High-precision submerging and lifting AGV (Automatic Guided Vehicle)

Abstract

The utility model relates to the technical field of AGVs, and discloses a high-precision submerging and lifting AGV which comprises a vehicle body chassis assembly, a driving wheel train arranged above the vehicle body chassis assembly, a transferring assembly and a lifting platform assembly arranged above the transferring assembly. The transferring assembly is arranged in the middle of the mounting bottom plate and comprises two sets of linear guide rails which are arranged in parallel and mounted on the mounting bottom plate, each set of linear guide rail is provided with two sliding blocks, the sliding blocks do linear reciprocating motion on the linear guide rails, and a lead screw transmission assembly is arranged between the two sets of linear guide rails. By means of the arranged transferring assembly, during use, the lifting installation plate and the lifting unit can be driven by the lead screw transmission assembly to move horizontally, so that horizontal movement of the lifting platform assembly is achieved, adjustment of three freedom degrees of front-back, left-right and rotation can be achieved, and higher butt joint precision can be achieved when an AGV takes and places materials.

Description

Technical Field

[0001] The utility model relates to the technical field of AGVs, in particular to a high-precision diving and lifting AGV. Background Art

[0002] With the development of automation technology, the application scope of AGV is becoming wider and wider, and its functions are becoming more and more diversified. From the initial single AGV to the current AGV system, modern AGV has become an indispensable part of the automated production line. At the same time, modern AGV has higher safety and greater carrying capacity, and can transport more kinds of items. They can automatically move materials and assemble parts in manufacturing plants, automatically store and retrieve goods in warehouses, and deliver medicines and medical equipment to patients' wards in hospitals. Today, AGV can also achieve more intelligent automation control by combining with cloud computing and big data analysis.

[0003] In the early 2010s, the prosperity of e-commerce logistics accelerated the application and development of AGVs, prompting the continuous iteration and upgrading of AGV technology and the continuous enrichment of application scenarios.

[0004] The earliest application of AGV was mainly in warehousing, transportation and sorting. Under the command of the dispatching system, AGV automatically runs to the designated storage location in the warehouse, sneaks into the material rack, lifts the material rack and transports it to the sorting place. After the manual labor takes away the items that need to be shipped out of the warehouse, the material rack is automatically returned to the warehouse, realizing the transformation from the traditional "people looking for goods" to "goods looking for people", greatly improving the sorting efficiency and reducing manual labor. With the continuous development of AGV technology, its use scenarios are more abundant, and it can be applied to the automatic handling of materials in various scenarios such as metal processing, 3C electronics, clothing and textiles, and new energy.

[0005] The transfer mechanism of the traditional submersible lifting AGV can realize lifting and rotating actions, so it can only perform precision adjustments in the two degrees of freedom of front and back and rotation. When there is a lateral (left and right) deviation between the AGV and the material, it cannot be adjusted. This limits the transfer and docking accuracy of the AGV, reduces the success rate of the AGV picking up materials, prevents the materials from being placed in the precise position, and causes interference and collision when the AGV transfers materials at the workstation. Utility Model Content

[0006] The utility model aims to solve the problems existing in the prior art and proposes a high-precision diving and lifting AGV.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A high-precision submersible lifting AGV, comprising a vehicle chassis assembly, a driving wheel system arranged above the vehicle chassis assembly, a transfer assembly, and a lifting platform assembly arranged above the transfer assembly;

[0009] The transfer assembly is arranged in the middle part of the mounting base plate, and includes two sets of linear guide rails arranged in parallel and mounted on the mounting base plate, each set of linear guide rails is provided with two sliders, and the sliders perform linear reciprocating motion on the linear guide rails, a screw transmission assembly is arranged between the two sets of the linear guide rails, a lifting mounting plate is installed on the four sliders, a lifting unit is installed on the lifting mounting plate, and the driving end of the screw transmission assembly is connected to the lifting mounting plate.

