CN107181118A - AGV and its docking calculation are moved based on dynamic combined intelligent - Google Patents
AGV and its docking calculation are moved based on dynamic combined intelligent Download PDFInfo
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- CN107181118A CN107181118A CN201710383467.2A CN201710383467A CN107181118A CN 107181118 A CN107181118 A CN 107181118A CN 201710383467 A CN201710383467 A CN 201710383467A CN 107181118 A CN107181118 A CN 107181118A
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- docking
- agv
- female
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- module
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
AGV and its docking calculation are moved based on dynamic combined intelligent the invention discloses one kind.It is described to include being equipped with to connection module on the first AGV, at least one side wall of the first AGV based on dynamic combined intelligent movement AGV；It is described that at least one docking submodule and/or at least one described docking female module are included to connection module, the docking female module docking that the docking submodule is used for the 2nd AGV is connected, and the docking submodule docking that the docking female module is used for the 2nd AGV is connected；The docking submodule, which has, docks sub- end, and docking female module has docking female end.The present invention's can realize the mutual switching between AGV different modes based on dynamic combined intelligent movement AGV and its control method, realize the maximization of benefit, and combination flexibly, can be very good to adapt to the material of different size.
Description
Technical field
AGV and its docking calculation are moved based on dynamic combined intelligent the present invention relates to one kind, belong to mobile device pair
Connect field.
Background technology
It currently there are the AGV of various sizes（Automated Guided Vehicle）, born for different
Carry, different task and design.However, the load that intelligent mobile AGV on the market has the working environment of its characteristic and limited
Scope, otherwise transported, had enough to meet the need, or specially load large-sized object for small volume, light-weighted product, its own
Volume is also larger, heavier.
Existing these intelligent mobiles AGV function is all fixed, can not mutually be changed, general, if product variations
It is interval larger, in order to be able to deliver the article of various weight, then it is accomplished by the intelligent mobile AGV of several of the types to meet actual life
Production demand, often needs to purchase the AGV of sizes.Sometimes often for a small amount of large-scale, heavily loaded object, it is also desirable to be equipped with big
Intelligent mobile AGV, the AGV vacancy rate of type is higher, also underaction, and this large-scale intelligent mobile AGV costs are often very
Height, causes the great waste of the resources of production.
Chinese invention patent publication number CN104518352A discloses the plug and socket one that a kind of compatible board is docked to plate
Body formula connector, the connector includes plug, socket, casing, the activity for correcting installation site between plug and socket
Plate and multiple symmetrical and for the guide pillar of position between bootstrap correction plug and socket, the bottom of plug run through after casing with
Socket is fixedly connected, and the bottom of socket is plugged in portable plate, and one end of multiple guide pillars is fixed on the both sides of plug, and separately
One end is plugged on the both sides of portable plate after sequentially passing through the through hole of casing and socket both sides.Make between plug and socket of the present invention
Carry out position correction guiding with guide pillar, enable above and below plugs and sockets correcting in advance when patching, while increasing between plug and socket
One portable plate enables two equipment and intermodule quickly to correct installation site automatically, it is to avoid misplaced out above and below two equipment and intermodule
The phenomenon not aligned now, and realize seamless, no cable connection is carried out between equipment and equipment, module and module.But the patent
Can only be for static guiding docking, it is impossible to solve the problem of mobile device is accurately docked and is fixedly connected during exercise.
The content of the invention
The load-carrying existed for intelligent mobile AGV at present on the market is dumb, uses inflexible problem and shortage, sheet
Invention aims to provide one kind and moves AGV and its docking calculation based on dynamic combined intelligent, should be based on dynamic combined type intelligence
The mobile AGV of energy and its control method can realize the mutual switching between different mode, when needing to transport the material of heavy load,
The increase of the combination that double cars, three cars, four cars are formed by combining, its carrying capacity and size directly at double, can be used as big load
The intelligent mobile AGV of lotus completes work, when needing to transport small material, light-weighted pattern can be switched to again and has been gone
Into work.And no longer optional equipment plurality of specifications intelligent mobile AGV, the maximization of benefit is realized, combination flexibly, can be very
The material of good adaptation different size.
