Accurate positioning AGV (Automatic Guided Vehicle) carrying system

Abstract

The utility model relates to the technical field of AGV carrying, in particular to an accurate positioning AGV carrying system which comprises an AGV trolley and a floating frame, the floating frame is located at the top of the AGV trolley and can bear and fix an automobile workpiece, a supporting part and a hook are installed at the top of the AGV trolley, and the supporting part and the hook are arranged on the AGV trolley. The bottom of the floating frame abuts against the supporting part and can slide on the supporting part, elastic pieces are fixedly installed on the side face of the floating frame, and the end, away from the floating frame, of each elastic piece is detachably connected with one hook. According to the AGV carrying system, due to the arrangement of the floating frame and the elastic piece, the floating frame and the automobile workpiece can be reset after moving under inertia driving, the influence of inertia on the floating frame and the automobile workpiece is counteracted, and the situation that the AGV continues to move forwards due to inertia after stopping is avoided; and therefore, the problem of position deviation of the automobile workpiece on the AGV due to inertia is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of AGV carrying, more particularly to an AGV carrying system with precise positioning. BACKGROUND

[0002] AGV can walk accurately according to the prescribed path, reach the task designated position, and complete a series of work tasks. AGV is widely used in automobile parts transportation and carrying. In the production workshop of the automobile, AGV can carry workpieces to the designated position of the production line and cooperate with other grabbing transportation mechanisms to complete the carrying of automobile workpieces.

[0003] Because the AGV running process is relatively stable, the automobile parts will not fall off the AGV during the running process. In order to reduce transportation costs and improve the utilization rate of AGV, the automobile workpieces are usually placed directly on the AGV in the prior art. However, during the process of carrying workpieces, only when the workpieces carried by AGV are accurately positioned, the workpieces can be accurately grabbed by other grabbing mechanisms. However, due to inertia, when AGV runs to the position, the workpieces will be slightly misaligned on the AGV under the action of inertia, or the AGV will drive the workpieces to continue to move forward under the action of inertia and cause small displacement. Whether the workpieces are slightly misaligned on the AGV under the action of inertia or the AGV continues to move forward under the action of inertia and causes small displacement, it will cause the workpieces to deviate from the preset clamping position. When the workpieces deviate from the position, the other grabbing mechanisms are easy to grab the misaligned workpieces, which causes the workpieces to easily fall off during the grabbing process. UTILITY MODEL CONTENTS

[0004] The utility model aims at overcoming the deficiency that the workpieces on the AGV are easy to deviate from the preset clamping position due to inertia in the prior art, which causes the other grabbing mechanisms to easily grab misaligned workpieces when grabbing the workpieces, and provides an AGV carrying system with precise positioning. The carrying system of the present scheme can solve the problem that the workpieces on the AGV are easy to deviate from the position due to inertia in the prior art.

[0005] To solve the above technical problems, the utility model adopts the technical scheme of:

[0006] An AGV carrying system with precise positioning is provided, which comprises an AGV and a floating frame. The floating frame is located on the top of the AGV, and the floating frame can support and fix automobile workpieces. The top of the AGV is provided with a support part and a hook. The bottom of the floating frame abuts against the support part, and the bottom of the floating frame can slide on the support part. Elastic members are fixedly installed on the side surface of the floating frame. One end of each elastic member away from the floating frame is detachably connected with one hook.

[0007] The AGV carrying system of the utility model, in the process of AGV trolley stopping, the automobile workpiece is driven by the inertia and has the tendency of continuing to move forward on the top of the AGV trolley, since the floating frame can slide on the top of the AGV trolley, when the AGV trolley stops, the floating frame can drive the automobile workpiece to continue to move forward on the AGV trolley under the action of inertia. After the floating frame moves, the elastic member fixedly connected with the AGV trolley on the floating frame will be deformed, when the floating frame stops moving on the AGV trolley, the elastic member will restore the deformation, thereby driving the floating frame and the automobile workpiece to reset.

[0008] The precise positioning AGV carrying system of the utility model can reset the floating frame and the automobile workpiece after moving under the action of inertia, offset the influence of inertia on the floating frame and the automobile workpiece, avoid the slight misplacement of the automobile workpiece on the AGV trolley under the action of inertia, and offset the influence of inertia on the automobile workpiece and the floating frame after moving, further reduce the influence of inertia on the AGV trolley, avoid the AGV trolley from continuing to move forward after stopping due to inertia, and thereby avoid the position deviation of the automobile workpiece on the AGV due to inertia. The elastic member and the hook are detachably connected, so that the floating frame on the AGV trolley can be replaced, and the adaptability of the AGV trolley is improved.

