AGV.

[0007] Furthermore, the material cart body is provided with a first slide rail corresponding to the material tray, and the side wall of the material tray is provided with a second slide rail adapted to the first slide rail. The material tray is slidably connected to the first slide rail through the second slide rail so as to slide through the material cart body.

[0008] Furthermore, each of the aforementioned material trays is fixedly provided with a base magnet on its rear wall, and a magnet fixing plate is fixedly provided on the rear wall of the material cart body. The magnet fixing plate is provided with a magnet, and the magnet and the base magnet are arranged in a one-to-one correspondence. After the material tray is completely inserted into the material cart body, each base magnet is attracted together with its corresponding magnet.

[0009] Furthermore, the bottom of the material cart body is equipped with casters, and a push handle is also provided on the rear wall of the material cart body.

[0010] Furthermore, the material cart body is also provided with a limiting mechanism for restricting the material tray from sliding outward. The limiting mechanism includes a sliding square shaft installed on one side wall of the material cart body through a connecting member. The sliding square shaft slides through the connecting member. A first clamping plate is provided on the shaft wall of the sliding square shaft. A second clamping plate is provided on the side wall of the first clamping plate away from the sliding square shaft, which corresponds to the material tray. Each second clamping plate is in contact with the front wall of the corresponding material tray. A material passage space is left between adjacent second clamping plates for the material tray to pass through.

[0011] Furthermore, a pin hole is provided on the sliding square shaft, and a pin is also provided on the material cart body. After the pin is aligned with the pin hole, it can be inserted into the pin hole. When the pin is inserted into the pin hole, each second card plate is positioned away from its corresponding material tray, allowing the material tray to pass outward from the material passage space.

[0012] Furthermore, the top of the sliding square shaft is also provided with a square shaft handle, and the bottom of the sliding square shaft is also provided with a limiting plate. The limiting plate is designed to prevent the connecting piece from passing through. When the limiting plate is in close contact with the connecting piece, the positions of the pin and the pin hole are aligned.

[0013] Furthermore, a tension spring is provided on the material cart body. The tension spring is vertically arranged, and the bottom of the tension spring is fixedly connected to the material cart body by a fixing bolt. A connecting column is fixedly passed through the sliding square shaft, and the top of the tension spring is fixedly connected to the connecting column. When the tension spring is in its normal state, each second plate is in contact with the front wall of the corresponding material tray.

[0014] Furthermore, the material cart body is also provided with a docking mechanism for docking with an external machine. The docking mechanism includes a docking baffle, and a circular magnet is provided on the side wall of the docking baffle close to the external machine. The circular magnet is used to engage with the docking electromagnet on the external machine.

[0015] Furthermore, the docking baffle is provided with symmetrically arranged long screws, with a buffer space between the two long screws. The long screw away from the circular magnet is fixedly installed on the docking baffle, and the long screw close to the circular magnet is provided with a round nut column that is movably protruding from the docking baffle. The end of the round nut column close to the circular magnet is fixedly connected to the circular magnet. Anti-loosening nuts are fixedly installed on both long screws, and a compression spring is provided between the two anti-loosening nuts. The compression spring is sleeved on the two long screws and both ends abut against the corresponding anti-loosening nuts. The round nut column is also provided with symmetrically arranged adjusting shims. The adjusting shims are provided on the column sections of the round nut column located inside and outside the docking baffle.

[0016] The present invention has the following beneficial effects: 1. This invention features crosshairs and docking pins on the bottom wall of the material cart body, with QR codes affixed to the crosshairs for visual positioning by an external AGV. During the turnover process, the AGV moves to the bottom of the material cart body and identifies its position by recognizing the crosshairs. Visual positioning is achieved using the QR codes, allowing for the planning of a navigation path. After the AGV's lifting plate rises, the docking pins can be inserted into pin holes on the lifting plate, connecting the material cart body to the AGV. This effectively prevents the material cart body from tipping over during turnover. Compared to existing technologies, this invention automates the BMS unloading process, reduces manpower, and offers advantages such as high automation and a smoother turnover process.

[0017] 2. This invention sets a tray for placing BMS products on the material cart body, and uses a magnet with a seat, a magnet, and a limiting mechanism to restrict the tray. This double-protection structure can effectively prevent the tray from accidentally sliding out during the turnover process, thereby effectively isolating the BMS products from the outside world, improving the protection effect during the turnover process, and ensuring that the BMS products are not easily damaged.