To achieve these goals, the technical solution adopted in the present invention is：
AGV, including the first AGV are moved based on dynamic combined intelligent, it is structurally characterized in that, at least the one of the first AGV
It is equipped with individual side wall to connection module；It is described to connection module include at least one it is described docking submodule and/or at least one described in
Female module is docked, the docking female module docking that the docking submodule is used for the 2nd AGV is connected, and the docking female module is used for
It is connected with the 2nd AGV docking submodule docking；The docking submodule, which has, docks sub- end, and docking female module has docking female
End；
It is preferred that being respectively arranged with multiple side walls of the first AGV to one docking submodule of connection module and/or a docking master mold
Block；It is respectively arranged with more preferably described first AGV four side walls to one docking submodule of connection module and/or a docking master mold
Block.
Thus, docking submodule and docking female module are respectively equipped with the AGV of two docking, namely the moving cart docked was both
The role for having docking female end has the role for docking sub- end again, is more suitable for the docking in motion process.
A docking submodule and a docking female module are equipped with four side walls, then can be realized from any one side
Docked in face.
It is preferred that the first AGV and the 2nd AGV structures are identical.
Embodiments in accordance with the present invention, can also make further optimization, below the skill to be formed after optimization to the present invention
Art scheme：
Locked for convenience after docking submodule and docking female module docking, the end at the sub- end of docking is provided with locking machine
Structure, when the first AGV end of docking and the 2nd AGV docking female end for docking female module docking and the first AGV docking female end
When the sub- end of the docking for docking submodule with the 2nd AGV is docked in place, the locking mechanism is used for the first AGV end of docking
It is locked in docking female end with the docking female end for docking female module of the 2nd AGV and the sub- end docking of the docking of docking submodule
Together；It is preferred that the end at the sub- end of docking is provided with the spill spin block as locking mechanism, pair that spill spin block insertion is mated with
Connect what is be fixed together in the groove of female end and with docking female end；It is preferred that the length dimension of the spill spin block is more than broad-ruler
Very little, the length dimension of the groove of the docking female end is more than width dimensions.
The direction of rotation of the spill spin block at the sub- end of docking of the first AGV and pair for docking submodule of the 2nd AGV
The direction of rotation for connecing the spill spin block at sub- end is opposite.Thus, after the sub- end docking of two AGV docking direction of rotation be it is opposite, with
This is achieved a butt joint after the skew of position, and the centering of position is realized by locking.
Preferably, the sub- end of docking includes motor mounting plate, the motor on motor mounting plate, the output with motor
The column spinner being connected is held, and is fixed on the spill spin block of rotation column end；The docking female end includes female end body, female end body
Inside it is provided with the inner chamber for accommodating the spill spin block and is arranged on the groove of female end body end, the groove enters as spill spin block
The passage of the inner chamber；The side wall of the groove is after the spill spin block for being placed in the interior intracavitary turns an angle as anti-off-gear
Block.Thus, it can realize being reliably connected for two AGV after spill spin block turns an angle, convenient docking and depart from.
In order to ensure that docking is relatively reliable, first is provided between the docking submodule and docking female module of the first AGV
Butt guiding devices, the second butt guiding devices are provided between the docking submodule and docking female module of the 2nd AGV；It is described
First butt guiding devices and the second butt guiding devices are syndrome end and/or correction female end, the syndrome end be used for
Corresponding correction female end docking；It is preferred that the syndrome end includes the sub- correcting block with point and mounted in sub- correcting block tip
Correction bearing or correction roller；The correction female end includes female correcting block and the V-shaped groove being opened on female correcting block.Docking
When, correction bearing or correction roller are stretched into the V-shaped groove.
In order to be carried by syndrome end and corresponding correction female end to being connected in the docking submodule and docking female module
For be oriented to, the syndrome end and/or correction female end by forced guiding mechanism guide it is described docking submodule the sub- end of docking with
The docking female end of corresponding docking female module is docking together.