[0009] Further, the inner cavity of the support part is provided with a spherical abutting piece, the abutting piece is rotationally connected with the support part, and the top of the abutting piece extends to the outside of the support part and abuts against the bottom of the floating frame. The support part has a plurality of support parts which are arrayed on the AGV trolley. The support part contacts the automobile workpiece through the abutting piece, the abutting piece can rotate in the support part, thereby reducing the friction when the floating frame slides on the AGV trolley, making it easier for the floating frame to displace on the AGV trolley under the action of inertia, and better eliminating inertia. The abutting piece is a steel column, which not only has sufficient hardness but also is wear-resistant. The support part is provided with a plurality of support parts, which can better support the floating frame, make the floating frame more stable on the AGV trolley, and make the sliding more convenient.

[0010] Further, the positioning seat comprises a transverse guide rail and a longitudinal guide rail, the transverse guide rail is L-shaped with the longitudinal guide rail, an auxiliary guide mechanism is fixedly installed on the AGV trolley, the auxiliary guide mechanism is located at a corner of the AGV trolley, the auxiliary guide mechanism comprises a first guide frame and a second guide frame, the first guide frame and the second guide frame are respectively installed on two adjacent sides of the AGV trolley, the first guide frame and the second guide frame both extend to the outside of the AGV trolley, and the first guide frame and the second guide frame can respectively abut against the transverse guide rail and the longitudinal guide rail. The directions of the transverse guide rail and the longitudinal guide rail of the positioning seat are respectively the entering direction and the leaving direction of the AGV trolley in the positioning seat. The L-shaped included angle position of the longitudinal guide rail and the transverse guide rail is the clamping position of the automobile workpiece, when the AGV trolley stops at the included angle position of the longitudinal guide rail and the transverse guide rail, it indicates that the AGV trolley travels to the clamping position of the automobile workpiece, at this time, the grabbing mechanism can grab the automobile workpiece on the AGV trolley. In the process of driving, the auxiliary guide mechanism touches the positioning seat before the AGV trolley, so that the AGV trolley can avoid colliding with the positioning seat.

[0011] Further, one end of the first guide frame away from the AGV trolley is provided with a first pulley, the first pulley is rotationally connected with the first guide frame, one end of the second guide frame away from the AGV trolley is provided with a second pulley, and the second pulley is slidingly connected with the second guide frame. The first guide frame and the second guide frame are respectively provided with pulleys, when the AGV trolley moves, the first guide frame and the second guide frame abut against the positioning seat through the pulleys thereon, so that the friction between the guide frame and the track can be reduced, and the guide frame can be prevented from being damaged due to friction.

[0012] Further, the four corners of the floating frame are provided with positioning columns, the positioning columns are fixedly connected with the floating frame, and clamping portions are fixedly installed on the transverse guide rail and the longitudinal guide rail. When the first pulley and the second pulley abut against the transverse guide rail and the longitudinal guide rail respectively, the clamping portions can clamp the closest positioning column to fix the floating frame on the top of the AGV trolley. When the AGV trolley moves to the clamping position in the positioning seat, the clamping portions can clamp the positioning columns to fix the floating frame, so that the floating frame can be prevented from moving on the AGV trolley during clamping of the automobile workpiece on the floating frame, and accurate clamping can be achieved.

[0013] Further, the clamping part comprises a mounting base, a clamping cylinder, a left clamping jaw and a right clamping jaw, the clamping cylinder, the left clamping jaw and the right clamping jaw are all mounted on the mounting base, the left clamping jaw and the right clamping jaw are respectively located at two sides of the driving end of the clamping cylinder, one end of the left clamping jaw and one end of the right clamping jaw are rotationally connected with the driving end of the clamping cylinder, and the middle part of the left clamping jaw and the middle part of the right clamping jaw are rotationally connected with the mounting base. When the driving end of the clamping cylinder is stretched out, the left clamping jaw and the right clamping jaw are rotated on the mounting base under the driving of the clamping cylinder, so that the two ends of the left clamping jaw and the right clamping jaw far away from the clamping cylinder are away from each other, and the clamping part is opened; when the driving end of the clamping cylinder is retracted, the left clamping jaw and the right clamping jaw are reversely rotated on the mounting base under the driving of the clamping cylinder, so that the two ends of the left clamping jaw and the right clamping jaw far away from the clamping cylinder are close to each other, until the positioning column is clamped between the left clamping jaw and the right clamping jaw.