[0010] Preferably, the vehicle body chassis assembly includes a mounting base plate, a safety touch edge, a battery compartment right bracket, a battery compartment top plate, and a battery compartment left bracket. The safety touch edge surrounds the mounting base plate, the battery compartment right bracket and the battery compartment left bracket are located on one side of the top of the mounting base plate, and the battery compartment top plate is arranged above the battery compartment right bracket and the battery compartment left bracket to form a battery compartment, and a power supply assembly is stored in the battery compartment, and the power supply assembly is used to power the AGV.

[0011] Preferably, the screw transmission assembly includes a screw support seat, a screw, a screw fixed side support seat, a reducer mounting seat, a screw drive motor, a reducer, a coupling, a connecting block, and a screw nut. The screw drive motor is installed on the top of the mounting base plate, and the rotational motion of the screw drive motor is transmitted to the screw through the reducer and the coupling. The rotation of the screw drives the screw nut to run linearly, and the bosses on both sides of the screw nut are embedded in the notches on both sides of the connecting block, thereby driving the connecting block to move linearly. The connecting block is fixedly connected to the lifting mounting plate, thereby driving the lifting mounting plate and the lifting unit arranged thereon to move linearly. The screw support seat is supported and arranged at the bottom of the screw, and the screw fixed side support seat is supported and arranged at the bottom of the coupling.

[0012] Preferably, the power supply assembly includes a drawer box, a brush plate, a battery, and a pull-out hole arranged on the drawer box, the battery is arranged in the drawer box, the drawer box moves through one side of the battery compartment, the brush plate is arranged on the surface of the drawer box, the brush plate is provided with two electrode sheets, which are respectively connected to the positive and negative poles of the battery, the brush plate is used to dock with the automatic charging station, and the charging contacts of the automatic charging station are also provided with two electrode blocks which are respectively connected to the positive and negative poles of the output end of the charging station, and the battery can be charged after the positive and negative poles of the charging station are connected to the positive and negative poles of the battery.

[0013] Preferably, an obstacle avoidance component is further included. The obstacle avoidance component is arranged at the middle part in front of the installation base plate and is used to detect obstacles in the running direction of the AGV, so as to perform actions such as decelerating and stopping. The obstacle avoidance component includes an obstacle avoidance bracket and a laser obstacle avoidance sensor. The laser obstacle avoidance sensor is installed on the top of the obstacle avoidance bracket. The top of the obstacle avoidance bracket is in a "one" shape, and the bottom is in a "person" shape.

[0014] Preferably, a navigation and positioning component is further included. The navigation and positioning component is arranged at the middle part of the installation base plate and includes a navigation installation bracket, a positioning sensor, a navigation sensor, and a protective cover. The positioning sensor is used to identify specific markers and read deviation information, and then make precise adjustments. The navigation sensor is used to identify the markers set on the route, so that the AGV can automatically navigate along the set route. The position of the installation base plate corresponding to the protective cover is in an open shape.

[0015] Preferably, a housing component is further included. The housing component is installed above the installation base plate.

[0016] Preferably, the lifting platform component is installed on the top of the transplanting component. Anti-slip stickers and electromagnetic suction cups are arranged on the top of the lifting platform component.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0018] In the present utility model, through the arranged transfer component, during use, the lifting installation plate and the lifting unit can be driven to move horizontally by the lead screw transmission component, so as to realize the horizontal movement of the lifting platform component, enabling the device to achieve adjustments in three degrees of freedom of front-back, left-right, and rotation. When the AGV picks and places materials, higher docking accuracy can be achieved, solving the problems that the prior art can only perform accuracy adjustments in two degrees of freedom of front-back and rotation, and when there is a lateral (left-right) deviation between the AGV and the materials, no adjustment can be made, thus limiting the transfer docking accuracy of the AGV, resulting in problems such as reduced success rate of AGV material picking, inability to place the materials accurately, and interference and collision when the AGV transfers materials at the work station. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the state with the housing component removed for a high-precision submersible lifting AGV proposed by the present utility model;

