Modular splicing and expanding AGV

Abstract

The utility model discloses a modularization splicing development's AGV car, including first module, second module and splicing module, first module includes first car body and can from the first telescopic component of second car body one end, second module includes second car body and can from the second telescopic component of second car body one end, splicing module includes third car body, and one end surface of third car body is equipped with first cooperation part, and the other end surface is equipped with second cooperation part, telescopic component includes a plurality of telescopic links, butt -joint board and butt -joint component, butt -joint component each other match or with corresponding cooperation part matches to realize the butt -joint of first module and second module or the splicing of first module, second module and splicing module. To realize the elastic extension of length and load, one car multi -use, reduce equipment redundancy.

Description

Technical Field

[0001] This utility model relates to the technical field of AGV vehicles, and in particular to a modular and expandable AGV vehicle. Background Technology

[0002] AGVs are used for relocation. In order to expand the volume and load capacity requirements of relocation, those skilled in the art usually adopt a structure of splicing multiple AGVs.

[0003] Patent document CN115583299A discloses a modular AGV vehicle, comprising four square individual AGV vehicles connected to form a square. The four individual AGV vehicles include two first individual AGV vehicles arranged diagonally and two second individual AGV vehicles arranged diagonally. In use, the four AGVs can be joined together through the modular structure to meet greater load requirements. Furthermore, they can be disassembled and used as individual AGVs, making it widely applicable and meeting user needs.

[0004] Patent document CN113086010A discloses an AGV vehicle body, which includes several splicing templates of different specifications. The splicing templates include longitudinal splicing templates and transverse splicing templates. The longitudinal splicing templates and / or transverse splicing templates are provided with interlocking parts. The longitudinal splicing templates and transverse splicing templates are interlocked with each other in an alternating manner through the interlocking parts to form the vehicle body. By providing interlocking parts on at least one of any two splicing templates that are connected to form a relationship, the positioning of the two splicing templates during splicing is achieved. The splicing templates that have been interlocked are welded and fixed, avoiding welding errors caused by worker measurement errors and increasing the safety factor of the vehicle body. Even if there is a case of detachment or incomplete welding, it will not affect the load-bearing capacity of the vehicle body. The frame structure maintains a fixed shape after interlocking, reducing welding difficulty and improving production efficiency.

[0005] Patent document CN108482518A discloses an AGV (Automated Guided Vehicle) car handling robot, belonging to the field of automated parking system technology. It includes a first AGV body and a second AGV body; both the first and second AGV bodies include a walking mechanism, a steering mechanism, and a clamping mechanism. The walking mechanism includes a wheel assembly with internal walking wheels and a walking input shaft; the steering mechanism includes a steering transmission gear fixedly installed on the outer shell of the wheel assembly; the walking input shaft and the steering transmission gear are coaxially arranged. This robot has a simple and reliable structure, extensively uses conventional parts, facilitates independent processing, reduces procurement costs, simplifies the wheel assembly mechanism, and reduces dependence on procurement.

[0006] Patent document CN118418876A discloses a paired AGV transport vehicle, comprising: two paired walking devices; a navigation module installed on at least one walking device for detecting navigation information set on the road surface to guide the movement of the walking device; a lifter installed on each walking device for lifting the transported item upwards; a coupler for mechanically connecting the two walking devices, enabling the two walking devices to connect or disconnect from each other; and a communication module for communicating with the two walking devices, enabling one walking device to follow the walking device equipped with the navigation module. One walking device uses the navigation module to guide its own movement, while the other walking device uses the communication module to follow the former, thus avoiding the problem of two sets of path indicators intersecting. Furthermore, during long-distance movement, the coupler connects the vehicle body to the vehicle body, or connects the vehicle body to the transported item, thereby preventing large walking errors between the two walking devices.