As a kind of specific structure type, cunning of the installing plate provided with laterally setting is passed through on the side wall of the first AGV
The sliding block of rail and cooperation in slide rail, the sliding block correspondence is arranged on the docking submodule and the inner side of docking female module,
The forced guiding mechanism includes the limited block being fixed on syndrome end and correction female end, is set between the limited block and respective slide
Flexible position-limit mechanism.More electedly, the elastic spacing mechanism includes fixed left limit plate and right limit on a mounting board
Plate, the limited block is located between left limit plate and right limit plate, and the limited block and the left limit plate and right limit plate
Between be respectively equipped with flexible member；It is preferred that flexible member is spring, the flexible member serves intelligent mobile AGV dynamically docking
Position is found accurately, and effect spacing during synchronizing moving after docking.Thus, the docking of syndrome end and corresponding correction female end
Afterwards, docking submodule and docking female module is forced to be moved to preferable docking location by forced guiding mechanism, so as to achieve a butt joint
The dynamic Dock With Precision Position of submodule and docking female module.
Based on same inventive concept, present invention also offers a kind of described based on the movement of dynamic combined intelligent
AGV docking calculation, it comprises the following steps：
The AGV of S1 the first and/or the 2nd AGV movements, when the first AGV docking submodule is docked with the 2nd AGV female module of docking
When, the first AGV docking female module is docked with the 2nd AGV submodule that docks；
S2 docks submodule with docking during female module docking, and docking submodule is with docking during female module docking, by compeling Guiding machine
Structure achieves a butt joint the position centering after the skew of position, and will dock submodule by locking mechanism and with docking female module be locked at one
Rise.
The docking calculation for being preferably based on dynamic combined intelligent movement AGV comprises the following steps：
The AGV of S11 the first and/or the 2nd AGV movements, when the first AGV syndrome end or correction female end and the 2nd AGV correction are female
End or syndrome end correspondence are contacted, and syndrome end is imported in corresponding correction female end；
Correction module and correction master mold are forced by forced guiding mechanism while S22 syndromes end imports corresponding correction female end
Block transverse shifting, so as to correct the relative position of docking submodule and docking female module；
The AGV of S33 the first docking submodule and the 2nd AGV's docks female module docking, the first AGV docking female module and second
AGV docking submodule docking；Docking submodule is with docking during female module docking, the docking sub- end end by docking submodule
Spill spin block stretch into the groove of docking female module and locked docking submodule and docking wooden model block by motor-driven rotation
Together, the rotation of the direction of rotation of the spill spin block at the sub- end of docking of the first AGV and the 2nd AGV spill spin block for docking sub- end
Turn in opposite direction.
Thus, syndrome end is imported into after correction female end, forced guiding mechanism drives correction module and correction master mold
Block is moved on line slide rail, so as to correct the relative position of whole docking submodule and docking female module.It is right between two AGV
When connecing, cooperated between syndrome end and correction female end first, then under forced guiding mechanism guiding, to docking submodule
It is corrected with the position for docking female module, so as to realize accurately dynamic docking.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention's moves AGV based on dynamic combined intelligent
Between each AGV can mutually independent assortment, docking, each AGV is relatively independent, complete, and material can be implemented separately
Transport, the task of turnover.These AGV functions can be with identical, can also be different, to realize different different areas of activity, operating environment
Application (such as band obstacle crossing function and without obstacle crossing function, can pivot turn and can not pivot turn etc.).Usually work independently,
, can be with self assemble when in need when, and combination can form a variety of queue shapes, such as queue or various rectangular,
On the one hand the conveying of different size materials is met, the transport of the material of heavy load is on the other hand also realized.When transporting completion
Wait, can voluntarily separate again, the original work of continuation use as the Intelligent mobile equipment of small load, realize between different mode
Free switching.
For CN104518352A, docking and guiding of the invention is to be directed to two dynamic objects, therefore,
The static of CN104518352A is oriented to the docking that docking can not realize the two dynamic mobile equipment of the present invention, in other words, this
Invention is to realize that two dynamic objects are accurately docked in motion process, and can also change position after docking, such as left
After right docking, front and back are gone to.
