CN115072302B - RGV driving angle module with lifting steering and guiding function driven by electric push rod - Google Patents

Abstract

The application discloses an RGV driving angle module with lifting steering and guiding functions driven by an electric push rod, and relates to the technical field of professional rail vehicles. It can effectively prevent the phenomenon of rollover and derailment of the RGV trolley when passing the turnout and turning, improves the safety performance of the RGV trolley, and has the advantages of high integration and simple structure. The driving angle module includes a suspension system, a driving system, two sets of guiding systems, a steering system and a connecting frame; the driving system, guiding system and steering system are all connected to the connecting frame; the driving system is used to drive the RGV trolley for normal driving and braking ;The suspension system is connected to the drive system, and the suspension system is used to transmit the force and torque acting between the wheel and the frame; the guiding system can guide and limit the RGV trolley; the steering system includes electric push rod, steering The wheel assembly and the steering wheel installation beam; the steering wheel assembly is connected on the steering wheel installation beam; the electric push rod can drive the steering wheel installation beam to move up and down.

Description

RGV driving angle module with lifting steering and guiding function driven by electric push rod

technical field

The present application relates to the technical field of professional rail vehicles, in particular to an RGV driving angle module that adopts electric push rod-driven lifting steering and guiding functions.

Background technique

With the development of automated logistics systems and automated warehouses, many shortcomings of traditional automation systems and warehouses have been exposed. In order to make up for these shortcomings, the application of RGV (Rail Guided Vehicle) was born, which can be easily combined with Other systems are automatically connected, such as the out/in warehouse platform, various buffer stations, conveyors, elevators and robots, etc., and the transportation is carried out according to the plan. In addition, it does not require personnel to operate and operates quickly. Thus significantly reducing the workload of warehouse managers and improving work efficiency.

However, when turning or crossing a turnout, since only one wheel of the RGV trolley is in the track, and the freedom of the wheel on the other side is not restricted in the horizontal direction, if there is a crosswind or sideways deviation at this time, the risk of the trolley losing control is greater , there is a great security risk. Therefore, the existing RGV trolley is relatively safe under the condition of low speed and light load, but under the condition of medium and high speed and heavy load, when the trolley turns, an additional device is needed to ensure the reliability of turning and crossing the switch. In addition, most of the RGV trolleys on the market today are rail-guided and passively steered. This type of guidance has serious wear on the guide wheels of the trolley. shortened its security period.

Contents of the invention

The embodiment of the present application provides an RGV driving angle module with lifting steering and guiding functions driven by an electric push rod, which can effectively prevent the RGV trolley from turning over and derailing when passing a turnout and turning, and improving the safety performance of the RGV trolley , and has the advantages of high integration and simple structure.

In order to achieve the above purpose, the embodiment of the present application provides an RGV driving angle module that adopts the lifting steering and guiding function driven by an electric push rod, including a suspension system, a driving system, two sets of guiding systems, a steering system and a connecting frame ; The drive system, guide system and steering system are all connected to the connecting frame; one end of the suspension system is connected to the drive system, and the other end is used to connect with the vehicle frame; the drive system is used for Drive the RGV trolley to run normally and brake; the suspension system is used to transmit the force and torque acting between the wheels and the frame, and buffer the impact force transmitted from the uneven road to the frame or body; the guide system It can guide and limit the RGV trolley; the steering system includes an electric push rod, a steering wheel assembly and a steering wheel installation beam; the steering wheel assembly is connected to the steering wheel installation beam; the electric push rod can drive The steering wheel mounting beam moves up and down, so that when the RGV trolley turns or passes through a switch, the steering wheel assembly goes down and abuts against the outside of the grooved track.