[0014] Further, the transverse guide rail and the longitudinal guide rail are both fixedly installed with contact sensors, and the contact sensors can abut against the first pulley and / or the second pulley of the AGV trolley. After the contact sensors abut against the pulleys, abutment signals are sent to the grabbing mechanism, and the grabbing mechanism captures the automobile workpiece on the AGV trolley after receiving the signals.

[0015] Further, the top of the floating frame is also provided with a positioning pin and a supporting column, the positioning pin can extend into the positioning hole on the automobile workpiece, the supporting column can abut against the bottom of the automobile workpiece, the supporting column has four, and the four supporting columns are respectively located at four corners of the floating frame. The top surface of the positioning pin is provided with a chamfer. The length of the positioning pin is greater than that of the supporting column. When the automobile workpiece is placed on the floating frame, the positioning pin contacts the floating frame earlier than the supporting column, so that the positioning pin can first position the automobile workpiece. The four corners of the floating frame are all provided with the supporting columns, and the four supporting columns simultaneously support the automobile workpiece, so that the automobile workpiece is more stable on the floating frame. The top surface of the positioning pin is provided with a chamfer, so that the positioning pin is more convenient to insert into the positioning hole on the automobile workpiece.

[0016] Compared with the prior art, the utility model has the advantages of:

[0017] The precise positioning AGV carrying system of the utility model makes the floating frame and the automobile workpiece reset after movement under the inertial drive, offsets the influence of inertia on the floating frame and the automobile workpiece, avoids slight misplacement of the automobile workpiece on the AGV trolley under the action of inertia, and further reduces the influence of inertia on the AGV trolley, avoids the AGV trolley from continuously moving forward after stopping due to inertia, and further avoids the problem of position deviation of the automobile workpiece on the AGV due to inertia. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A structure schematic view of an AGV carrying system with precise positioning;

[0019] Figure 2 A working state schematic view of an AGV trolley of an AGV carrying system with precise positioning;

[0020] Figure 3 A structure schematic view of a floating frame of an AGV carrying system with precise positioning;

[0021] Figure 4 A structure schematic view of an AGV trolley of an AGV carrying system with precise positioning;

[0022] Figure 5 A structure schematic view of a floating frame of an AGV carrying system with precise positioning; Figure 4 An enlarged view of A part in the structure schematic view of the AGV carrying system with precise positioning;

[0023] Figure 6 An enlarged view of B part in the structure schematic view of the AGV carrying system with precise positioning; Figure 4

[0024] Figure 7 An internal structure schematic view of a clamping part of an AGV carrying system with precise positioning.

[0025] In the drawings: 1, AGV trolley; 101, support part; 111, abutting piece; 102, hook; 103, first guide frame; 131, first pulley; 104, second guide frame; 141, second pulley; 2, floating frame; 201, positioning column; 202, positioning pin; 203, support column; 3, automobile workpiece; 4, elastic piece; 5, transverse guide rail; 6, longitudinal guide rail; 7, clamping part; 701, mounting seat; 702, clamping cylinder; 703, left clamping jaw; 704, right clamping jaw. DETAILED DESCRIPTION

[0026] The utility model will be further explained in connection with specific implementation. Among them, the drawings are only for example explanation, and the representation is only schematic diagram, and not physical drawing, and can not be understood as the limitation of the patent; in order to better explain the embodiment of the utility model, the drawing some components will be omitted, enlarged or reduced, and does not represent the size of actual product; for those skilled in the art, it is understandable that some well-known structures in the drawings and their description can be omitted.

[0027] ​In the accompanying drawings of this utility model, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0028] Example 1

[0029] This embodiment is a first embodiment of a precise positioning AGV handling system, such as... Figures 1-6 As shown, the system includes an AGV trolley 1 and a floating frame 2. The floating frame 2 is located on top of the AGV trolley 1 and can support and fix the automotive workpiece 3. A support part 101 and a hook 102 are installed on the top of the AGV trolley 1. The bottom of the floating frame 2 abuts against the support part 101 and the bottom of the floating frame 2 can slide on the support part 101. Elastic members 4 are fixedly installed on the side of the floating frame 2. Each elastic member 4 has an end away from the floating frame 2 that is detachably connected to a hook 102.