[0020] Figure 2 It is an overall schematic diagram of a high-precision submersible lifting AGV proposed by the present utility model;

[0021] Figure 3 It is an exploded schematic diagram of a high-precision submersible lifting AGV proposed by the present utility model;

[0022] Figure 4This is an overall schematic diagram of a vehicle chassis assembly of a high-precision submersible lifting AGV proposed by the utility model;

[0023] Figure 5 This is a three-dimensional schematic diagram of the left drive assembly of a high-precision submersible lifting AGV proposed by the utility model;

[0024] Figure 6 This is an overall schematic diagram of a support wheel assembly of a high-precision submersible lifting AGV proposed by the utility model;

[0025] Figure 7 This is an overall schematic diagram of a transfer component of a high-precision submersible lifting AGV proposed by the utility model;

[0026] Figure 8 This is an overall schematic diagram of a screw transmission assembly of a high-precision submersible lifting AGV proposed by the utility model;

[0027] Fig. 9 This is a three-dimensional schematic diagram of a drawer box of a high-precision diving and lifting AGV proposed by the utility model;

[0028] Fig.10 This is a three-dimensional schematic diagram of an obstacle avoidance component of a high-precision diving and lifting AGV proposed by the utility model;

[0029] Fig.11 This is a three-dimensional schematic diagram of a navigation and positioning component of a high-precision diving and lifting AGV proposed by the utility model.

[0030] In the figure: 1. chassis assembly; 2. driving wheel system; 3. transfer assembly; 4. power assembly; 5. obstacle avoidance assembly; 6. navigation and positioning assembly; 7. shell assembly; 8. lifting platform assembly; 11. installation base plate; 12. safety touch edge; 13. right bracket of battery compartment; 14. top plate of battery compartment; 15. left bracket of battery compartment; 21. left driving assembly; 22. right driving assembly; 23. support wheel assembly; 24. articulated seat; 25. articulated shaft; 211. driving wheel; 212. motor; 213. driving swing arm; 214. first sleeve; 215. first bushing; 216. first supporting caster; 231. supporting swing arm; 232. second bushing; 233. second Support caster; 234, second sleeve; 31, linear guide; 32, slider; 33, screw transmission assembly; 34, lifting mounting plate; 35, lifting unit; 331, screw support seat; 332, screw; 333, screw fixed side support seat; 334, reducer mounting seat; 335, screw drive motor; 336, reducer; 337, coupling; 338, connecting block; 339, screw nut; 41, drawer box; 42, brush plate; 43, battery; 411, pull-out hole; 51, obstacle avoidance bracket; 52, laser obstacle avoidance sensor; 61, navigation mounting bracket; 62, positioning sensor; 63, navigation sensor; 64, protective cover; 81, electromagnetic suction cup. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0032] Reference Figure 1-Figure 11 A high-precision submersible lifting AGV includes a vehicle chassis component 1, a driving wheel system 2 arranged above the vehicle chassis component 1, a transfer component 3, and a lifting platform component 8 arranged above the transfer component 3;

[0033] The transfer assembly 3 is arranged in the middle part of the mounting base plate 11, and includes two sets of linear guide rails 31 arranged in parallel and mounted on the mounting base plate 11, each set of linear guide rails 31 is provided with two sliders 32, and the sliders 32 make linear reciprocating motion on the linear guide rails 31, and a screw transmission assembly 33 is arranged between the two sets of the linear guide rails 31, and a lifting mounting plate 34 is installed on the four sliders 32, and a lifting unit 35 is installed on the lifting mounting plate 34, and the driving end of the screw transmission assembly 33 is connected to the lifting mounting plate 34.

[0034] In this embodiment, the driving wheel system 2 adopts the driving wheel structure in the prior art.