Further, the connecting frame includes a left crossbeam and a right crossbeam; a front support bar is arranged between the front end of the left crossbeam and the front end of the right crossbeam; the rear end of the left crossbeam and the rear end of the right crossbeam A rear support bar is arranged between them; the front support bar includes a front cross bar and a front vertical bar arranged at the left end of the front cross bar, the lower end of the front vertical bar is connected to the front end of the left cross beam, and the front The left and right ends of the cross bar are respectively connected to the upper end of the front vertical bar and the front end of the right cross beam; the rear support bar includes a rear cross bar and a rear vertical bar arranged at the left end of the rear cross bar. The lower end of the vertical bar is connected to the rear end of the left cross beam, and the left and right ends of the rear cross bar are respectively connected to the upper end of the rear vertical bar and the rear end of the right cross beam.

Further, the fixed end of the electric push rod is connected to the right beam, and the extended end of the electric push rod is connected to the steering wheel installation beam.

Further, the steering wheel assembly is divided into two groups, and the two groups of steering wheel assemblies are connected to the front end surface and the rear end surface of the steering wheel installation beam through the optical axis bracket.

Further, the steering wheel assembly includes a steering wheel shaft and a steering wheel; the upper end of the steering wheel shaft is fixedly connected to the optical axis bracket, and the lower end of the steering wheel shaft is connected to the steering wheel.

Further, the steering system also includes an intermediate guide circular flange linear bearing and a bearing support seat; the bearing support seat includes a connecting plate and two connecting lugs arranged on the connecting plate; the two connecting lugs are arranged in parallel up and down The connecting plate is connected to the steering wheel mounting beam; the flange of the intermediate guide circle flange linear bearing is connected to one of the connecting lugs; the upper end of the steering wheel shaft passes through the intermediate guide circle The inner hole of the flange linear bearing is then connected with the optical axis bracket.

Further, two sets of guide systems are respectively connected to the front and rear ends of the left beam of the connecting frame, and the two sets of guide systems are arranged symmetrically with respect to the center line of the connecting frame in the front-rear direction.

Further, the guide system includes a guide arm, the first end of the guide arm is hinged on the end of the left beam, and the second end of the guide arm is connected to the guide wheel; the guide arm is provided with adjustment and Buffering device; the adjustment and buffering device can make the guide wheel always contact with the grooved track during guiding, and reduce the impact force brought by the inner side of the grooved track.

Further, the adjusting and buffering device includes an inner adjusting and buffering device and an outer adjusting and buffering device; the inner adjusting and buffering device includes an adjusting rod bracket, a first adjusting rod, a first adjusting nut and a first rectangular spring; The adjusting rod bracket includes a connecting part and a limiting part, the first end of the connecting part is connected to the left crossbeam, and the limiting part is connected to the first adjusting rod; the first adjusting rod of the first adjusting rod end abuts on the guide arm; the second end of the first adjusting rod protrudes out of the limit part of the adjusting rod bracket and is fastened with the first adjusting nut; the first adjusting rod is sleeved with a second A rectangular spring; the two ends of the first rectangular spring abut against the guide arm and the limiting part of the adjusting rod bracket respectively; the end of the left beam is bent toward the direction close to the wheel to form the connecting part of the adjusting rod , the connecting part of the adjustment rod is provided with an opening on one side close to the wheel; the outer adjustment and buffer device includes a second adjustment rod, a second adjustment nut and a second rectangular spring; the first adjustment rod of the second adjustment rod end is connected to the guide arm; the second end of the second adjusting rod protrudes from the left side wall of the connecting part of the adjusting rod and is fastened with the second nut; the second adjusting rod is sleeved with a second Rectangular spring: two ends of the second rectangular spring abut against the guide arm and the left side wall of the connecting part of the adjusting rod respectively.

Further, the cross-section of the guide arm is cross-shaped; the first adjustment rod and the second adjustment rod are two; the two first adjustment rods are respectively located on the upper and lower sides of the guide arm; The two second adjusting rods are also respectively located on the upper and lower sides of the guide arm.