[0007] However, existing technologies generally adopt a "one vehicle, one drive, one control" architecture, meaning that each individual AGV is equipped with a complete drive wheel system, servo motor, reducer, battery, and embedded controller. When multiple vehicles are spliced ​​into a "combination" via mechanical couplers or plug-in modules, the originally independent kinematic models are forcibly coupled into a new multi-input multi-output system, which brings the following unavoidable pain points:

[0008] First, the manufacturing tolerances, tire wear differences, and fluctuations in the coefficient of friction of the driving wheels of each vehicle cause deviations in the actual linear velocity / angular velocity even when the same speed command is issued. When multiple vehicles are spliced ​​together, the error is amplified exponentially, resulting in "snake-like" or "internal friction" phenomena.

[0009] Second, the independent batteries in each vehicle result in a significant increase in total capacity, but the energy cannot be shared. When the energy of one battery is too low, the entire assembly must stop operating and wait for a battery replacement, creating a "weakest link" effect.

[0010] Therefore, how to reduce the complexity of synchronous control of multiple vehicles, reduce electrical redundancy, and improve system energy efficiency and maintenance convenience while ensuring the needs of large-load and large-volume transplantation have become key technical challenges that urgently need to be overcome in this field.

[0011] Patent document CN219948398U discloses a modular combined AGV vehicle including a front body module, a rear body module, and an adapter body module. This utility model provides a first mating structure at one end of the front frame of the front body module and a second mating structure corresponding to the first mating structure at one end of the rear frame of the rear body module. In addition, the first mating structure and the second mating structure are respectively provided at both ends of the adapter frame of the adapter body module, so that the front body module can be directly assembled with the rear body module, or several adapter body modules can be assembled between the front body module and the rear body module.

[0012] While this patent discloses a solution for expanding AGV vehicles by introducing frame modules, which can maintain the expansion of the equipment's volume within a limited expansion range and solve the aforementioned problems to some extent, when transporting long objects and requiring further length increases, introducing too many adaptable vehicle body modules not only leads to excessive accumulation of these modules occupying space, but also makes the entire assembly process time-consuming and labor-intensive. Utility Model Content

[0013] The technical problem to be solved by this utility model is to provide a modular and expandable AGV vehicle, which expands the vehicle volume and load capacity through a splicing vehicle body structure and telescopic docking components, while eliminating the problems of synchronous control and power supply caused by splicing multiple vehicles.

[0014] The technical solution adopted by this utility model to solve the above-mentioned technical problems is: a modular AGV vehicle that can be spliced ​​and expanded, including a first module, a second module and a splicing module;

[0015] The first module includes a first vehicle body and a first telescopic component that can extend from one end of the first vehicle body; the second module includes a second vehicle body and a second telescopic component that can extend from one end of the second vehicle body.

[0016] The splicing module includes a third vehicle body, with a first mating part on one end face and a second mating part on the other end face;

[0017] The first telescopic assembly includes multiple first telescopic rods, a first docking plate, and a first docking component located on the first docking plate; the second telescopic assembly includes multiple second telescopic rods, a second docking plate, and a second docking component located on the second docking plate.

[0018] The first docking component matches the first mating part and the second docking component, and the second docking component matches the second mating part and the first docking component, thereby realizing the docking of the first module and the second module or the splicing of the first module, the second module and the splicing module.

[0019] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the first module includes a first electrical group and a first drive wheel group, the second module includes a second electrical group and a second drive wheel group, and the third vehicle body is provided with a cable support position.

[0020] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: In the docking state, the end faces of the first vehicle body and the second vehicle body are opposite each other, and the first docking component and the second docking component are connected; the first electrical group and the second electrical group are connected by cables passing through the end faces of the two vehicle bodies.

[0021] In the first docking state, the first telescopic component and the second telescopic component are located inside the corresponding vehicle body, and the first docking component and the second docking component are located at the ends of the corresponding vehicle body; the end faces of the first vehicle body and the second vehicle body are close together, and the upper surfaces of the first vehicle body and the second vehicle body form an integral bearing surface;

[0022] In the second docking state, the first telescopic component and / or the second telescopic component extend beyond the corresponding vehicle body end face, and the first vehicle body and the second vehicle body end face separate.