[0035] When in use, the lifting mounting plate and the lifting unit can be driven to move horizontally through the screw transmission assembly, thereby realizing the horizontal movement of the lifting platform assembly, so that the device can realize adjustment in three degrees of freedom: front and back, left and right, and rotation. The AGV can achieve higher docking accuracy when picking up and placing materials, which solves the problem that the prior art can only perform precision adjustment in two degrees of freedom: front and back and rotation. When there is a lateral (left and right) deviation between the AGV and the material, adjustment cannot be made, thus limiting the transfer and docking accuracy of the AGV, resulting in a reduced success rate of the AGV picking up materials, the inability to place materials in a precise position, and interference and collision when the AGV transfers materials at the workstation.

[0036] In this embodiment, the vehicle chassis assembly 1 includes a mounting base plate 11, a safety touch edge 12, a battery compartment right bracket 13, a battery compartment top plate 14, and a battery compartment left bracket 15. The safety touch edge 12 surrounds the mounting base plate 11, and the battery compartment right bracket 13 and the battery compartment left bracket 15 are located on one side of the top of the mounting base plate 11. The battery compartment top plate 14 is arranged above the battery compartment right bracket 13 and the battery compartment left bracket 15 to form a battery compartment, and a power supply assembly 4 is stored in the battery compartment, and the power supply assembly 4 is used to power the AGV.

[0037] In this embodiment, the screw transmission assembly 33 includes a screw support seat 331, a screw 332, a screw fixed side support seat 333, a reducer mounting seat 334, a screw drive motor 335, a reducer 336, a coupling 337, a connecting block 338, and a screw nut 339. The screw drive motor 335 is installed on the top of the mounting base plate 11. The rotational motion of the screw drive motor 335 is transmitted to the screw 332 through the reducer 336 and the coupling 337. The screw 332 rotates The rotation drives the screw nut 339 to run in a straight line, and the bosses on both sides of the screw nut 339 are embedded in the notches on both sides of the connecting block 338, thereby driving the connecting block 338 to move in a straight line. The connecting block 338 is fixedly connected to the lifting mounting plate 34, thereby driving the lifting mounting plate 34 and the lifting unit 35 arranged thereon to move in a straight line. The screw support seat 331 is supported and set at the bottom of the screw 332, and the screw fixed side support seat 333 is supported and set at the bottom of the coupling 337.

[0038] In this embodiment, the power supply assembly 4 includes a drawer box 41, a brush plate 42, a battery 43, and a drawing hole 411 provided on the drawer box 41. The battery 43 is arranged inside the drawer box 41. The drawer box 41 movably penetrates through one side of the battery compartment. The brush plate 42 is arranged on the surface of the drawer box 41. There are two electrode plates on the brush plate 42, which are respectively connected to the positive and negative electrodes of the battery 43. The brush plate 42 is used to dock with the automatic charging station. There are also two electrode blocks on the charging contact of the automatic charging station, which are respectively connected to the positive and negative electrodes of the output end of the charging station. After the positive and negative electrodes of the charging station are connected to the positive and negative electrodes of the battery, the battery 43 can be charged, and at the same time, the rapid replacement of the battery 43 can also be realized.

[0039] In this embodiment, an obstacle avoidance assembly 5 is further included. The obstacle avoidance assembly 5 is arranged at the middle position in front of the mounting base plate 11 and is used to detect obstacles in the running direction of the AGV, so as to make actions such as decelerating and stopping. The obstacle avoidance assembly 5 includes an obstacle avoidance bracket 51 and a laser obstacle avoidance sensor 52. The laser obstacle avoidance sensor 52 is installed on the top of the obstacle avoidance bracket 51. The top of the obstacle avoidance bracket 51 is in the shape of a "one", and the bottom is in the shape of a "person". The shape of the bracket is for structural design considerations, and terminal blocks can be installed at the positions on both sides of the sensor.

