CN113003127B - Low-cost flexible manufacturing system of track AGV - Google Patents

Abstract

The invention discloses a low-cost rail AGV flexible manufacturing system which comprises an AGV running rail module, an AGV dispatching system, a station card reader module, a manufacturing execution system and a storage management system, wherein the manufacturing execution system makes a processing route according to information of a product to be processed and sends a work order to a production line, the AGV dispatching system dispatches an AGV to finish each processing procedure according to the processing route, each procedure can make a material calling and feeding decision according to the information on an integrated machine, and the AGV is sent to the storage management system after the processing is finished. The system has low cost, can reduce the waste of inventory and greatly reduce the production cost, and is suitable for enterprises with small batch and multiple products; the processing route is independently formulated according to the product information, and mixed production of different products can be realized.

Description

Low-cost flexible manufacturing system of track AGV

Technical Field

The invention relates to the technical field of enterprise intelligent transformation, in particular to a low-cost rail AGV flexible manufacturing system.

Background

The current traditional manufacturing modes are: the production line takes all raw materials, semi-finished products or parts needed by all working procedures at one time and stacks the raw materials, semi-finished products or parts on the production line, only one working procedure is processed in one day, the whole batch of products are left on the next day after the working procedure is completed, and therefore a large number of products are stacked on the production line; if the customer cancels the order midway, the factory immediately suffers great loss. When the customer order demands are changeable, China manufacturing small and medium-sized enterprises bear unprecedented transformation pressure; however, the AGV factory logistics system advertised by the benchmarking digital factory is automatically transformed, is high in difficulty, cost and risk, high in operation and maintenance cost and cannot be borne by general manufacturing enterprises; however, due to the industrial characteristics of small batch size and many ordered products in discrete industries, the current automatic scheduling system can fall on the ground in the discrete industries. To this end, we propose a low cost rail AGV flexible manufacturing system.

Disclosure of Invention

The invention aims to provide a low-cost rail AGV flexible manufacturing system which can reduce the waste of inventory and greatly reduce the production cost and is suitable for enterprises with small batches and multiple products.

In order to achieve the purpose, the invention provides the following technical scheme:

a low cost rail AGV flexible manufacturing system comprising:

the system comprises an AGV running track module, a plurality of AGV running track modules and a plurality of positioning modules, wherein the AGV running track modules comprise a plurality of AGV trolleys and running tracks, and the running tracks are laid along stations;

the AGV dispatching system is used for dispatching and distributing a plurality of AGV trolleys among all stations;

the station card reader modules are placed on all stations and used for collecting position information of the AGV trolley and collecting processing conditions on the corresponding stations, and the collected information is displayed on the integrated machine of the corresponding stations in real time;

the manufacturing execution system is used for acquiring factory equipment data and transmitting information to the AGV dispatching system through the manufacturing execution system to regulate and control the AGV;

the warehousing management system is used for collecting semi-finished products and finished products;

the manufacturing execution system makes a processing route according to information of a product to be processed and sends a work order to a production line, the AGV dispatching system dispatches the AGV to advance according to the processing route to complete each processing procedure, each procedure can make material calling and feeding decisions according to the information on the integrated machine, and the processed products are sent to the warehousing management system.

Preferably, each station on be provided with the manipulator that is used for unloading in the automation to realize waiting to process the unloading in the automation of product on each station, reduce the cost of labor, improve degree of automation.

Preferably, the AGV comprises a trolley base and material frames for loading materials, wherein the trolley base is provided with a connecting assembly for connecting and bearing the material frames with different sizes, the connecting assembly comprises an adjusting column which is rotationally connected with the trolley base through a bearing and limiting assemblies which are fixed at the two ends of the trolley base, an adjusting rod is inserted in the inner thread of the adjusting column, the top of the adjusting rod is fixed with a grabbing piece, the outer side of the bottom end of the adjusting column is fixed with an adjusting gear, the bottom of the trolley base is fixed with an adjusting motor, and the output end of the adjusting motor is fixed with a driving gear engaged with the adjusting gear through a coupler, the outer side of the adjusting rod is provided with two limiting grooves, and adjust capital portion cover have with dolly base fixed surface's spacing frame, spacing frame internal fixation has the stopper with spacing groove looks adaptation, realizes the transportation to the work material through the AGV dolly.