[0030] Specifically, the inner cavity of the support part 101 is provided with a spherical abutment member 111, which is rotatably connected to the support part 101. The top of the abutment member 111 extends to the outside of the support part 101 and abuts against the bottom of the floating frame 2. There are several support parts 101, which are arranged in an array on the top surface of the AGV trolley 1.

[0031] The working principle of this embodiment is as follows:

[0032] During the stopping process of AGV trolley 1, the car workpiece 3, under the action of inertia, will cause the floating frame 2 on the top of AGV trolley 1 to tend to continue moving forward. Since the floating frame 2 can slide on the top of AGV trolley 1, when AGV trolley 1 stops, the floating frame 2 can continue to move forward on AGV trolley 1 under the action of inertia. After the floating frame 2 moves, the elastic element 4 fixedly connected to AGV trolley 1 on the floating frame 2 will deform. When the floating frame 2 stops moving on AGV trolley 1, the elastic element 4 will restore its deformation, thereby driving the floating frame 2 and the car workpiece 3 to reset.

[0033] The beneficial effects of this embodiment are as follows:

[0034] The precise positioning AGV carrying system of the embodiment can reset the floating frame 2 and the automobile workpiece 3 after the movement under the inertial drive, offset the influence of the inertia on the floating frame 2 and the automobile workpiece 3, avoid the slight misplacement of the automobile workpiece 3 on the AGV trolley 1 under the action of the inertia, and further reduce the influence of the inertia on the AGV trolley 1, so that the AGV trolley 1 can not continue to move forward after stopping due to the inertia, and the automobile workpiece 3 on the AGV can not deviate from the position due to the inertia.

[0035] The abutting piece 111 can rotate in the support part 101, can reduce the friction of the floating frame 2 when sliding on the AGV trolley 1, can facilitate the displacement of the floating frame 2 on the AGV trolley 1 under the action of the inertia, and can better eliminate the inertia. The support part 101 is provided with a plurality of support parts, which can better support the floating frame 2, can make the floating frame 2 more stable on the AGV trolley 1, and can facilitate the sliding.

[0036] Embodiment two

[0037] The embodiment is a second embodiment of a precise positioning AGV carrying system, as shown in Figures 1-7 The embodiment further comprises a positioning seat on the basis of the first embodiment.

[0038] Specifically, the positioning seat comprises a transverse guide rail 5 and a longitudinal guide rail 6, the transverse guide rail 5 and the longitudinal guide rail 6 are L-shaped, the AGV trolley 1 is fixedly installed with an auxiliary guide mechanism, the auxiliary guide mechanism is located at the corner of the AGV trolley 1, the auxiliary guide mechanism comprises a first guide frame 103 and a second guide frame 104, the first guide frame 103 and the second guide frame 104 are respectively installed on the adjacent two sides of the AGV trolley 1, the first guide frame 103 and the second guide frame 104 both extend to the outside of the AGV trolley 1, and the first guide frame 103 and the second guide frame 104 can respectively abut with the transverse guide rail 5 and the longitudinal guide rail 6.

[0039] Specifically, the first guide frame 103 is provided with a first pulley 131 at an end away from the AGV trolley 1, and the first pulley 131 is rotationally connected with the first guide frame 103; the second guide frame 104 is provided with a second pulley 141 at an end away from the AGV trolley 1, and the second pulley 141 is slidingly connected with the second guide frame 104.

[0040] Specifically, the four corners of the floating frame 2 are provided with positioning columns 201, the positioning columns 201 are fixedly connected with the floating frame 2, the clamping parts 7 are fixedly installed on the transverse guide rails 5 and the longitudinal guide rails 6, and when the first pulleys 131 and the second pulleys 141 abut against the transverse guide rails 5 and the longitudinal guide rails 6 respectively, the clamping parts 7 can clamp the positioning columns 201 closest to the clamping parts 7 to fix the floating frame 2 on the top of the AGV trolley 1.

[0041] Specifically, the clamping part 7 comprises a mounting seat 701, a clamping cylinder 702, a left clamping jaw 703 and a right clamping jaw 704, the clamping cylinder 702, the left clamping jaw 703 and the right clamping jaw 704 are all installed on the mounting seat 701, the left clamping jaw 703 and the right clamping jaw 704 are respectively located on the two sides of the driving end of the clamping cylinder 702, one end of the left clamping jaw 703 and one end of the right clamping jaw 704 are rotationally connected with the driving end of the clamping cylinder 702, and the middle part of the left clamping jaw 703 and the middle part of the right clamping jaw 704 are rotationally connected with the mounting seat 701.