[0018] 3. This invention, by setting up a docking mechanism for interfacing with external machines, allows the docking electromagnet on the external machine to engage with a circular magnet after the submerged AGV transports the material cart body to the required position. Then, the submerged AGV lowers the lifting plate, causing the docking pin to leave the pin hole. At this time, the external machine can pull the material cart body to the required loading / unloading position by pulling the docking electromagnet, thus realizing the automatic operation of the material cart body reaching the picking and unloading position, which has the advantage of improving production flexibility. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the front structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the bottom structure of an embodiment of the present invention; Figure 3 This is a left view of an embodiment of the present invention; Figure 4 This is a schematic diagram of the rear structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure when the base magnet and the magnet are attracted together in an embodiment of the present invention; Figure 6 This is a schematic diagram of the docking mechanism in an embodiment of the present invention; Figure 7 for Figure 1 Enlarged view of point A in the image; Figure 8 for Figure 1 Enlarged view of point B in the image; Figure 9 for Figure 1 Enlarged view of point C in the image.

[0020] The reference numerals in the figure are as follows: 1. Cart body; 2. Material tray; 3. Cross-shaped engraving; 4. Connecting pin; 5. First slide rail; 6. Second slide rail; 7. Magnet with seat; 8. Magnet fixing plate; 9. Magnet; 10. Casters; 11. Push handle; 12. Restriction mechanism; 1201. Connector; 1202. Sliding square shaft; 1203. First clamping plate; 1204. Second clamping plate; 1205. Material passage space; 1206. Pin; 1207. Square shaft handle; 1208. Limiting plate; 1209. Tension spring; 1210. Connecting column; 13. Docking mechanism; 1301. Docking baffle; 1302. Circular magnet; 1303. Long screw; 1304. Buffer space; 1305. Circular nut post; 1306. Anti-loosening nut; 1307. Compression spring; 1308. Adjusting shim. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0022] Example: Please refer to Figures 1-9 This embodiment provides a BMS finished product unloading and turnover cart based on a hidden AGV, including a cart body 1 and a matching external hidden AGV. The external hidden AGV can be a brand of unmanned intelligent AGV trolley from the prior art, or it can be a hidden automated guided vehicle from other brands with similar functions. Multiple material trays 2 are slidably disposed inside the cart body 1. The material trays 2 are evenly distributed longitudinally inside the cart body 1, and the specific number of material trays 2 can be set according to the actual situation. The material cart body 1 is provided with a first slide rail 5 that corresponds to the material tray 2. Specifically, the first slide rail 5 is symmetrically distributed on the inner side walls of both sides of the material cart body 1. Two first slide rails 5 distributed at the same horizontal height correspond to one material tray 2. The material tray 2 is provided with a second slide rail 6 that is adapted to the first slide rail 5 on the corresponding side on both side walls. The second slide rails 6 on both sides are slidably connected to the first slide rail 5 on the corresponding side. The material tray 2 is slidably inserted into the material cart body 1 by sliding the second slide rail 6 to the first slide rail 5.

[0023] The bottom wall of the material cart body 1 is provided with crosshair markings 3, the midpoint of which is the center point of the bottom wall of the material cart body 1. A QR code is affixed to the crosshair markings 3 for visual positioning by an external AGV (Automated Guided Vehicle). The QR code records the specific location of the material cart body 1 within the factory area, allowing the external AGV to identify it. The bottom wall of the material cart body 1 is also provided with a mating pin 4 that is compatible with the pin holes on the lifting plate of the external AGV. Through the aforementioned configuration, during the material cart body 1's turnover process, it will be placed in the appropriate location in the factory by a forklift. Afterwards, the external AGV begins operation. Following its preset navigation, the external AGV moves to the bottom of the material cart body 1. It then uses the crosshairs 3 to pinpoint the exact location of the material cart body 1, aligning it correctly. The external AGV can also perform visual positioning by recognizing a QR code, allowing it to plan a navigation path based on its programmed location. Once the external AGV has aligned the material cart body 1, its lifting plate automatically rises. During this process, the docking pin 4 inserts into the pin hole on the lifting plate, connecting the material cart body 1 to the external AGV and effectively preventing the material cart body 1 from tipping over during turnover. After this, the external AGV can move according to its planned navigation path to move the material cart body 1, thus completing the turnover process.

[0024] To facilitate operation, the bottom of the material cart body 1 is equipped with four rectangular casters 10, and the rear wall of the material cart body 1 is equipped with a push handle 11. The casters 10 facilitate the movement of the material cart body 1, and the push handle 11 allows the operator to easily push the material cart body 1 when needed.