Brief description of the drawings
Fig. 1 is the structure principle chart of one embodiment of the invention；
Fig. 2 is the structural representation of docking submodule of the present invention；
Fig. 3 is the structural representation of docking female module of the present invention；
Fig. 4 is Fig. 2 longitudinal section sectional view；
Fig. 5 is the mated condition figure of the present invention to connection module；
Fig. 6 is the state diagram after four combined intelligent mobile device combinations.
In figure
1- bodies；2- is to connection module；3- sliding blocks, 4- syndromes end, 5- docking female ends, 6- docks sub- end；7- corrects female end；8-
Abutting joint bottom plate, 9- line slide rails, 10- left limits mechanism, 11- right limits mechanism, 12- limited blocks；13- installing plates, 14- schools
Positive bearing, 15- correcting blocks, 16- motor mounting plates, 17- motors, 18- swivel bearings, 19- bearings, which are installed, to be covered, 20- column spinners,
21- spill spin blocks.
Embodiment
Describe the present invention in detail below with reference to accompanying drawing and in conjunction with the embodiments.It should be noted that in the feelings not conflicted
Under condition, the embodiment in the present invention and the feature in embodiment can be mutually combined.For sake of convenience, hereinafter as occurred
" on ", " under ", "left", "right" printed words, only represent that the upper and lower, left and right direction with accompanying drawing in itself is consistent, does not limit structure
It is set for using.
One kind moves AGV based on dynamic combined intelligent, as shown in figure 1, including the first AGV, the four of the first AGV
It is equipped with individual side wall to connection module 2, thus, facilitates the independent assortment between intelligent mobile AGV and fractionation.
It is as shown in Figures 2 and 3, described that a docking submodule and a docking female module are included to connection module 2,
The docking female module docking that the docking submodule is used for the 2nd AGV is connected, and the docking female module is used for the 2nd AGV's
Submodule docking is docked to be connected；The docking submodule, which has, docks sub- end 6, and docking female module has docking female end 7.It is preferred that institute
State and be respectively arranged with the first AGV multiple side walls to one docking submodule of connection module and a docking female module.Docking
Module, which has, docks sub- end 6, and docking female module has docking female end 7；The end at the sub- end 6 of docking is provided with locking mechanism, when
The first AGV end 6 of docking docked with the 2nd AGV docking female end 7 for docking female module and the first AGV docking female end 7 and
When the sub- end 6 of docking of 2nd AGV docking submodule is docked in place, the locking mechanism is used for the sub- end 6 of the first AGV docking
With the docking female end 7 of docking female module and the docking sub- end 6 docking lock that docks submodule of the docking female end 7 with the 2nd AGV
It is scheduled on together.
The sub- end 6 of docking includes motor mounting plate 16, the motor 17 on motor mounting plate 16, the output with motor
The column spinner being connected is held, and is fixed on the spill spin block of rotation column end；The docking female end 7 includes female end body, female end sheet
The inner chamber for accommodating the spill spin block is provided with vivo and the groove of female end body end is arranged on, and the groove enters as spill spin block
Enter the passage of the inner chamber；The side wall of the groove is after the spill spin block for being placed in the interior intracavitary turns an angle as anticreep
Block.
The first butt guiding devices, described second are provided between the docking submodule and docking female module of first AGV
The second butt guiding devices are provided between AGV docking submodule and docking female module；First butt guiding devices and
Two butt guiding devices are syndrome end and/or correction female end, and the syndrome end is used for and corresponding correction female end docking；It is excellent
The syndrome end is selected to include the sub- correcting block with point and the correction bearing mounted in sub- correcting block tip or correction roller；
The correction female end includes female correcting block and the V-shaped groove being opened on female correcting block.
Preferably, the syndrome end and/or correction female end guide pair of the docking submodule by forced guiding mechanism
The docking female end 7 that sub- end 6 is connect with corresponding docking female module is docking together.Pass through installing plate on the side wall of first AGV
Sliding block provided with the slide rail and cooperation laterally set in slide rail, the sliding block correspondence is arranged on the docking submodule and right
Connect the inner side of female module.The forced guiding mechanism includes the limited block being fixed on syndrome end and correction female end, the limited block
Elastic spacing mechanism is provided between respective slide.The elastic spacing mechanism include fixed left limit plate on a mounting board and
Right limit plate, the limited block is located between left limit plate and right limit plate, and the limited block and the left limit plate and the right side
Spring is respectively equipped between limiting plate.