Preferably, snatch the piece including fixing the carriage at adjusting the pole top, the equal sliding insertion in both ends has snatched the arm in the carriage, and the carriage bottom is fixed with and is used for two driving pieces that snatch arm position control, the groove that snatchs that is used for snatching is all opened at material frame bottom both ends, and two snatch arm both ends fixed surface have with snatch the fixture block of groove looks adaptation, realize snatching the material frame bearing through snatching the piece to simple position control is carried out, and it is spacing to be connected to it in the follow-up of being convenient for.

Preferably, the driving piece includes that two are fixed respectively at the mounting panel at carriage bottom both ends, two all rotate through the bearing between the mounting panel and install two first two-way lead screws, and two first two-way lead screw outer ends all are fixed with connecting gear, two connecting gear outside cover has the toothed belt, arbitrary first two-way lead screw outer end is fixed with the driving motor who installs in the mounting panel outside, two the equal thread bush in first two-way lead screw both ends snatchs the fixed connecting plate in arm bottom with two, realizes the regulation of two snatching the arm through the driving piece.

Preferably, the limiting assembly comprises an installation frame fixed on the surface of the trolley base, two second bidirectional screws are inserted into the installation frame in a rotating mode, limiting motors fixed to the outer ends of the two second bidirectional screws are fixed to the outer sides of the two ends of the installation frame respectively, two first movable plates are sleeved on the outer sides of the two ends of the second bidirectional screws and located at the bottom of the installation frame in a threaded mode, limiting plates are installed on the tops of the two first movable plates in a rotating mode through rotating shafts, a track plate is fixed to the bottom of each limiting plate, a movable sleeve is sleeved on the outer side of each track plate, a second movable plate is installed on the outer side of each movable sleeve in a rotating mode, threads are sleeved on the outer sides of the second bidirectional screws located at the top of the installation frame in a rotating mode through rotating shafts, limiting ports matched with the limiting plates are formed in the outer sides of the two ends of the material frame, and the limiting plates are in butt joint with the limiting ports in a matched mode, thereby make the installation of material frame more stable.

Preferably, the limiting plate is internally provided with a clamping groove, the surface of the limiting plate is fixed with a plurality of convex blocks matched with the clamping groove, and the convex blocks are matched with the clamping groove, so that the limiting of the material frame is realized.

Preferably, the running track is annular, linear, S-shaped or U-shaped, and can be designed into any other feasible shape according to different positions of stations or different landforms of a factory.

Preferably, the bottom of the trolley base is provided with a mounting opening for mounting equipment, so that the equipment is conveniently mounted.

Compared with the prior art, the invention has the beneficial effects that:

1. the system is suitable for light industrial manufacturing factories, can develop flexible production lines matched with the system according to actual conditions according to different factories or different manufacturing processes and different levels of manufacturing levels, can perform corresponding management and control, and has strong pertinence and strong practicability; compared with the conventional AGV logistics scheme of a digital production line or workshop, the cost of the system is greatly reduced; the order is produced and executed in a segmented mode, the production completion time is short, no or few semi-finished products exist in the middle, the capital utilization rate of an enterprise is improved, and the order production mode of a future factory with multiple varieties and small batches can be realized; the production field of a factory is saved, and the unit yield is improved; the production and quality results are presented to the billboard in real time, and the comprehensive lean management of the factory is achieved.

2. The AGV trolley is optimized, and the loading and limiting of material frames with different sizes are met through the designed connecting assembly.

Drawings

FIG. 1 is a schematic diagram of a shop flexible manufacturing layout;

FIG. 2 is a schematic diagram of a factory floor flexible manufacturing layout;

FIG. 3 is a block diagram of the system of the present invention;

FIG. 4 is a schematic diagram of an AGV configuration according to the present invention;

FIG. 5 is a schematic view of another angular configuration of an AGV of the present invention;

FIG. 6 is a side cross-sectional structural view of the grasping element of the present invention;

FIG. 7 is a schematic view of a gripper according to the present invention;

FIG. 8 is a schematic view of the connection between the limiting block and the limiting groove according to the present invention;

FIG. 9 is a side cross-sectional structural view of the spacing assembly of the present invention;

FIG. 10 is a schematic view showing the positional relationship between the first moving plate and the second moving plate according to the present invention;

fig. 11 is an enlarged view of fig. 9 at a.