[0040] In this embodiment, a navigation and positioning assembly 6 is further included. The navigation and positioning assembly 6 is arranged at the middle position of the mounting base plate 11 and includes a navigation mounting bracket 61, a positioning sensor 62, a navigation sensor 63, and a protective cover 64. The positioning sensor 62 is used to identify specific markers and read deviation information, and then make precise adjustments. The navigation sensor 63 is used to identify the markers set on the route, so that the AGV can automatically navigate along the set route. The position of the mounting base plate 11 corresponding to the protective cover 64 is in an open shape. The navigation mounting bracket 61 is installed at this open position, and the protective cover 64 is arranged on this opening. The protective cover 64 can prevent dust from entering the equipment through this opening, and at the same time has the function of covering up ugliness.

[0041] In this embodiment, a housing assembly 7 is further included. The housing assembly 7 is installed above the mounting base plate 11.

[0042] In this embodiment, the lifting platform assembly 8 is installed on the top of the transplanting assembly 3. The top of the lifting platform assembly 8 is provided with an anti-skid sticker and an electromagnetic suction cup 81. The anti-skid sticker is pasted on the AGV lifting platform to increase the friction between the material and the AGV. The electromagnetic suction cup 81 is provided on the lifting platform. When the AGV carries materials such as metal racks and trays, the electromagnetic suction cup 81 is energized to suck the material, increase the friction between the material and the lifting platform, and ensure that the material does not slip on the platform. The lifting platform replaces the traditional mechanical positioning pin solution with the electromagnetic suction cup 81, which reduces the body height of the AGV, so that the AGV can adapt to more usage scenarios, and solves the problem of inaccurate alignment of the positioning pins, which causes the tray to tilt or even fall. At the same time, the body height is reduced, and the docking success rate is improved. Especially when the material is overloaded, the material can still be tightly adsorbed on the lifting platform without overturning. Among them, a spring can be provided under the electromagnetic suction cup 81 to ensure that the suction cup and the material are closely fitted to avoid the electromagnetic suction cup 81 from being unable to contact the material when the lifting platform or the bottom of the material is uneven.

[0043] In another embodiment:

[0044] The driving wheel system 2 includes a left driving assembly 21, a right driving assembly 22, a supporting wheel assembly 23, an articulated seat 24, and an articulated shaft 25. The left driving assembly 21, the right driving assembly 22, and the supporting wheel assembly 23 are all hingedly mounted on the mounting base plate 11 through two articulated seats 24 and an articulated shaft 25. The left driving assembly 21, the right driving assembly 22, and the supporting wheel assembly 23 swing around the articulated shaft 25.

[0045] When this embodiment is in use, the lifting mounting plate 34 and the lifting unit 35 can be driven to move horizontally through the screw transmission assembly 33, thereby realizing the horizontal movement of the lifting platform assembly 8, so that the device can realize the adjustment of the three degrees of freedom of front and back, left and right, and rotation. The AGV can achieve higher docking accuracy when picking up and placing materials, which solves the problem that the prior art can only perform precision adjustment of the two degrees of freedom of front and back and rotation. When there is a lateral (left and right) deviation between the AGV and the material, it cannot be adjusted, thereby limiting the transfer and docking accuracy of the AGV, resulting in a reduced success rate of AGV material picking, the inability to place the material in a precise position, and interference and collision when the AGV transfers the material at the workstation. The wheels with three groups of "seesaw" structure design, each seesaw structure is equivalent to a support point. The principle of determining a surface by three points can ensure that the six wheels can be stably on the ground regardless of whether the ground is flat, avoiding the situation where one side is overloaded during lifting, which may cause the AGV itself to tip over.