[0023] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: In the spliced ​​state, the third vehicle body is located between the first vehicle body and the second vehicle body and spliced ​​along the length; the first docking component docks with the first mating part, and the second docking component docks with the second mating part; the cable led out from the first electrical group passes through the third vehicle body, connects with the second electrical group, and is placed in the resting position;

[0024] In the first splicing state, the first telescopic component and the second telescopic component are located inside the corresponding vehicle body, and the first docking component and the second docking component are located at the ends of the corresponding vehicle body; the end faces of the first vehicle body and the second vehicle body are respectively in close contact with the corresponding end faces of the third vehicle body, and the upper surfaces of the three vehicle bodies form an integral bearing surface;

[0025] In the second splicing state, the first telescopic component and / or the second telescopic component extend beyond the corresponding vehicle body end face, and there is at least one separation between the end faces of the three vehicle bodies.

[0026] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the first telescopic rod and the second telescopic rod are provided with multiple stop holes along their extension length, and the first vehicle body and the second vehicle body are provided with locking pins to fix the length of the corresponding telescopic rod pulled out.

[0027] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the first docking assembly includes a first convex plate located on both sides of the first docking plate, and the first convex plate is provided with a first mounting hole penetrating the first docking plate; the second docking assembly includes a first groove located on both sides of the second docking plate, and the bottom of the first groove is provided with a second mounting hole penetrating the second docking plate; the first mating part includes a second groove located on both sides of the first end plate of the third vehicle body, and the bottom of the second groove is provided with a third mounting hole penetrating the first end plate; the second mating part includes a second convex plate located on both sides of the second end plate of the third vehicle body, and the second convex plate is provided with a fourth mounting hole penetrating the second end plate; the first convex plate and the second convex plate are identical, the first groove and the second groove are identical, the groove matches the convex plate, and the bolt is fastened to the connection by a nut after passing through the two opposite mounting holes.

[0028] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the end of the first vehicle body is provided with a first wall located inside the first docking plate, and the end of the second vehicle body is provided with a second wall located inside the second docking plate. The first wall and the second wall are respectively matched with the corresponding docking plate's recess. When the corresponding telescopic component is in the retracted state, the docking plate is located in the recess, and the outer surface of the docking plate and the outer surface of the end face frame of the corresponding vehicle body are on the same plane.

[0029] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: in the spliced ​​state, the top plates of the first vehicle body, the second vehicle body and the third vehicle body are located on the same plane, and the side plates of the first vehicle body, the second vehicle body and the third vehicle body are flush with each other.

[0030] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is: the side of the third vehicle body is provided with a forklift hole.

[0031] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: the second electrical group in the second vehicle body includes a battery, and a charging port is provided on the side of the second vehicle body. The battery supplies power to the first electrical group and the second electrical group; the first electrical group in the first vehicle body includes a controller, and the controller is connected to the first electrical group and the second electrical group to synchronously control the operation of the first drive wheel group and the second drive wheel group.

[0032] The preferred technical solution adopted by this utility model to solve the above-mentioned technical problem is as follows: the extension and retraction of the first telescopic component and the second telescopic component are driven by a cylinder.

[0033] Compared with the prior art, the advantages of this utility model are: through the extension and retraction of the first telescopic docking component and the second telescopic docking component, their corresponding docking with each other and their connection with the mating part, the first vehicle body docks with the second vehicle body or the third vehicle body is spliced ​​between the first vehicle body and the second vehicle body, thereby realizing multiple flexible expansions in length and load capacity, multi-purpose use of one vehicle, and reducing equipment redundancy. Attached Figure Description

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments. However, those skilled in the art will understand that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be construed as limiting the scope of the present invention. Furthermore, unless specifically indicated, the drawings are only schematic representations of the composition or structure of the described objects and may include exaggerated displays, and the drawings are not necessarily drawn to scale.