In the figure: 1-AGV running track module; 2-AGV trolley; 3-running a track; 4-AGV dispatching system; 5-a station card reader module; 6-manufacturing execution system; 7-warehouse management system; 8-a trolley base; 9-material frame; 10-a connecting assembly; 11-a conditioning column; 12-a stop assembly; 13-adjusting the rod; 14-a grasping member; 15-adjusting the gear; 16-adjusting the motor; 17-a drive gear; 18-a limiting groove; 19-a limit frame; 20-a limiting block; 21-a support frame; 22-a gripper arm; 23-a drive member; 24-a grasping slot; 25-a fixture block; 26-a mounting plate; 27-a first bidirectional screw; 28-connecting gear; 29-toothed belts; 30-a drive motor; 31-a connecting plate; 32-mounting the frame; 33-a second bidirectional screw; 34-a limit motor; 35-a first moving plate; 36-a limiting plate; 37-a track plate; 38-a second moving plate; 39-a limit port; 40-a card slot; 41-a bump; 42-moving the sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to FIGS. 1-11, a low cost track AGV flexible manufacturing system is shown comprising: the system comprises an AGV running track module 1, wherein the AGV running track module 1 comprises a plurality of AGV trolleys 2 and running tracks 3, and the running tracks 3 are laid along stations;

the AGV dispatching system 4 is used for dispatching and distributing a plurality of AGV trolleys 2 among stations;

the station card reader modules 5 are placed on all stations and used for collecting position information of the AGV trolley 2 and collecting processing conditions on the corresponding stations, and the collected information is displayed on the integrated machine of the corresponding stations in real time;

the manufacturing execution system 6 is used for acquiring factory equipment data, and information is transmitted to the AGV dispatching system 4 through the manufacturing execution system 6 to regulate and control the AGV 2;

the warehouse management system 7 is used for collecting semi-finished products and finished products;

the manufacturing execution system 6 makes a processing route according to the information of the product to be processed and sends a work order to the production line, the AGV dispatching system 4 dispatches the AGV trolley 2 to advance according to the processing route to complete each processing procedure, each procedure can make material calling and feeding decisions according to the information on the integrated machine, and the processed products are sent to the warehousing management system 7.

As an extension, the running rails 3 laid can be extended to each workshop, so that the workshop-crossing processing is realized.

Each station on be provided with the manipulator that is used for automatic unloading of going up to the unloading is gone up in the automation that treats the processing product on realizing each station, reduces the cost of labor, improves degree of automation. The loading and unloading on each station can also be completed by workers.

In the scheme, a manufacturing execution system 6 formulates a processing route according to product information, issues a task to a warehouse management system 7, informs a warehouse to prepare materials, and simultaneously informs an AGV dispatching system 4 to dispatch the AGV trolley 2 to an appointed feeding point, after manual material preparation or automatic equipment feeding is completed, the AGV trolley 2 is triggered to leave, the materials are fed to a process 1 (shown as a station 1 in the attached drawing), all processes are subjected to equipment data acquisition or manual work reporting through the manufacturing execution system 6, before the process 1 is completed, the manufacturing execution system 6 informs the AGV dispatching system 4 to dispatch the AGV trolley 2 to receive semi-finished products, after the process 1 is completed, manual or automatic equipment puts a semi-finished product bin into the AGV trolley 2, the AGV trolley 2 is triggered to the process 2 (shown as a station 2 in the attached drawing 1); all subsequent processes are circularly reciprocated according to the method (such as a station 1 … … station n shown in figure 1), the actual circulation condition of a workshop station and a trolley is shown in figure 1, and the actual circulation condition of a factory workshop station and a trolley is shown in figure 2. The processing procedures of different products are different, and after the manufacturing execution system 6 designates the processing route, the AGV dispatching system 4 dispatches the AGV car 2 to move according to the processing route. Customizing a processing route according to product information, processing according to the sequence of station setting is not needed, and the products to be processed are moved among the stations by scheduling the AGV trolley 2, so that the carrying cost of workers is saved; because the manufacturing execution system 6 independently formulates the processing route according to the product information, the mixed production of different products can be realized.