Compared with the prior art, the present application has the following beneficial effects:

1. The embodiment of the present application adopts the adjustable passive steering steering system and the lifting active steering system driven by the electric push rod, so that when the RGV trolley moves, the guide wheels always touch the inner side of the grooved track, and the RGV trolley When turning or passing a turnout, the steering wheel can go down and abut against the outside of the grooved track, so that the left and right sides of the wheel are restricted, so that the steering and turnout can be safely and smoothly passed. In addition, since the electric push rod drives the steering wheel to move up and down, the space for the steering wheel to move is small, and the interference to the steering wheel is also small, and the lifting structure is relatively simple compared with the flipping type, and there is no possibility of the steering wheel being turned over and suspended in the air. Condition.

2. The embodiment of the present application integrates the suspension system, the driving system, and the guiding and steering system into a driving angle module through the connecting frame, and there is not too much coupling between each other. Compared with the bulky and complicated passive type in the prior art The steering mechanism, the embodiment of the present application has the advantages of high integration, reasonable power transmission structure distribution, convenient installation and later maintenance, and low operation and maintenance costs.

3. The embodiment of this application can be directly connected to the frame, so the RGV trolley does not have a transmission shaft, which can effectively reduce the height of the center of gravity of the RGV trolley, meet the requirements for the operation of the RGV trolley, and improve the safety factor.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the structure schematic diagram of the RGV driving angle module of the embodiment of the present application adopting the lifting type steering and guiding function driven by the electric push rod;

Fig. 2 is the structural representation of suspension system in the embodiment of the present application;

Fig. 3 is a schematic structural diagram of the drive system in the embodiment of the present application;

FIG. 4 is a schematic structural view of a steering knuckle in an embodiment of the present application;

Fig. 5 is the structural representation of connecting frame in the embodiment of the present application;

FIG. 6 is a schematic structural view of the guidance and steering system in the embodiment of the present application;

Fig. 7 is a partial enlarged view of place I in Fig. 6;

Fig. 8 is a state diagram of an embodiment of the present application when turning or crossing a switch.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In the description of this application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the application.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

The terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, unless otherwise specified, "plurality" means two or more.

Referring to Fig. 1, the embodiment of the present application provides an RGV driving angle module with lifting steering and guiding functions driven by electric push rods. An RGV driving angle module with lifting steering and guiding functions driven by electric push rods includes a suspension system 1. Drive system 2. Two sets of guide systems 3. Steering system 4 and connecting frame 5.

Referring to Fig. 1, one end of the suspension system 1 is connected to the drive system 2, and the other end is connected to the vehicle frame (not shown in the figure), and the suspension system 1 is used to transmit the force and torque acting between the wheel and the vehicle frame , and buffer the impact force transmitted from the uneven road to the frame or body. Specifically, referring to FIG. 2, the suspension system 1 includes a suspension adapter plate 11, an upper wishbone 12, a lower wishbone 13, two wishbone fixing screws 14, an upper swing arm ball joint 15, a lower swing arm ball joint 16 and Spring shock absorber 17. The upper and lower ends of the suspension adapter plate 11 are respectively connected to the upper yoke 12 and the lower yoke 13 through the yoke fixing screw 14 . Both the upper yoke 12 and the lower yoke 13 are A-shaped yokes, and the bottom edge of the A-shaped yoke is connected to the suspension adapter plate 11 . The upper swing arm ball joint 15 is arranged on the lower surface of the end of the upper wishbone 12 away from the suspension adapter plate 11 . The lower swing arm ball joint 16 is arranged on the upper surface of the end of the lower wishbone 13 away from the suspension adapter plate 11 . The ball head 15 of the upper swing arm is opposite to the ball head 16 of the lower swing arm. Thus, various parameters of the wheel can be precisely positioned. For example, wheel camber angle, wheel toe angle, kingpin caster angle, kingpin inclination angle, etc. When turning, the upper and lower wishbone can absorb the lateral force on the tire at the same time. In addition, because the lateral stiffness of the two wishbone is relatively large, the turning roll is small, so the wheel can automatically change the camber angle when moving up and down. In addition, the change of wheelbase is reduced to reduce tire wear, and it can adapt to the track surface. The tire has a large ground contact area and good ground adhesion.