[0035] Figure 1 This is a schematic diagram of the assembly state of a modular, configurable, and expandable AGV vehicle. Figure 1 ;

[0036] Figure 2 This is a schematic diagram of the assembly state of a modular, configurable, and expandable AGV vehicle. Figure 2 ;

[0037] Figure 3 This is a schematic diagram of the assembly state of a modular, configurable, and expandable AGV vehicle. Figure 3 ;

[0038] Figure 4 This is a schematic diagram of the docking state of a modular, connectable, and expandable AGV vehicle. Figure 3 ;

[0039] Figure 5 A schematic diagram of the first module of a modular, connectable, and expandable AGV vehicle;

[0040] Figure 6 A schematic diagram of the second module of a modular, configurable, and expandable AGV vehicle. Figure 1 ;

[0041] Figure 7 A schematic diagram of the second module of a modular, configurable, and expandable AGV vehicle. Figure 2 ;

[0042] Figure 8 A schematic diagram of the third module of a modular, configurable, and expandable AGV vehicle. Figure 1 ;

[0043] Figure 9 A schematic diagram of the third module of a modular, configurable, and expandable AGV vehicle. Figure 2 . Detailed Implementation

[0044] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are merely descriptive and exemplary and should not be construed as limiting the scope of protection of the present invention.

[0045] It should be noted that similar labels in the following figures indicate similar items; therefore, once an item is defined in one figure, it will not be further defined or explained in subsequent figures. For clarity of the structure, the proportions of the components in the figures are not actual proportions.

[0046] In the description of this utility model, it should be noted that the terms "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. 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, they should not be construed as limitations on this utility model. Similarly, "first" and "second" are only for ease of understanding and have no other directional meaning, and cannot be considered as limitations on this utility model.

[0047] like Figure 1-9 As shown, this embodiment provides a modular, expandable AGV vehicle, including a first module 100, a second module 200, and a splicing module 300. The splicing module 300 can be selectively spliced ​​between the first module 100 and the second module 200.

[0048] like Figure 2 , 5 As shown, the first module 100 includes a first vehicle body 1, a first electrical assembly, a first drive wheel assembly 2, and a first telescopic component 3 that can extend from one end of the first vehicle body 1.

[0049] like Figure 2 , 6 As shown in Figures 7 and 8, the second module 200 includes a second vehicle body 4, a second electrical assembly, a second drive wheel assembly 5, and a second telescopic component 6 that can extend from one end of the second vehicle body 4.

[0050] like Figure 2 , 8 As shown in Figures 9 and 1, the splicing module 300 includes a third vehicle body 7. One end face of the third vehicle body 7 is provided with a first mating part 8, and the other end face is provided with a second mating part 9. The third vehicle body 7 is provided with a cable placement position 10.

[0051] like Figure 5As shown, the first telescopic assembly 3 includes multiple first telescopic rods 11, a first docking plate 12, and a first docking assembly 13 located on the first docking plate 12.

[0052] like Figure 6 , 7 As shown, the second telescopic assembly 6 includes multiple second telescopic rods 14, a second docking plate 15, and a second docking assembly 16 located on the second docking plate 15.

[0053] The first docking component 13 is matched with the first mating part 8 and the second docking component 16, and the second docking component 16 is matched with the second mating part 9 and the first docking component 13, thereby realizing the docking of the first module 100 and the second module 200 or the splicing of the first module 100, the second module 200 and the splicing module 300.

[0054] like Figure 4-7 As shown, in the docking state, the end faces of the first vehicle body 1 and the second vehicle body 4 are facing each other, and the first docking assembly 13 and the second docking assembly 16 are connected. The first electrical assembly and the second electrical assembly are connected by cables passing through the end faces of the two vehicle bodies.

[0055] like Figure 4 As shown, in the first docking state, the first telescopic component 3 and the second telescopic component 6 are located inside the corresponding vehicle bodies, and the first docking component 13 and the second docking component 16 are located at the ends of the corresponding vehicle bodies. The end faces of the first vehicle body 1 and the second vehicle body 4 are close together, and the upper surfaces of the first vehicle body 1 and the second vehicle body 4 form an integral bearing surface.

[0056] In the second docking state, the first telescopic component 3 and / or the second telescopic component 6 extend beyond the corresponding vehicle body end face, and the end faces of the first vehicle body 1 and the second vehicle body 4 separate.