[0046] In this embodiment, the left driving assembly 21 is arranged on one side of the mounting base plate 11, and includes a driving swing arm 213, a first sleeve 214 fixedly mounted in the middle of the driving swing arm 213, first bushings 215 arranged on both sides of the first sleeve 214, a driving wheel 211 installed at one end of the driving swing arm 213, a motor 212 installed on the side of the driving wheel 211, and a first supporting caster 216 installed at the other end of the driving swing arm 213, wherein the driving end of the motor 212 is connected to the center of the driving wheel 211, the first sleeve 214 is sleeved on the outside of the hinge shaft 25, and the hinge shaft 25 is installed on the corresponding hinge seat 24; the right driving assembly 22 is arranged on the other side of the mounting base plate 11, and the right driving assembly 22 and the left driving assembly 21 are symmetrical in structure, the first supporting caster 216 and the driving wheel 211 are based on the corresponding hinge shaft 25, and adaptive changes can be produced when the road surface is uneven;

[0047] The left driving assembly 21 is arranged on one side of the mounting base plate 11, and includes a driving swing arm 213, a first sleeve 214 fixedly mounted in the middle of the driving swing arm 213, first bushings 215 arranged on both sides of the first sleeve 214, a driving wheel 211 installed at one end of the driving swing arm 213, a motor 212 installed on the side of the driving wheel 211, and a first supporting caster 216 installed at the other end of the driving swing arm 213, wherein the driving end of the motor 212 is connected to the center of the driving wheel 211, the first sleeve 214 is sleeved on the outside of the hinge shaft 25, and the hinge shaft 25 is installed on the corresponding hinge seat 24; the right driving assembly 22 is arranged on the other side of the mounting base plate 11, and the right driving assembly 22 and the left driving assembly 21 are symmetrical in structure, the first supporting caster 216 and the driving wheel 211 are based on the corresponding hinge shaft 25, and adaptive changes can be produced when the road surface is uneven;

[0048] The support wheel assembly 23 is arranged in front of the mounting base plate 11, and includes a support swing arm 231, a second sleeve 234 arranged in the middle of the support swing arm 231, bushings arranged on both sides of the second sleeve 234, and second support casters 233 arranged at both ends of the support swing arm 231, the second sleeve 234 is sleeved on the outside of the corresponding hinge shaft 25, the hinge shaft 25 is installed on the corresponding hinge seat 24, and the two second support casters 233 take the corresponding hinge shaft 25 as the base point, and can produce adaptive changes when the road surface is uneven;

[0049] In this way, the support wheel assembly 23, the left drive assembly 21 and the right drive assembly 22 can form three sets of "seesaw" structures, each seesaw structure is equivalent to a support point, and the principle of three points determining a surface can be used to ensure that no matter whether the ground is flat or not, the six wheels can be stably on the ground, thereby ensuring that the drive wheel 211 will not be suspended and cause slipping, or the support wheel will be suspended and cause the vehicle body to be unstable, the load is insufficient, and the operation is shaking;

[0050] At the same time, the wheel arrangement scheme can make the load of the driving wheel 211 synchronously adaptive according to the load size. When the load is small, the load of the driving wheel 211 is small, and when the load is large, the load of the driving force also increases, so that the corresponding driving force can be provided without slipping. Because most traditional AGV support wheels are fixedly supported, the driving wheel 211 adopts spring floating support. Therefore, when the load changes, it can only cause the load of the supporting wheel to change, and the contact force between the driving wheel 211 and the ground does not change. Therefore, when the load increases, it is easy to cause insufficient driving force and slipping. The wheel arrangement scheme in the utility model adopts 3 hinged structures, which are simple in structure, stable in performance, low in cost, and simple in manufacturing and assembly.

[0051] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A high-precision submersible lifting AGV, characterized by: It includes a vehicle chassis assembly, a driving wheel system arranged on the vehicle chassis assembly, a transfer assembly, and a lifting platform assembly arranged above the transfer assembly; The transfer assembly is arranged in the middle part of the mounting base plate, and includes two sets of linear guide rails arranged in parallel and mounted on the mounting base plate, each set of linear guide rails is provided with two sliders, and the sliders perform linear reciprocating motion on the linear guide rails, a screw transmission assembly is arranged between the two sets of the linear guide rails, a lifting mounting plate is installed on the four sliders, a lifting unit is installed on the lifting mounting plate, and the driving end of the screw transmission assembly is connected to the lifting mounting plate.