A spring shock absorber 17 is arranged between the upper yoke fixing screw 14 and the lower yoke 13 . When the wheel is bouncing, the spring damper 17 can perform axial telescopic movement along its own axis, so as to alleviate the impact brought by the running process. In addition, rubber washers are provided at both ends of the spring shock absorber 17, which can effectively reduce the wear of the spring shock absorber 17 during the operation of the RGV trolley.

The suspension adapter plate 11 is provided with a first connection hole 111 , and the suspension adapter plate 11 is connected to the vehicle frame through bolts passing through the first connection hole 111 . Thus, since the embodiment of the present application is used to directly connect the drive system 2 to the corresponding side of the frame through the suspension adapter plate 11, compared with the prior art that connects the wheels on both sides of the frame through the transmission shaft, the embodiment of the present application Since the RGV trolley does not have a drive shaft, it can effectively reduce the height of the center of gravity of the RGV trolley, meet the requirements for the operation of the RGV trolley, and improve the safety factor.

Referring to FIG. 3 , the drive system 2 includes a wheel 21 , an in-wheel motor 22 , a disc brake 23 and a steering knuckle 24 . Specifically, the tires of the wheels 21 are high-elastic solid tires wrapped around the outer edge of the in-wheel motor 22, which can attenuate the vibration transmitted to the vehicle body and reduce tire wear during driving, prolonging the service life of the RGV trolley. The in-wheel motor 22 is arranged on the hub of the wheel 21 and is connected with the brake disc 231 of the disc brake 23 through six bolts distributed around the circumference. The in-wheel motor 12 is used as the power source of the entire trolley. In this embodiment of the application, combined with the application scenario of the RGV trolley, the selected in-wheel motor has the characteristics of high output power and large torque when running at low and medium speeds. The brake caliper 232 of the disc brake 23 is connected to the steering knuckle 24 through bolts, and the friction plates (not shown) of the disc brake 23 are clamped on both sides of the brake disc 231 . During braking, the brake caliper 232 is locked under control, and the friction plate and the brake disc 231 rub against each other to realize the braking requirement of the RGV trolley. Thus, the disc brake 23 can provide braking force to the wheel 21 .

Referring to FIG. 3 and FIG. 4 , the disc brake 23 is connected with a steering knuckle 24 , and the steering knuckle 24 is located at the side of the brake caliper 232 . The steering knuckle 24 is a triangular plate whose apex faces upward. An upper ball seat 241 matching with the upper swing arm ball joint 15 is provided on the top surface of the steering knuckle 24 . The bottom surface of the steering knuckle 24 is provided with a lower ball seat 242 adapted to the lower swing arm ball joint 16 . After the suspension adapter plate 11 and the disc brake 23 are installed, the upper swing arm ball joint 15 is accommodated in the upper ball seat 241 , and the lower swing arm ball joint 16 is accommodated in the lower ball seat 242 . A second connecting hole 243 is also provided on the bottom surface of the steering knuckle 24 , and the steering knuckle 24 is connected to the connecting frame 5 through bolts passing through the second connecting hole 243 .

Referring to FIG. 5 , the connecting frame 5 includes a left beam 51 , a right beam 52 , a front support rod 53 and a rear support rod 54 . For ease of assembly and disassembly, the connecting frame 5 is a weldment. Left beam 51, right beam 52, front support bar 53 and rear support bar 54 all adopt square pipe. The front support bar 53 is connected between the front ends of the left beam 51 and the right beam 52 . The rear support rod 54 is connected between the rear ends of the left beam 51 and the right beam 52 . Both the front support rod 53 and the rear support rod 54 are L-shaped rods. Front support bar 53 comprises front cross bar 531 and the front vertical bar 532 that is arranged on the left end of front cross bar 531, the lower end of front vertical bar 532 connects the front end of left cross beam 51, and the left and right ends of front cross bar 531 connects front vertical bar respectively The upper end of 532 and the front end of right beam 52.