[0025] To prevent the material tray 2 from accidentally slipping out during the turnover process, in this embodiment, each material tray 2 is fixedly equipped with a magnet 7 with a base, and a magnet fixing plate 8 is also fixedly equipped on the rear wall of the material cart body 1. The magnet fixing plate 8 is arranged in a "U" shape, and the number of magnet fixing plates 8 is arranged such that one magnet fixing plate 8 corresponds to two magnets 7 with bases. A corresponding number of fixing rods are set on the rear wall of the material cart body 1 for the installation of the magnet fixing plates 8. Each magnet fixing plate 8 is equipped with two magnets 9 arranged vertically, and the magnets 9 and the magnets 7 with bases are arranged in a one-to-one correspondence. After the material tray 2 is completely put into the material cart body 1, each magnet 7 with bases is attracted together with its corresponding magnet 9, thereby fixing the material tray 2 and effectively preventing the material tray 2 from accidentally slipping out during the turnover process. This can effectively ensure that the BMS finished products in the material tray 2 are not easily damaged.

[0026] To further prevent the tray 2 from accidentally slipping out during the turnover process, in this embodiment, a limiting mechanism 12 for restricting the outward sliding of the tray 2 is further provided on the outer left side wall of the cart body 1. The limiting mechanism 12 includes a sliding square shaft 1202 installed on the outer left side wall of the cart body 1 by setting a connecting member 1201. The connecting member 1201 has a "C" - shaped structure, and the number of connecting members 1201 is three. The three connecting members 1201 are longitudinally distributed on the outer left side wall of the cart body 1. The sliding square shaft 1202 slides through the convex parts in the middle of the three connecting members 1201 so as to be arranged to slide through the three connecting members 1201. On the shaft wall of the sliding square shaft 1202, there are three first clamping plates 1203. There is a spacing between adjacent first clamping plates 1203. The three connecting members 1201 are all within the corresponding spacings. Each first clamping plate 1203 contacts the connecting member 1201 at the corresponding position to restrict the sliding of the sliding square shaft 1202. Therefore, the remaining spacing is the stroke for the sliding square shaft 1202 to slide, and the specific length of the spacing can be set according to the actual situation. On the side walls of the three first clamping plates 1203 away from the sliding square shaft 1202, there are second clamping plates 1204. The total number of the second clamping plates 1204 is the same as the total number of the trays 2. The distribution of the second clamping plates 1204 on the cart body 1 corresponds to the trays 2 one by one. Each second clamping plate 1204 is in contact with the front wall of the corresponding tray 2. There is a material - passing space 1205 for the tray 2 to pass through between adjacent second clamping plates 1204. When each second clamping plate 1204 is in contact with the front wall of the corresponding tray 2, at this time, the tray 2 cannot slip out of the cart body 1 under the restriction of the second clamping plate 1204. This can further fix the tray 2 to better prevent the tray 2 from accidentally slipping out during the turnover process, so as to better ensure that the BMS finished products in the tray 2 are not easily damaged. When each second clamping plate 1204 is in contact with the front wall of the corresponding tray​​When the material tray 2 needs to slide out of the material cart body 1, the following structure can be used: a pin 1206 hole is provided on the sliding square shaft 1202, and a pin 1206 is provided on the material cart body 1. The pin 1206 can be inserted into the pin 1206 hole after it is aligned with the pin 1206 hole. When the pin 1206 is inserted into the pin 1206 hole, each second clamping plate 1204 is positioned away from its corresponding material tray 2, allowing the material tray 2 to pass outward from the material passage space 1205. A square shaft handle 1207 is provided at the top of the sliding square shaft 1202, and a limiting plate 1208 is provided at the bottom of the sliding square shaft 1202. The limiting plate 1208 is designed to prevent the connecting piece 1201 from passing through. When the limiting plate 1208 is in close contact with the bottom connecting piece 1201, the pin 1206 and the pin 1206 hole are aligned. With the aforementioned setup, when it is necessary to remove the material tray 2 from the material cart body 1, the sliding square shaft 1202 is pulled upward by using the square shaft handle 1207, so that the limiting plate 1208 is tightly set with the lowermost connecting piece 1201. Then, the pin 1206 is inserted into the pin 1206 hole. At this time, the position of the sliding square shaft 1202 can be fixed. The sliding square shaft 1202 in this position will cause the three first clamping plates 1203 to move upward, so that each second clamping plate 1204 leaves its corresponding material tray 2. At this time, the material tray 2 can pass outward from the corresponding material passage space 1205, so that the operator can pick up / put in the material.