2. A high-precision submersible lifting AGV according to claim 1, characterized in that: The vehicle body chassis assembly includes a mounting base plate, a safety touch edge, a battery compartment right bracket, a battery compartment top plate, and a battery compartment left bracket. The safety touch edge surrounds the mounting base plate. The battery compartment right bracket and the battery compartment left bracket are located on one side of the top of the mounting base plate. The battery compartment top plate is arranged above the battery compartment right bracket and the battery compartment left bracket to form a battery compartment, and a power supply assembly is stored in the battery compartment. The power supply assembly is used to power the AGV.

3. A high-precision submersible lifting AGV according to claim 2, characterized in that: The screw transmission assembly includes a screw support seat, a screw, a screw fixed side support seat, a reducer mounting seat, a screw drive motor, a reducer, a coupling, a connecting block, and a screw nut. The screw drive motor is installed on the top of the mounting base plate. The rotational motion of the screw drive motor is transmitted to the screw through the reducer and the coupling. The rotation of the screw drives the screw nut to run linearly. The bosses on both sides of the screw nut are embedded in the notches on both sides of the connecting block, thereby driving the connecting block to move linearly. The connecting block is fixedly connected to the lifting mounting plate, thereby driving the lifting mounting plate and the lifting unit arranged thereon to move linearly. The screw support seat is supported and arranged at the bottom of the screw, and the screw fixed side support seat is supported and arranged at the bottom of the coupling.

4. A high-precision submersible lifting AGV according to claim 2, characterized in that: The power supply assembly includes a drawer box, a brush plate, a battery, and a pull-out hole arranged on the drawer box. The battery is arranged in the drawer box. The drawer box moves through one side of the battery compartment. The brush plate is arranged on the surface of the drawer box. Two electrode sheets are arranged on the brush plate, which are respectively connected to the positive and negative electrodes of the battery. The brush plate is used to dock with the automatic charging station. There are also two electrode blocks on the charging contacts of the automatic charging station, which are respectively connected to the positive and negative electrodes of the output end of the charging station. After the positive and negative electrodes of the charging station are connected to the positive and negative electrodes of the battery, the battery can be charged.

5. The high-precision submersible lifting AGV according to claim 2, characterized in that: It also includes an obstacle avoidance component, which is arranged in the middle part in front of the installation base plate and is used to detect obstacles in the running direction of the AGV, so as to slow down and stop the vehicle. The obstacle avoidance component includes an obstacle avoidance bracket and a laser obstacle avoidance sensor. The laser obstacle avoidance sensor is installed on the top of the obstacle avoidance bracket. The top of the obstacle avoidance bracket is in the shape of a "one" and the bottom is in the shape of a "person".

6. A high-precision submersible lifting AGV according to claim 2, characterized in that: It also includes a navigation and positioning component, which is arranged in the middle part of the installation base plate, including a navigation installation bracket, a positioning sensor, a navigation sensor, and a protective cover. The positioning sensor is used to identify the mark to read the deviation information, and then make precise adjustments. The navigation sensor is used to identify the mark set on the route, so that the AGV can automatically navigate and travel along the set route. The installation base plate and the protective cover are open at the corresponding position.

7. The high-precision submersible lifting AGV according to claim 2, characterized in that: Also included is a housing assembly mounted above the mounting base.

8. The high-precision submersible lifting AGV according to claim 7, characterized in that: The lifting platform assembly is installed on the top of the transplanting assembly, and the top of the lifting platform assembly is provided with an anti-slip sticker and an electromagnetic suction cup.

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