The rear support bar 54 comprises a rear cross bar 541 and a rear vertical bar 542 arranged on the left end of the rear cross bar 541. The upper end of the rod 542 and the rear end of the right beam 52. Thus, the left beam 51 is lower than the right beam 52 . The steering knuckle 24 in the drive system 2 is connected to the upper surface of the left beam 51 .

Referring to Fig. 6, the guiding system 3 can guide and limit the RGV trolley. Specifically, two sets of guide systems 3 are respectively connected to the front and rear ends of the left beam 51 of the connecting frame 5 , and the two sets of guiding systems 3 are arranged symmetrically with respect to the center line of the connecting frame 5 in the front-rear direction. In order to simplify the structure, both ends of the left beam 51 are bent towards the direction close to the wheel 21 and an opening is provided at the side close to the wheel 21 at the bend.

Each guide system 3 includes guide arms 31 , guide wheels 32 , adjustment and buffering devices 33 . The first end of the guide arm 31 extends into the opening of the left crossbeam 51 and is hinged in the left crossbeam 51 through the guide arm fixing pin 34 . The second end of the guide arm 31 is connected to the guide wheel 32 through a connecting pin 35 . An adjustment and buffer device 33 is provided on the guide arm 31 . The adjusting and buffering device 33 can make the guide wheel 32 contact with the grooved track all the time when guiding, and reduce the impact force brought by the inner side of the grooved track. Thus, the guide arm 31 can rotate around the guide arm fixing pin 34 in the horizontal plane, and the guide wheel 32 is always in contact with the inner side of the grooved track during the guide process, so that the guide process of the RGV trolley is smoother.

Specifically, referring to FIG. 7 , the adjusting and buffering device 33 includes an inner adjusting and buffering device and an outer adjusting and buffering device.

The inner adjusting and buffering device includes an adjusting rod bracket 331 , a first adjusting rod 332 , a first adjusting nut 333 and a first rectangular spring 334 . The adjusting rod bracket 331 includes a connecting portion 3311 and a limiting portion 3312 . The first end of the connecting portion 3311 is connected to the left crossbeam 51 , and the limiting portion 3312 is connected to the outer cylindrical surface of the first adjusting rod 332 . In order to connect more reliably, the connecting portion 3311 is V-shaped, and its opening faces the left cross beam 51 . The limiting portion 3312 includes a vertical limiting surface. The first end of the first adjustment rod 332 is connected to the guide arm 31 , and the second end extends out of the limiting portion 3312 of the adjustment rod bracket 331 and is fastened with the first adjustment nut 33 . A first rectangular spring 334 is sheathed on the first adjusting rod 332 , and two ends of the first rectangular spring 334 abut against the guide arm 31 and the limiting portion 3312 of the adjusting rod bracket 331 respectively.

The bending part of the left crossbeam 51 forms the adjusting rod connecting part 511 . The outer adjusting and buffering device includes a second adjusting rod 335 , a second adjusting nut 336 and a second rectangular spring 337 . A first end of the second adjustment rod 335 abuts against the guide arm 31 . The second end of the second adjusting rod 335 protrudes from the left side wall of the adjusting rod connecting portion 511 and is fastened with the second adjusting nut 336 . A second rectangular spring 337 is sheathed on the second adjusting rod 335 , and two ends of the second rectangular spring 337 abut against the left side wall of the guiding arm 31 and the connecting portion 511 of the adjusting rod respectively.