[0057] like Figure 1-9 As shown, in the assembled state, the third vehicle body 7 is located between the first vehicle body 1 and the second vehicle body 4 and is spliced ​​along its length. The first docking component 13 docks with the first mating part 8, and the second docking component 16 docks with the second mating part 9. The cable led out from the first electrical assembly passes through the third vehicle body 7, connects to the second electrical assembly, and is placed in the resting position.

[0058] like Figure 1 As shown, in the first splicing state, the first telescopic component 3 and the second telescopic component 6 are located inside the corresponding vehicle body, and the first docking component 13 and the second docking component 16 are located at the ends of the corresponding vehicle bodies. The end faces of the first vehicle body 1 and the second vehicle body 4 are respectively in close contact with the corresponding end faces of the third vehicle body 7, and the upper surfaces of the three vehicle bodies form an integral bearing surface.

[0059] like Figure 2-3As shown, in the second splicing state, the first telescopic component 3 and / or the second telescopic component 6 extend beyond the corresponding vehicle body end face, and there is at least one separation between the end faces of the three vehicle bodies.

[0060] As shown in the figure, under normal conditions, the first module 100 and the second module 200 are docked to form a small AGV vehicle. When it is necessary to expand the loading area, length and load, one or more splicing modules 300 connected along the length can be added between the first module 100 and the second module 200 as needed. Thus, it can be cascaded "0-N" according to task requirements. In addition, the length and load can be further expanded elastically through the extension and retraction of the telescopic components, forming a flexible logistics system of "small vehicle transporting light goods and large vehicle transporting heavy goods", making one vehicle multi-purpose and reducing equipment redundancy.

[0061] The first and second electrical groups are connected by cables, ensuring that the entire vehicle maintains a unified electrical system regardless of whether it is in a docking or splicing state, thus guaranteeing synchronization and reducing production costs. Through the first telescopic docking assembly 3 and the second telescopic docking assembly 6, the AGV can quickly dock, splice, or disassemble, achieving extensions of different lengths to adapt to various scenarios, temporary tasks, or peak warehousing periods. The third vehicle body 7 serves as the "intermediate skeleton," and the mounting positions 10 within the splicing module 300 prevent exposed cables, reducing wear and crushing risks and improving system reliability.

[0062] like Figure 6 As shown, the second electrical assembly within the second vehicle body 4 includes a battery. A charging port 18 is located on the side of the second vehicle body 4, and the battery supplies power to the first and second electrical assemblies. The first electrical assembly within the first vehicle body 11 includes a controller. The controller connects to the first and second electrical assemblies to synchronously control the operation of the first drive wheel assembly 2 and the second drive wheel assembly 5. Unified power supply and control enable the controller to synchronously control all drive wheel assemblies, ensuring zero-delay collaborative operation of multiple modules.

[0063] like Figure 5 As shown, the first docking assembly 13 includes a first protruding plate 20 located on both sides of the first docking plate 12, and the first protruding plate 20 is provided with a first mounting hole 21 that passes through the first docking plate 12.

[0064] like Figure 6 , 7 As shown, the second docking assembly 16 includes a first groove 22 located on both sides of the second docking plate 15, and a second mounting hole 23 penetrating the second docking plate 15 is provided on the bottom of the first groove 22.

[0065] The first mating part 8 includes a second groove 24 located on both sides of the first end plate 25 of the third vehicle body 7, and a third mounting hole 26 through the first end plate 25 is provided on the bottom of the second groove 24.

[0066] The second mating part 9 includes second protruding plates 28 located on both sides of the second end plate 27 of the third vehicle body 7. The second protruding plate 28 is provided with a fourth mounting hole 29 that passes through the second end plate 27. The first protruding plate 20 and the second protruding plate 28 are identical, and the first groove 22 and the second groove 24 are identical. The grooves match the protruding plates, and the bolts are connected by tightening the nuts after passing through the two opposite mounting holes.