In addition, when the AGV dispatching system 4 enters each station, the station card reader module 5 on the station collects the position information of the AGV trolley 2, the position information is used for optimizing the dispatching of the AGV dispatching system 4 to the AGV trolley 2, the amount to be processed of the station is counted through the AGV trolley 2, and a basis is provided for the calling and feeding decision of the upstream and downstream processing procedures.

For example, three processes are shared in the production process of a certain order product, each process (one process corresponds to one station) can call materials as required through the integrated machine on the corresponding station, and the feeding of the previous process is prompted; and each process can also check the production progress of the next process, and personnel in the current process can check the real-time data of the all-in-one machine to make a judgment and decide whether to feed the next process. As an extension, the production capacity when the material needs to be added can be set according to the production capacity of each process, so that the automatic material calling is realized.

The processing mode of one process in one day is changed into a production mode for completing all processes in one day, the transfer personnel among the processes are removed, the original transfer channel is saved, the original transfer channel saved is used for placing more equipment, at least 20% of effective space of an enterprise can be saved, the accumulation of intermediate products is reduced, even no intermediate product stock is available, the original capital occupied by a large number of products is converted into the mobile capital of the enterprise, and the capital risk brought by the customer for canceling the order is reduced (the original customer can cause a large number of product stocks or even waste products after canceling the order, and great loss is caused to the enterprise); in addition, the semi-finished product circulation warehouse is reduced, and the operation cost of enterprises is reduced.

After the flexible manufacturing system and the IOT machine are networked, the flexible manufacturing system comprises the following steps: (1) the production conditions of all the procedures can be automatically triggered and reminded, and material pulling and feeding among the procedures can be more accurately realized. (2) The whole production process and the production rhythm are visual, the production progress is controllable, and the balanced flow of the production line can be easily realized under the condition of multiple varieties and small batch. (3) Can realize automatic or semi-automatic scheduling of discrete industries.

Wherein, the AGV trolley 2 comprises a trolley base 8 and material frames 9 for loading materials, a connecting component 10 for connecting and bearing the material frames 9 with different sizes is arranged on the trolley base 8, the connecting assembly 10 comprises an adjusting column 11 which is rotationally connected with the trolley base 8 through a bearing and limiting assemblies 12 which are fixed at two ends of the trolley base 8, adjusting rods 13 are inserted in internal threads of the adjusting column 11, a grabbing piece 14 is fixed at the top of the adjusting rod 13, an adjusting gear 15 is fixed at the outer side of the bottom end of the adjusting column 11, an adjusting motor 16 is fixed at the bottom of the trolley base 8, and the output end of the adjusting motor 16 is fixed with a driving gear 17 engaged with the adjusting gear 15 through a coupler, the outer side of the adjusting rod 13 is provided with two limiting grooves 18, the top of the adjusting column 11 is sleeved with a limiting frame 19 fixed with the surface of the trolley base 8, and a limiting block 20 matched with the limiting groove 18 is fixed in the limiting frame 19;

the grabbing part 14 comprises a supporting frame 21 fixed at the top of the adjusting rod 13, grabbing arms 22 are inserted at two ends in the supporting frame 21 in a sliding manner, driving parts 23 for adjusting the positions of the two grabbing arms 22 are fixed at the bottom of the supporting frame 21, grabbing grooves 24 for grabbing are formed at two ends of the bottom of the material frame 9, and clamping blocks 25 matched with the grabbing grooves 24 are fixed on the surfaces of two ends of the two grabbing arms 22;

the driving part 23 comprises two mounting plates 26 respectively fixed at two ends of the bottom of the supporting frame 21, two first bidirectional screws 27 are rotatably mounted between the two mounting plates 26 through bearings, connecting gears 28 are fixed at the outer ends of the two first bidirectional screws 27, toothed belts 29 are sleeved outside the two connecting gears 28, a driving motor 30 installed at the outer side of the mounting plate 26 is fixed at the outer end of any one first bidirectional screw 27, and connecting plates 31 fixed with the bottoms of the two grabbing arms 22 are sleeved at two ends of the two first bidirectional screws 27 through threads;

and the principle of clamping and limiting the bottom of the material frame 9: firstly, the AGV trolley 2 moves to a position corresponding to a station, then a material frame 9 filled with processed workpieces is placed on the grabbing arm 22 through a mechanical arm, the grabbing arm 22 is in a maximum spreading state at the moment, the adjusting rod 13 is at the highest position, then the two first bidirectional screw rods 27 are driven to synchronously rotate through the rotation of the driving motor 30, the two connecting plates 31 drive the two grabbing arms 22 to synchronously move in opposite directions, the clamping block 25 is connected with the grabbing groove 24 on the material frame 9, the clamping limiting of the material frame 9 is realized, and the material frame 9 can be adjusted to a certain position.