By the way that installing plate is provided with the slide rail laterally set and coordinates the cunning in slide rail on the side wall of first AGV
Block, the sliding block correspondence is installed in the docking submodule and the inner side of docking female module, and the forced guiding mechanism includes fixing
Limited block on syndrome end and correction female end, is provided with elastic spacing mechanism between the limited block and respective slide.
Connection module can at any time be dismantled, can be selected according to specific needs, a or two needs wherein can also be selected
Direction install.Each intelligent mobile AGV modules can select identical function or not according to practical application scene and demand
Same function.If the intelligent mobile AGV of other brands allows, connection module in its equipment, will can also be realized different
The docking of brand equipment room.There is automatic regulating apparatus to connection module, can be adjusted according to physical location during equipment interconnection
（20mm adjustable range）, the deviation positioned between adjusting device.
As shown in figure 1, each constituted based on dynamic combined intelligent movement AGV by body 1 and to connection module 2,
Body surrounding is installed on to connection module 2, independent assortment can be realized from arbitrary orientation, can also be had according to practical application request
The orientation for being installed on a or two needs of selection.Both can be that the bodies 1 of two identical functions is combined or several together
Individual difference in functionality body 1 is combined together.
Docking submodule and docking female module are respectively arranged on two bodies 1, the submodule and female module entirely docked
All it is installed on line slide rail, below submodule and female module installing plate 13, there is a limited block 12, it is each on limited block both sides
There is a position-limit mechanism：Left limit mechanism 10 and right limit mechanism 11, submodule and female module can be along line slide rails 9 in setting
Scope（Scope is according to actual conditions and needs setting）Inside horizontally slip.It is mounted with to be used for correction position deviation in the middle of submodule
Syndrome end 4, female module end then be correction female end 7.Docking female end 5 and the sub- end 6 of docking are distributed in syndrome end, correction mother
Hold both sides.Dock sub- end and mainly constitute 21 by electric rotating machine 17, swivel bearing 18 and spill spin block, electric rotating machine 17 is pacified by motor
Dress plate 16 is installed on the installing plate 13 for docking sub- end, and column spinner 20 is installed on the output end of electric rotating machine 17, and spill spin block 21 is pacified
Mounted in the other end of column spinner 20, bearing installs lid 19 and swivel bearing is fixed on column spinner 20.
When combination is needed, syndrome end 4 and correction female end 7 were contacted before this, by installed in the school of correcting block 15
The guiding of positive bearing 14, syndrome end 4 is imported into correction female end 7, drives correction module and correction female module in straight line
Moved on slide rail 9, so as to correct the relative position of whole docking submodule and docking female module.After position correction is good, the
The spill spin block 21 in the sub- end 6 of docking on one installing plate is had been introduced into the groove of the docking female end 5 on the second installing plate, right
Connecing the rotation of the electric rotating machine 17 on sub- end 6 drives spill spin block 21 to rotate, in the groove for being fixed on docking female end 5.During separation, first by
Electric rotating machine 17 rotates, and the spill spin block 21 docked on sub- end 6 is separated with docking the groove of female end 5, then by the moving belt of body 1
Spring in the separation of dynamic docking submodule and docking female module, left and right position-limit mechanism promotes limited block 12, so that docking
Module and docking female module revert to initial position.
When, not only provided with docking sub- end 6 but also being provided with docking female end 5, docking female module is both provided with docking female end on docking submodule
5 again provided with sub- end 6 is docked when, after position correction well, the spill spin block 21 in the sub- end 6 of docking on the first installing plate comes into
In the groove of docking female end 5 on to the second installing plate, meanwhile, the spill spin block 21 in the sub- end 6 of docking on the second installing plate is
Through entering in the groove of the docking female end 5 on the first installing plate, the rotation of electric rotating machine 17 at two sub- ends of docking drives rotation
Block 21 rotates, while being fixed in the groove of corresponding docking female end 5.