[0067] Building upon this, the close proximity of the two mating plates, as well as the close proximity of the mating plate and the end plate of the third vehicle body 7, ensures the robustness and stability of the docking or splicing. Simultaneously, the clearance is significantly reduced, and the wheelsets are aligned after splicing, preventing serpentine driving. Furthermore, the screw-fastened connection requires only a wrench for tightening, lowering the maintenance threshold and increasing economic efficiency. In addition, only one mating structure—a convex plate and a groove—is used on the frame, providing a standardized interface with strong interchangeability, allowing the integration of multiple splicing modules 300.

[0068] Furthermore, the combination of the groove and the convex plate forms a three-dimensional guide, which can automatically align during docking and splicing, preventing vertical or horizontal deviation. This allows a single person to complete splicing in high-altitude or confined spaces, reducing labor costs. At the same time, the two parts form a hidden tenon joint after fitting together, which can offset the vibration and impact during driving and will not loosen during long-term operation.

[0069] like Figure 5 As shown, the end of the first vehicle body 1 is provided with a first wall 30 located inside the first docking plate 12; as Figure 7 The end of the second vehicle body 4 shown is provided with a second wall 40 located inside the second docking plate 15. For example... Figure 5 , 7 As shown, the first wall 30 and the second wall 40 respectively have recesses 31 that match the corresponding mating plates. When the corresponding telescopic component is in the retracted state, the mating plate is located in the recess, and the outer surface of the mating plate is on the same plane as the outer surface of the end face frame 32 of the corresponding vehicle body. This arrangement provides a place for the mating plate to be accommodated when the telescopic component is retracted, making the splicing and docking more compact and seamless.

[0070] like Figure 5 , 6 As shown in Figures 7 and 8, the first telescopic rod 11 and the second telescopic rod 14 are provided with multiple stop holes 33 along their extension lengths. The first vehicle body 1 and the second vehicle body 4 are provided with locking pins to fix the extended length of the corresponding telescopic rods, thereby ensuring the stability of the extension. As shown in the figure, each telescopic assembly includes two pairs of telescopic rods. The simultaneous extension and retraction of all four telescopic rods ensures the stability of the extension and retraction, and also improves the load-bearing capacity of the AGV vehicle in the extended state. Preferably, the extension and retraction of the first telescopic assembly 3 and the second telescopic assembly 6 are driven by a cylinder.

[0071] like Figure 1As shown, the top plates of the first vehicle body 1, the second vehicle body 4, and the third vehicle body 7 are located on the same plane, and the side plates of the first vehicle body 1, the second vehicle body 4, and the third vehicle body 7 are flush with each other.

[0072] like Figure 1 As shown, the third vehicle body 7 has a forklift hole 34 on its side. The forklift can carry away the assembly module 300 as a whole, and when a single module is disassembled, the forklift can directly drag it away without manual handling.

[0073] This invention introduces a modular, scalable, and expandable AGV vehicle. Specific examples are used to illustrate the principles and implementation methods of this invention. The descriptions of these embodiments are merely for the purpose of helping to understand this invention and its core concepts. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A modular, expandable AGV vehicle, characterized in that: It includes the first module, the second module, and the splicing module; The first module includes a first vehicle body and a first telescopic component that can extend from one end of the first vehicle body; the second module includes a second vehicle body and a second telescopic component that can extend from one end of the second vehicle body. The splicing module includes a third vehicle body, with a first mating part on one end face and a second mating part on the other end face; The first telescopic assembly includes multiple first telescopic rods, a first docking plate, and a first docking component located on the first docking plate; the second telescopic assembly includes multiple second telescopic rods, a second docking plate, and a second docking component located on the second docking plate. The first docking component matches the first mating part and the second docking component, and the second docking component matches the second mating part and the first docking component, thereby realizing the docking of the first module and the second module or the splicing of the first module, the second module and the splicing module.

2. The modular, expandable AGV vehicle according to claim 1, characterized in that: The first module includes a first electrical assembly and a first drive wheel assembly, the second module includes a second electrical assembly and a second drive wheel assembly, and the third vehicle body is provided with a cable mounting position.