In addition, the limiting component 12 comprises a mounting frame 32 fixed on the surface of the trolley base 8, two second bidirectional screw rods 33 are rotatably inserted in the mounting frame 32, and the outer sides of both ends of the mounting frame 32 are fixed with limit motors 34 respectively fixed with the outer ends of the two second bidirectional screw rods 33, the outer sides of both ends of the second bidirectional screw rods 33 positioned at the bottom of the mounting frame 32 are in threaded sleeve connection with two first moving plates 35, and the top parts of the two first moving plates 35 are rotatably provided with a limiting plate 36 through a rotating shaft, the bottom of the limiting plate 36 is fixed with a track plate 37, and a moving sleeve 42 is sleeved outside the track plate 37, a second moving plate 38 is rotatably installed outside the moving sleeve 42, the outer side of the second moving plate 38 is rotatably provided with a screw thread which is sleeved on the outer side of a second bidirectional screw rod 33 positioned at the top of the mounting frame 32 through a rotating shaft, and the outer sides of two ends of the material frame 9 are both provided with limit ports 39 matched with the limit plates 36; the limiting opening 39 is provided with a slot 40 therein, and the surface of the limiting plate 36 is fixed with a plurality of projections 41 adapted to the slot 40.

The principle of limiting the grabbed material frame 9 is as follows: after the material frame 9 is grabbed by the grabbing piece 14, the maximum width of the material frame 9 can be judged according to the two grabbing arms 22, and then the two limiting motors 34 respectively rotate to drive the adjustment of the position between the first moving plate 35 and the second moving plate 38, so that the position and inclination degree of the limiting plate 36 can be controlled, the convex block 41 is conveniently clamped with the clamping groove 40, and the connection of the material frame 9 is more stable;

similarly, when the material frame 9 is to be taken down, the limiting plate 36 is adjusted to move outwards, so that the protrusion 41 is separated from the clamping groove 40, and the material frame can be easily taken down from the grabbing piece 14.

In addition, in order to save the production field of a factory and improve the unit yield, the running rails 3 are installed around the equipment, and any layout mode of ring, straight line, S-shaped, round and U-shaped can be used.

Meanwhile, in order to facilitate the installation of equipment, the bottom of the trolley base 8 is provided with an installation opening for equipment installation.

In the scheme, the type Y80M1-2 is preferably selected for the driving motor 30, the type Y80M2-2 is preferably selected for the adjusting motor 16, the type Y100L-2 is preferably selected for the limiting motor 34, a power supply interface of the motor is connected with a power supply system through a switch, a motor operation circuit is a normal and reverse rotation control program of a conventional motor, the circuit operates as a conventional circuit, circuits and control related in the scheme are the prior art, and too much description is omitted herein.

The track AGV flexible manufacturing system can also be applied to an assembly production line of products, similarly, an assembly route (namely a processing route) is made according to information of the products to be assembled, a work order is issued to the production line, the AGV dispatching system 4 dispatches the AGV trolley 2 to finish assembly of parts according to the assembly route, each station can assemble one part or a plurality of parts, the AGV trolley 2 finishes the assembly route, the products are assembled, and the assembled products are sent to the storage management system 7. Different assembled products may contain common components (such as battery modules), and since the assembly route of each product is individually customized, hybrid assembly of multiple products can be achieved on an assembly line.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (4)