As shown in fig. 6, a kind of embodiment is that equipment can after dynamic combined intelligent movement AGV is combined by four stylobates
To be optionally combined from different directions according to practical application scene, the need for meeting actual production.
The present embodiment provides the reasonable in design, logic of one kind simply clearly controlling party for combined intelligent movement AGV simultaneously
Method, enables assembly to cooperate, and has given play to the maximum ability of assembly.
Present invention also offers a kind of docking calculation that AGV is moved based on dynamic combined intelligent, it includes
Following steps：
The AGV of S1 the first and/or the 2nd AGV movements, when the first AGV docking submodule is docked with the 2nd AGV female module of docking
When, the first AGV syndrome end or correction female end and the 2nd AGV correction female end or syndrome end is corresponding contacts, syndrome end
Import in corresponding correction female end, the first AGV docking female module is docked with the 2nd AGV submodule that docks；
S2 docks submodule with docking during female module docking, and syndrome end is imported while correcting female end accordingly by compeling guiding
Mechanism forces correction module and correction female module transverse shifting, so as to correct the relative position of docking submodule and docking female module
Put, the position centering after the position skew that achieves a butt joint then is locked by locking mechanism.
The AGV of S3 the first docking submodule and the 2nd AGV dock female module docking, the first AGV docking female module with
2nd AGV docking submodule docking；Docking submodule is with docking during female module docking, the sub- end of docking by docking submodule
The spill spin block of end, which is stretched into the groove of docking female module and by motor-driven rotation, will dock submodule and docking wooden model block
It is locked together, the direction of rotation of the spill spin block at the sub- end of docking of the first AGV and the 2nd AGV spill spin block for docking sub- end
Direction of rotation it is opposite.
Thus, syndrome end is imported into after correction female end, forced guiding mechanism drives correction module and correction master mold
Block is moved on line slide rail, so as to correct the relative position of whole docking submodule and docking female module.It is right between two AGV
When connecing, cooperated between syndrome end and correction female end first, then under forced guiding mechanism guiding, to docking submodule
It is corrected with the position for docking female module, so as to realize accurately dynamic docking.
The content that above-described embodiment is illustrated should be understood to that these embodiments are only used for being illustrated more clearly that the present invention, without
For limiting the scope of the present invention, after the present invention has been read, the various equivalent form of values of the those skilled in the art to the present invention
Modification each fall within the application appended claims limited range.
Claims (10)
1. AGV, including the first AGV are moved based on dynamic combined intelligent, it is characterised in that at least the one of the first AGV
It is equipped with individual side wall to connection module；It is described to connection module include at least one it is described docking submodule and/or at least one described in
Female module is docked, the docking female module docking that the docking submodule is used for the 2nd AGV is connected, and the docking female module is used for
It is connected with the 2nd AGV docking submodule docking；The docking submodule, which has, docks sub- end, and docking female module has docking female
End；
It is preferred that being respectively arranged with multiple side walls of the first AGV to one docking submodule of connection module and/or a docking master mold
Block；It is respectively arranged with more preferably described first AGV four side walls to one docking submodule of connection module and/or a docking master mold
Block.
2. according to claim 1 move AGV based on dynamic combined intelligent, it is characterised in that the sub- end of docking
End be provided with locking mechanism, docked with the 2nd AGV docking female end for docking female module when the first AGV end of docking and
When first AGV docking female end is docked in place with the sub- end of the 2nd AGV docking for docking submodule, the locking mechanism is used for will
The first AGV end of docking and docking female end and the 2nd AGV docking female end for docking female module and dock submodule
Sub- end docking is docked to lock together；
It is preferred that the end at the sub- end of docking is provided with the spill spin block as locking mechanism, the docking that spill spin block insertion is mated with
It is fixed together in the groove of female end and with docking female end；It is preferred that the length dimension of the spill spin block is more than broad-ruler
Very little, the length dimension of the groove of the docking female end is more than width dimensions.