[0028] To facilitate the reset of the sliding square shaft 1202, in this embodiment, a tension spring 1209 is also provided on the material cart body 1. The tension spring 1209 is vertically arranged, and the bottom of the tension spring 1209 is fixedly connected to the material cart body 1 by a fixing bolt. A horizontally arranged connecting post 1210 is fixedly inserted through the top position of the sliding square shaft 1202. The top of the tension spring 1209 is fixedly connected to one side end of the connecting post 1210. When the tension spring 1209 is in its normal state, each second clamping plate 1204 is in contact with the front wall of the corresponding material tray 2. With the aforementioned setup, when the sliding square shaft 1202 is pulled upward to allow the material tray 2 to slide out of the material cart body 1, the tension spring 1209 will be stretched under the action of the connecting column 1210, thereby generating elastic potential energy. When the material loading / unloading operation is completed and the material tray 2 needs to be restricted again, the operator can release the sliding square shaft 1202, and the sliding square shaft 1202 can automatically reset by its own weight and the reset force of the tension spring 1209.

[0029] To further improve the automation of the turnover process of the skip body 1, in this embodiment, a docking mechanism 13 for docking with an external machine is further provided on the skip body 1. The number of the docking mechanisms 13 is two, and the docking mechanisms 13 are distributed at the bottom positions on the side wall of the skip body 1 close to the external machine. The docking mechanism 13 includes a docking baffle 1301 arranged in a "C" - shaped structure. A circular electromagnet 1302 is provided on the plate wall of the docking baffle 1301 close to the external machine, and the circular electromagnet 1302 is used to attract and engage with the docking electromagnet on the external machine. Through the above - mentioned setting, after the external latent AGV transports the skip body 1 to the required position, the docking electromagnet on the external machine attracts and engages with the circular electromagnet 1302. Then, the latent AGV lowers the lifting plate, making the docking pin 4 leave the pin hole. At this time, the external machine can pull the skip body 1 to the required loading / unloading position by the pulling force of the docking electromagnet. In actual use, the specific number and distribution of the docking mechanism 13 can be selected and set according to the distribution of the docking electromagnets on the actual machine.

[0030] Since there may be some impacts during the docking process between the skip body 1 and the external machine, in this embodiment, long screw rods 1303 arranged symmetrically left and right are further provided inside the docking baffle 1301. A buffer space 1304 is left between the two long screw rods 1303. The long screw rod 1303 on the side far from the circular electromagnet 1302 is fixedly arranged on the docking baffle 1301. A round nut column 1305 is arranged on the long screw rod 1303 close to the circular electromagnet 1302 and penetrates through the docking baffle 1301 movably. The end of the round nut column 1305 close to the circular electromagnet 1302 is fixedly connected to the circular electromagnet 1302. Anti - loosening nuts 1306 are fixedly arranged on both long screw rods 1303. A compression spring 1307 is arranged between the two anti - loosening nuts 1306. The compression spring 1307 is sleeved on the two long screw rods 1303 and both ends are abutted against the corresponding anti - loosening nuts 1306. Symmetrically arranged adjusting washers 1308 are also provided on the round nut column 1305. The adjusting washers 1308 are arranged on both the column sections of the round nut column 1305 inside and outside the docking baffle 1301. The number of the adjusting washers 1308 can be set according to the actual situation to adjust the corresponding telescopic buffer range. Through the above - mentioned setting, when the circular electromagnet 1302 attracts and engages with the docking electromagnet on the external machine, the generated acting force will cause the circular electromagnet 1302 to exert a thrust on the round nut column 1305, making the round nut column 1305 move in the direction away from the circular electromagnet 1302, so as to squeeze the corresponding long screw rod 1303 through the docking baffle 1301. After the long screw rod 1303 is pressed, it makes a corresponding movement and带动 the anti - loosening nut 1306 to move. The anti - loosening nut 1306 squeezes the compression spring 1307, so as to achieve the unloading and buffering during the docking process.

[0031] When the material cart body 1 is connected to the external machine, an additional extension structure can be set on the second card plate 1204 at the bottom. This extension structure can be connected to the corresponding lifting mechanism on the external machine. The lifting mechanism can lift the sliding square shaft 1202 by lifting this extension structure, thereby unlocking the material tray 2 and making it more convenient for operators to use.