The cross section of the guide arm 31 is cross-shaped. There are two first adjusting rods 332 and two second adjusting rods 335 . The two first adjusting rods 332 are respectively located on the upper and lower sides of the guiding arm 31 , and the two second adjusting rods 335 are also respectively located on the upper and lower sides of the guiding arm 31 . Thus, it can provide guidance and limit for the first adjusting rod 332 and the second adjusting rod 335 , and prevent the first adjusting rod 332 and the second adjusting rod 335 from moving up and down.

Referring to FIG. 6 , the steering system 4 includes an electric push rod 41 , a steering wheel assembly 42 and a steering wheel mounting beam 43 . The steering wheel assemblies 42 are divided into two groups, and the two groups of steering wheel assemblies 42 are connected to the front end surface and the rear end surface of the steering wheel mounting beam 43 through the optical axis bracket 44 . The fixed end of electric push rod 41 is connected on the right beam 52 , and the extended end of electric push rod 41 is connected on the steering wheel mounting beam 43 . Thus, the electric push rod 41 can drive the steering wheel mounting beam 43 to move up and down, so that the steering wheel assembly 42 goes down and abuts against the outside of the grooved track when the RGV trolley turns or crosses a switch.

Each steering wheel assembly 42 includes a steering wheel shaft 421 , a steering wheel 422 , an intermediate guide circular flange linear bearing 423 and a bearing support seat 424 . In order to facilitate processing, the structure of the steering wheel 422 is the same as that of the steering wheel 32 . The bearing supporting base 424 includes a connecting plate 4241 and two connecting ears 4242 disposed on the connecting plate 4241 . The two connecting ears 4242 are arranged parallel up and down, the connecting plate 4241 is connected on the steering wheel mounting beam 43, and the flange of the middle guide circular flange linear bearing 423 is connected on the connecting ear 4242 on the upper side. The upper end of the steering wheel shaft 421 passes through the inner hole of the intermediate guide circular flange linear bearing 423 and is connected with the optical axis bracket 44 . The lower end of the steering wheel shaft 421 is connected to the steering wheel 422 through a deep groove ball bearing, so that the steering wheel 422 can rotate around the steering wheel shaft 421 . The intermediate guide circular flange linear bearing 423 can not only provide guidance for the steering wheel shaft 421 when it moves up and down, but also limit the height of the steering wheel 422 when the RGV trolley turns.

In addition, in order to accurately control the position of the steering wheel 422 , a limit switch (not shown in the figure) may also be provided on the bearing supporting base 424 to detect the position of the steering wheel 422 .

Referring to Figure 8, the working principle of the embodiment of the present application is as follows:

When the RGV trolley runs on a straight road section, the guide wheel 32 is in clearance contact with the inner side of the grooved track 6 to act as a guide and a limiter. At this time, the electric push rod 41 is in an extended state, and the steering wheel 422 is in a raised state. Before entering the turning road section, the extended end of the electric push rod 41 receives the signal and retracts, driving the steering wheel mounting beam 43 and the steering wheel assembly 42 to go down, so that the steering wheel 422 falls to a specified height and contacts the outside of the grooved track 6. At this time , The RGV trolley is constrained by the grooved track 6, the guide wheel 32 and the steering wheel 422 at the same time, which can effectively prevent its rollover and greatly improve its anti-rolling ability.

When the RGV trolley passes through the switch, the left or right wheel of the trolley does not touch the track. Taking the RGV trolley turning right as an example, the RGV trolley is only constrained by one side of the track. In order to pass through the fork smoothly and prevent derailment, the steering wheel 422 on the outside of the right track is put down. The steered wheels (the ones in the drive angle module on the other side of the frame) are still raised. The joint constraints of the one-side track and the guide wheel 32 and the steering wheel 422 can effectively ensure that the trolley runs normally along the grooved track 6 .

The power source of the RGV trolley adopting the driving corner module of the embodiment of the present application is the hub motor 22, and the braking force comes from the brake calipers in the driving module. Since the systems that make up the corner module are highly integrated, there is not too much coupling between them, which makes the distribution of the power transmission structure of the RGV trolley more reasonable, and is conducive to assembly and subsequent maintenance, effectively reducing operating costs.