3. according to claim 2 move AGV based on dynamic combined intelligent, it is characterised in that the first AGV's
Dock the rotation side of the spill spin block at direction of rotation and the 2nd AGV of the spill spin block at sub- the end sub- end of docking for docking submodule
To opposite.
4. according to claim 2 move AGV based on dynamic combined intelligent, it is characterised in that the sub- end of docking
Including motor mounting plate, the motor on motor mounting plate, the column spinner being connected with the output end of motor, and it is fixed on rotation
The spill spin block of rotary column end；The docking female end includes being provided with for accommodating the spill spin block in female end body, female end body
Inner chamber and the groove for being arranged on female end body end, the groove enter the passage of the inner chamber as spill spin block；The groove
Side wall is after the spill spin block for being placed in the interior intracavitary turns an angle as anticreep block.
5. AGV is moved based on dynamic combined intelligent according to any one of claim 1-4, it is characterised in that institute
State and the first butt guiding devices are provided between the first AGV docking submodule and docking female module, docking of the 2nd AGV
The second butt guiding devices are provided between module and docking female module；First butt guiding devices and the second docking are oriented to dress
Syndrome end and/or correction female end are set to, the syndrome end is used for and corresponding correction female end docking；It is preferred that the syndrome
End includes the sub- correcting block with point and the correction bearing mounted in sub- correcting block tip or correction roller；The correction female end
Including female correcting block and the V-shaped groove being opened on female correcting block.
6. according to claim 5 move AGV based on dynamic combined intelligent, it is characterised in that the syndrome end
And/or correction female end guides the sub- end of docking of the docking submodule and pair of corresponding docking female module by forced guiding mechanism
Female end is connect to be docking together.
7. according to claim 6 move AGV based on dynamic combined intelligent, it is characterised in that the first AGV's
By the way that installing plate is provided with the slide rail laterally set and coordinates the sliding block in slide rail on the wall of side, the sliding block correspondence is arranged on institute
The inner side of docking submodule and docking female module is stated, the forced guiding mechanism includes being fixed on syndrome end and correction female end
Limited block, is provided with elastic spacing mechanism between the limited block and respective slide.
8. according to claim 7 move AGV based on dynamic combined intelligent, it is characterised in that the elastic spacing
Mechanism includes fixed left limit plate and right limit plate on a mounting board, the limited block be located at left limit plate and right limit plate it
Between, and it is respectively equipped with flexible member between the limited block and the left limit plate and right limit plate；It is preferred that flexible member is bullet
Spring.
9. the docking calculation that AGV is moved based on dynamic combined intelligent as any one of claim 1-8, its feature
It is, comprises the following steps：
The AGV of S1 the first and/or the 2nd AGV movements, when the first AGV docking submodule is docked with the 2nd AGV female module of docking
When, the first AGV docking female module is docked with the 2nd AGV submodule that docks；
S2 docks submodule with docking during female module docking, and the position after the position skew that achieved a butt joint by forced guiding mechanism is looked for
Just, and by locking mechanism by submodule is docked it is locked together with docking female module.
10. the docking calculation according to claim 9 that AGV is moved based on dynamic combined intelligent, it is characterised in that bag
Include following steps：
The AGV of S11 the first and/or the 2nd AGV movements, when the first AGV syndrome end or correction female end and the 2nd AGV correction are female
End or syndrome end correspondence are contacted, and syndrome end is imported in corresponding correction female end；
Correction module and correction master mold are forced by forced guiding mechanism while S22 syndromes end imports corresponding correction female end
Block transverse shifting, so as to correct the relative position of docking submodule and docking female module；
The AGV of S33 the first docking submodule and the 2nd AGV's docks female module docking, the first AGV docking female module and second
AGV docking submodule docking；Docking submodule is with docking during female module docking, the docking sub- end end by docking submodule
Spill spin block stretch into the groove of docking female module and locked docking submodule and docking wooden model block by motor-driven rotation
Together, the rotation of the direction of rotation of the spill spin block at the sub- end of docking of the first AGV and the 2nd AGV spill spin block for docking sub- end
Turn in opposite direction.
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