[0032] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A BMS finished product unloading turnover dolly based on a latent AGV, comprising a dolly body (1), a plurality of trays (2) are slidably arranged in the dolly body (1), characterized in that: The bottom wall of the material cart body (1) is provided with a cross-shaped engraving (3), and a QR code is attached to the cross-shaped engraving (3) for visual positioning by an external lurking AGV. The bottom wall of the material cart body (1) is also provided with a docking pin (4) that is adapted to the pin hole on the external lurking AGV. The material cart body (1) is also provided with a limiting mechanism (12) for limiting the material tray (2) from sliding outward. The limiting mechanism (12) includes a sliding square shaft (1202) installed on one side wall of the material cart body (1) through a connecting piece (1201). The sliding square shaft (1202) slides through the connecting piece (1201). A first clamping plate (1203) is provided on the shaft wall of the sliding square shaft (1202). A second clamping plate (1204) is provided on the side wall of the first clamping plate (1203) away from the sliding square shaft (1202) and is provided in a one-to-one correspondence with the material tray (2). Each second clamping plate (1204) is in contact with the front wall of the corresponding material tray (2). There is also a material passage space (1205) between adjacent second clamping plates (1204) for the material tray (2) to pass through. The sliding square shaft (1202) is also provided with a pin (1206) hole, and the material cart body (1) is also provided with a pin (1206). After the pin (1206) is aligned with the pin (1206) hole, it can be inserted into the pin (1206) hole. When the pin (1206) is inserted into the pin (1206) hole, each second card plate (1204) is set away from the corresponding material tray (2), so that the material tray (2) can pass out from the material passage space (1205). The top of the sliding square shaft (1202) is also provided with a square shaft handle (1207), and the bottom of the sliding square shaft (1202) is also provided with a limiting plate (1208). The limiting plate (1208) is set to ensure that the connector (1201) cannot pass through it. When the limiting plate (1208) is in close contact with the connector (1201), the position of the pin (1206) and the pin (1206) hole are aligned. A tension spring (1209) is provided on the material cart body (1). The tension spring (1209) is vertically arranged. The bottom of the tension spring (1209) is fixedly connected to the material cart body (1) by a fixing bolt. A connecting column (1210) is fixedly inserted through the sliding square shaft (1202). The top of the tension spring (1209) is fixedly connected to the connecting column (1210). When the tension spring (1209) is in normal state, each second plate (1204) is in contact with the front wall of the corresponding material tray (2).

2. The BMS finished product unloading and turnover cart based on a submersible AGV according to claim 1, characterized in that: The material cart body (1) is provided with a first slide rail (5) corresponding to the material tray (2), and a second slide rail (6) adapted to the first slide rail (5) is provided on the side wall of the material tray (2). The material tray (2) is slidably connected to the first slide rail (5) through the second slide rail (6) so as to slide through the material cart body (1).

3. A BMS finished product unloading and turnover cart based on a submersible AGV according to claim 2, characterized in that: Each of the material trays (2) is fixedly provided with a magnet (7) on its rear wall, and a magnet fixing plate (8) is fixedly provided on the rear wall of the material cart body (1). A magnet (9) is provided on the magnet fixing plate (8). The magnet (9) and the magnet (7) are arranged in a one-to-one correspondence. After the material tray (2) is completely put into the material cart body (1), each magnet (7) is attracted together with its corresponding magnet (9).

4. A BMS finished product unloading and turnover cart based on a submersible AGV according to claim 1, characterized in that: The bottom of the material cart body (1) is provided with casters (10), and a push handle (11) is also provided on the rear wall of the material cart body (1).

5. The BMS finished product unloading and turnover cart of a submersible AGV according to claim 1, characterized in that: The material cart body (1) is also provided with a docking mechanism (13) for docking with an external machine. The docking mechanism (13) includes a docking baffle (1301). A circular magnet (1302) is provided on the side wall of the docking baffle (1301) close to the external machine. The circular magnet (1302) is used to attract the docking electromagnet on the external machine.

6. The BMS finished product unloading and turnover cart of a submersible AGV according to claim 5, characterized in that: The docking baffle (1301) is provided with symmetrically arranged long screws (1303), and a buffer space (1304) is left between the two long screws (1303). The long screw (1303) away from the circular magnet (1302) is fixedly installed on the docking baffle (1301), and the long screw (1303) close to the circular magnet (1302) is provided with a round nut post (1305) that movably protrudes from the docking baffle (1301). The end of the round nut post (1305) close to the circular magnet (1302) is fixedly connected to the circular magnet (1302). Together, anti-loosening nuts (1306) are fixedly installed on both sides of the long screw (1303), and a compression spring (1307) is installed between the two anti-loosening nuts (1306). The compression spring (1307) is sleeved on the two sides of the long screw (1303) and both ends abut against the corresponding side anti-loosening nuts (1306). The round nut column (1305) is also provided with symmetrically arranged adjusting shims (1308). The adjusting shims (1308) are provided on the column sections of the round nut column (1305) located inside and outside the docking baffle (1301).

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