3. A modular, expandable AGV vehicle according to claim 2, characterized in that: In the docking state, the end faces of the first vehicle body and the second vehicle body are facing each other, and the first docking assembly and the second docking assembly are connected; the first electrical assembly and the second electrical assembly are connected by cables passing through the end faces of the two vehicle bodies; In the first docking state, the first telescopic component and the second telescopic component are located inside the corresponding vehicle body, and the first docking component and the second docking component are located at the ends of the corresponding vehicle body; the end faces of the first vehicle body and the second vehicle body are close together, and the upper surfaces of the first vehicle body and the second vehicle body form an integral bearing surface; In the second docking state, the first telescopic component and / or the second telescopic component extend beyond the corresponding vehicle body end face, and the first vehicle body and the second vehicle body end face separate.

4. A modular, expandable AGV vehicle according to claim 2, characterized in that: In the spliced ​​state, the third vehicle body is located between the first and second vehicle bodies and spliced ​​along its length. The first docking component docks with the first mating part, and the second docking component docks with the second mating part. The cable led out from the first electrical assembly passes through the third vehicle body, connects to the second electrical assembly, and is placed in the resting position. In the first splicing state, the first telescopic component and the second telescopic component are located inside the corresponding vehicle body, and the first docking component and the second docking component are located at the ends of the corresponding vehicle body; the end faces of the first vehicle body and the second vehicle body are respectively in close contact with the corresponding end faces of the third vehicle body, and the upper surfaces of the three vehicle bodies form an integral bearing surface; In the second splicing state, the first telescopic component and / or the second telescopic component extend beyond the corresponding vehicle body end face, and there is at least one separation between the end faces of the three vehicle bodies.

5. A modular, expandable AGV vehicle according to claim 1, characterized in that: The first and second telescopic rods are provided with multiple stop holes along their extension lengths, and the first and second vehicle bodies are provided with locking pins to fix the length of the corresponding telescopic rods pulled out.

6. A modular, expandable AGV vehicle according to claim 1, characterized in that: The first docking assembly includes first protruding plates located on both sides of the first docking plate, and the first protruding plates are provided with first mounting holes penetrating the first docking plate; the second docking assembly includes first grooves located on both sides of the second docking plate, and the bottom of the first grooves is provided with second mounting holes penetrating the second docking plate; the first mating part includes second grooves located on both sides of the first end plate of the third vehicle body, and the bottom of the second grooves is provided with third mounting holes penetrating the first end plate; the second mating part includes second protruding plates located on both sides of the second end plate of the third vehicle body, and the second protruding plates are provided with fourth mounting holes penetrating the second end plate; the first protruding plate and the second protruding plate are identical, the first groove and the second groove are identical, the grooves match the protruding plates, and the bolts are fastened together by nuts after passing through the two opposite mounting holes to achieve connection.

7. A modular, expandable AGV vehicle according to claim 2, characterized in that: The end of the first vehicle body is provided with a first wall located inside the first docking plate, and the end of the second vehicle body is provided with a second wall located inside the second docking plate. The first wall and the second wall are respectively matched with the corresponding docking plate's recess. When the corresponding telescopic component is in the retracted state, the docking plate is located in the recess, and the outer surface of the docking plate and the outer surface of the end face frame of the corresponding vehicle body are on the same plane.

8. A modular, expandable AGV vehicle according to claim 1, characterized in that... In the assembled state, the top plates of the first, second, and third vehicle bodies are located on the same plane, and the side plates of the first, second, and third vehicle bodies are flush with each other.

9. A modular, expandable AGV vehicle according to claim 2, characterized in that: The second electrical assembly inside the second vehicle body includes a battery, and a charging port is provided on the side of the second vehicle body. The battery supplies power to the first electrical assembly and the second electrical assembly. The first electrical assembly inside the first vehicle body includes a controller, which is connected to the first electrical assembly and the second electrical assembly to synchronously control the operation of the first drive wheel assembly and the second drive wheel assembly.

10. A modular, expandable AGV vehicle according to claim 1, characterized in that: The extension and retraction of the first telescopic component and the second telescopic component are driven by a cylinder.

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