1. A low cost track AGV flexible manufacturing system comprising:

the system comprises an AGV running track module (1), wherein the AGV running track module (1) comprises a plurality of AGV trolleys (2) and running tracks (3), and the running tracks (3) are laid along stations;

the AGV dispatching system (4) is used for dispatching and distributing a plurality of AGV trolleys (2) among all stations;

the station card reader modules (5) are placed on each station and used for collecting position information of the AGV trolley (2) and collecting processing conditions on the corresponding station, and the collected information is displayed on the integrated machine of the corresponding station in real time;

the manufacturing execution system (6), the manufacturing execution system (6) is used for acquiring factory equipment data, and information is transmitted to the AGV dispatching system (4) through the manufacturing execution system (6) to regulate and control the AGV trolley (2);

a warehouse management system (7), wherein the warehouse management system (7) is used for collecting semi-finished products and finished products;

the manufacturing execution system (6) makes a processing route according to the information of the product to be processed and issues a work order to the production line, the AGV dispatching system (4) dispatches the AGV trolley (2) to finish each processing procedure according to the processing route, each procedure can make material calling and feeding decisions according to the information on the integrated machine, and the processed product is sent to the warehousing management system (7);

each station on be provided with the manipulator that is used for automatic unloading of going up, AGV dolly (2) include dolly base (8) and be used for the material frame (9) that the material loaded, install on dolly base (8) and be used for not equidimension material frame (9) to connect coupling assembling (10) of bearing, coupling assembling (10) include through bearing and dolly base (8) rotation be connected regulation post (11) and fix spacing subassembly (12) at dolly base (8) both ends, regulation post (11) internal thread is pegged graft and is had regulation pole (13), and adjusts pole (13) top and be fixed with and grab piece (14), it is fixed with adjusting gear (15) to adjust post (11) bottom outside, dolly base (8) bottom is fixed with adjusting motor (16), and adjusting motor (16) output is fixed with drive gear (17) that mesh with adjusting gear (15) through the shaft coupling, two limiting grooves (18) are formed in the outer side of the adjusting rod (13), a limiting frame (19) fixed with the surface of the trolley base (8) is sleeved on the top of the adjusting column (11), and a limiting block (20) matched with the limiting grooves (18) is fixed in the limiting frame (19); the grabbing part (14) comprises a supporting frame (21) fixed at the top of the adjusting rod (13), grabbing arms (22) are inserted at two ends in the supporting frame (21) in a sliding mode, a driving part (23) used for adjusting the positions of the two grabbing arms (22) is fixed at the bottom of the supporting frame (21), grabbing grooves (24) used for grabbing are formed in two ends of the bottom of the material frame (9), and clamping blocks (25) matched with the grabbing grooves (24) are fixed on the surfaces of two ends of the two grabbing arms (22);

the limiting component (12) comprises an installation frame (32) fixed on the surface of a trolley base (8), two second bidirectional screw rods (33) are inserted into the installation frame (32) in a rotating mode, limiting motors (34) fixed to the outer ends of the two second bidirectional screw rods (33) are fixed to the outer sides of the two ends of the installation frame (32), two first movable plates (35) are sleeved on the outer sides of the two ends of the second bidirectional screw rods (33) at the bottom of the installation frame (32) in a threaded mode, limiting plates (36) are installed at the tops of the two first movable plates (35) in a rotating mode through rotating shafts, a track plate (37) is fixed to the bottom of each limiting plate (36), a movable sleeve (42) is sleeved on the outer side of each track plate (37), a second movable plate (38) is installed on the outer side of the movable sleeve (42) in a rotating mode, and the second movable plate (38) is located on the outer side of the second bidirectional screw rods (33) at the top of the installation frame (32), the outer sides of two ends of the material frame (9) are respectively provided with a limiting port (39) matched with the limiting plate (36); a clamping groove (40) is formed in the limiting opening (39), and a plurality of convex blocks (41) matched with the clamping groove (40) are fixed on the surface of the limiting plate (36).

2. A low cost track AGV flexible manufacturing system according to claim 1, further including: driving piece (23) include that two are fixed mounting panel (26) at carriage (21) bottom both ends respectively, two all rotate through the bearing between mounting panel (26) and install two first two-way lead screw (27), and two first two-way lead screw (27) outer ends all are fixed with connecting gear (28), two connecting gear (28) outside cover has toothed belt (29), arbitrary first two-way lead screw (27) outer end is fixed with driving motor (30) of installing in the mounting panel (26) outside, two first two-way lead screw (27) both ends equal thread bush has snatchs arm (22) bottom fixed connecting plate (31) with two.

3. A low cost rail AGV flexible manufacturing system according to claim 2, further including: the running track (3) is annular, linear, S-shaped or U-shaped.

4. A low cost track AGV flexible manufacturing system according to claim 3, characterized by: the bottom of the trolley base (8) is provided with a mounting opening for mounting equipment.

Images