[0042] Specifically, the transverse guide rails 5 and the longitudinal guide rails 6 are fixedly provided with contact sensors, and the contact sensors can abut against the first pulleys 131 and / or the second pulleys 141 of the AGV trolley 1.

[0043] The working principle of the embodiment is as follows:

[0044] When the AGV trolley 1 drives into the positioning seat along the axis direction of the transverse guide rails 5, and the pulleys on the guide frame of the AGV trolley 1 abut against the contact sensors on the transverse guide rails 5 and the longitudinal guide rails 6, the driving end of the clamping cylinder 702 is retracted, the left clamping jaw 703 and the right clamping jaw 704 are reversely rotated on the mounting seat 701 under the driving of the clamping cylinder 702, the two ends away from the clamping cylinder 702 of the left clamping jaw 703 and the right clamping jaw 704 are close to each other, and the positioning column 201 is clamped between the left clamping jaw 703 and the right clamping jaw 704. After the clamping part 7 completes the clamping of the positioning column 201, the floating frame 2 is fixed, the grabbing mechanism grabs and takes away the automobile workpiece 3 on the floating frame 2. After the automobile workpiece 3 is taken away from the floating frame 2, the driving end of the clamping cylinder 702 is extended, the left clamping jaw 703 and the right clamping jaw 704 are rotated on the mounting seat 701 under the driving of the clamping cylinder 702, the two ends away from the clamping cylinder 702 of the left clamping jaw 703 and the right clamping jaw 704 are far away from each other, the clamping part 7 is opened, and the positioning column 201 is released. At this time, the AGV trolley 1 can drive away from the positioning seat along the axis direction of the longitudinal guide rails.

[0045] The beneficial effects of the embodiment are as follows: the setting of the auxiliary guide mechanism makes the auxiliary guide mechanism touch the positioning seat before the AGV trolley 1, which can avoid the collision between the AGV trolley 1 and the positioning seat. The pulleys are arranged on the first guide frame 103 and the second guide frame 104, respectively, and when the AGV trolley 1 moves, the first guide frame 103 and the second guide frame 104 abut against the positioning seat through the pulleys thereon, which can reduce the friction between the guide frame and the track and avoid damage of the guide frame caused by friction. The clamping part 7 can clamp the positioning column 201 to fix the floating frame 2, which can avoid the movement of the floating frame 2 on the AGV trolley 1 during clamping of the automobile workpiece 3 on the floating frame 2, so that accurate clamping can be achieved. The contact sensor sends an abutment signal to the grabbing mechanism after abutting against the pulley, and the grabbing mechanism grabs the automobile workpiece 3 on the AGV trolley 1 after receiving the signal.

[0046] Embodiment three

[0047] The embodiment is a third embodiment of a precise positioning AGV conveying system, as shown in Figure 3 The structure of the floating frame 2 is further limited based on the embodiments one and two.

[0048] Specifically, the top of the floating frame 2 is further provided with a positioning pin 202 and a support column 203. The positioning pin 202 can extend into a positioning hole on the automobile workpiece 3, and the support column 203 can abut against the bottom of the automobile workpiece 3. There are four support columns 203, which are respectively located at the four corners of the floating frame 2. The length of the positioning pin 202 is greater than that of the support column 203, and the top surface of the positioning pin 202 is provided with a chamfer.

[0049] The beneficial effects of the embodiment are as follows:

[0050] The length of the positioning pin 202 is greater than that of the support column 203, and when the automobile workpiece 3 is placed on the floating frame 2, the positioning pin 202 contacts the floating frame 2 before the support column 203, which facilitates the positioning pin 202 to position the automobile workpiece 3 first. The four corners of the floating frame 2 are provided with the support columns 203, and the four support columns 203 simultaneously support the automobile workpiece 3, so that the automobile workpiece 3 is more stable on the floating frame 2. The top surface of the positioning pin 202 is provided with a chamfer, which facilitates the positioning pin 202 to be inserted into the positioning hole on the automobile workpiece 3.

[0051] In the specific contents of the above specific embodiments, any combination of technical features can be made without contradiction, and in order to make the description simple, not all possible combinations of the above technical features are described, but as long as the combination of technical features does not exist contradiction, it should be considered as the scope of the description.

[0052] Obviously, the above embodiments of the present application are merely examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and also impossible to exhaust all the implementation modes. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application claims.

Claims

1. A precision-positioning AGV handling system, characterized in that, The system includes an AGV trolley (1) and a floating frame (2). The floating frame (2) is located on top of the AGV trolley (1) and can support and fix automotive workpieces (3). A support (101) and a hook (102) are installed on the top of the AGV trolley (1). The bottom of the floating frame (2) abuts against the support (101) and the bottom of the floating frame (2) can slide on the support (101). Elastic members (4) are fixedly installed on the side of the floating frame (2). The end of each elastic member (4) away from the floating frame (2) is detachably connected to a hook (102).

2. The precise positioning AGV handling system according to claim 1, characterized in that, The inner cavity of the support part (101) is provided with a spherical abutment (111), which is rotatably connected to the support part (101). The top of the abutment (111) extends to the outside of the support part (101) and abuts against the bottom of the floating frame (2).

3. The precise positioning AGV handling system according to claim 2, characterized in that, There are several support parts (101), and several support parts (101) are arranged in an array on the AGV trolley (1).

4. The precise positioning AGV handling system according to claim 1, characterized in that, It also includes a positioning seat, which includes a transverse guide rail (5) and a longitudinal guide rail (6). The transverse guide rail (5) and the longitudinal guide rail (6) are L-shaped. An auxiliary guiding mechanism is fixedly installed on the AGV trolley (1). The auxiliary guiding mechanism is located at the corner of the AGV trolley (1). The auxiliary guiding mechanism includes a first guide frame (103) and a second guide frame (104). The first guide frame (103) and the second guide frame (104) are respectively installed on two adjacent sides of the AGV trolley (1). The first guide frame (103) and the second guide frame (104) both extend to the outside of the AGV trolley (1). The first guide frame (103) and the second guide frame (104) can respectively abut against the transverse guide rail (5) and the longitudinal guide rail (6).

5. The precise positioning AGV handling system according to claim 4, characterized in that, The first guide frame (103) has a first pulley (131) at one end away from the AGV trolley (1), and the first pulley (131) is rotatably connected to the first guide frame (103); the second guide frame (104) has a second pulley (141) at one end away from the AGV trolley (1), and the second pulley (141) is slidably connected to the second guide frame (104).

6. The precise positioning AGV handling system according to claim 5, characterized in that, Positioning posts (201) are fixedly installed on the floating frame (2). The positioning posts (201) are arranged in an array on the floating frame (2). Clamping parts (7) are fixedly installed on the transverse guide rail (5) and the longitudinal guide rail (6). When the first pulley (131) and the second pulley (141) abut against the transverse guide rail (5) and the longitudinal guide rail (6) respectively, the clamping part (7) can clamp the positioning post (201) closest to it to complete the fixation of the floating frame (2) on the top of the AGV trolley (1).

7. The precise positioning AGV handling system according to claim 6, characterized in that, The clamping part (7) includes a mounting base (701), a clamping cylinder (702), a left clamp (703), and a right clamp (704). The clamping cylinder (702), the left clamp (703), and the right clamp (704) are all mounted on the mounting base (701). The left clamp (703) and the right clamp (704) are located on both sides of the driving end of the clamping cylinder (702). One end of the left clamp (703) and one end of the right clamp (704) are rotatably connected to the driving end of the clamping cylinder (702). The middle part of the left clamp (703) and the middle part of the right clamp (704) are rotatably connected to the mounting base (701).

8. The precise positioning AGV handling system according to claim 5, characterized in that, Contact sensors are fixedly installed on both the transverse guide rail (5) and the longitudinal guide rail (6), and the contact sensors can abut against the first pulley (131) and / or the second pulley (141) of the AGV trolley (1).

9. The precise positioning AGV handling system according to claim 1, characterized in that, The top of the floating frame (2) is also equipped with a positioning pin (202) and a support column (203). The positioning pin (202) can be inserted into the positioning hole on the automobile workpiece (3). The support column (203) can abut against the bottom of the automobile workpiece (3). There are four support columns (203), and the four support columns (203) are located at the four corners of the floating frame (2).

10. The precise positioning AGV handling system according to claim 9, characterized in that, The top surface of the positioning pin (202) is chamfered.

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