The above are only specific implementation methods of this application, but the protection scope of this application is not limited thereto. Any changes or replacements within the technical scope disclosed in this application shall be covered within the protection scope of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims (10)

1. The RGV driving angle module adopting the lifting steering and guiding functions driven by the electric push rod is characterized by comprising a suspension system, a driving system, two groups of guiding systems, a steering system and a connecting frame; the driving system, the guiding system and the steering system are all connected to the connecting frame; one end of the suspension system is connected to the driving system, and the other end of the suspension system is connected with the frame;

the driving system is used for driving the RGV trolley to normally run and brake;

the suspension system is used for transmitting force and force torsion between the wheels and the frame and buffering impact force transmitted to the frame or the vehicle body by the uneven road surface;

the guide system can guide and limit the RGV trolley; when the RGV trolley moves, the guide wheel is always abutted against the inner side of the groove-shaped track;

the steering system comprises an electric push rod, a steering wheel assembly and a steering wheel mounting beam; the steering wheel assembly is connected to the steering wheel mounting beam; the electric push rod can drive the steering wheel mounting beam to move up and down, so that the steering wheel assembly descends and is abutted with the outer side of the groove type track when the RGV trolley turns or passes through a turnout.

2. The RGV drive angle module employing an electric pushrod driven lift steering and steering function of claim 1 wherein,

the connecting frame comprises a left cross beam and a right cross beam; a front supporting rod is arranged between the front end of the left cross beam and the front end of the right cross beam; a rear supporting rod is arranged between the rear end of the left cross beam and the rear end of the right cross beam;

the front support rod comprises a front cross rod and a front vertical rod arranged at the left end of the front cross rod, the lower end of the front vertical rod is connected with the front end of the left cross rod, and the left end and the right end of the front cross rod are respectively connected with the upper end of the front vertical rod and the front end of the right cross rod;

the rear support rod comprises a rear cross rod and a rear vertical rod arranged at the left end of the rear cross rod, the lower end of the rear vertical rod is connected with the rear end of the left cross rod, and the left end and the right end of the rear cross rod are respectively connected with the upper end of the rear vertical rod and the rear end of the right cross rod.

3. The RGV drive angle module of claim 2, wherein the fixed end of the electric putter is attached to the right cross beam and the extended end of the electric putter is attached to the steering wheel mounting beam.

4. The RGV driving angle module of claim 2, wherein the steering wheel assemblies are two sets, and the two sets of steering wheel assemblies are connected to the front end surface and the rear end surface of the steering wheel mounting beam through an optical axis bracket.

5. The RGV drive angle module employing the electric putter-driven lift steering and steering function of claim 4, wherein the steering wheel assembly comprises a steering wheel axle and a steering wheel; the upper end of the steering wheel shaft is fixedly connected to the optical axis support, and the lower end of the steering wheel shaft is connected with the steering wheel.

6. The RGV drive angle module employing an electric pushrod driven lift steering and steering function of claim 5, wherein the steering system further comprises an intermediate steering round flange linear bearing and bearing support; the bearing support seat comprises a connecting plate and two connecting lugs arranged on the connecting plate; the two connecting lugs are arranged in parallel up and down; the connecting plate is connected to the steering wheel mounting beam; the flange of the middle guide round flange linear bearing is connected to one of the connecting lugs; the upper end of the steering wheel shaft passes through the inner hole of the middle guide round flange linear bearing and then is connected with the optical axis bracket.

7. The RGV driving angle module using the electric putter driven lift steering and guiding function according to claim 2, wherein two sets of the guiding systems are respectively connected to the front and rear ends of the left cross beam of the connection frame, and the two sets of the guiding systems are symmetrically disposed with respect to the center line of the front and rear direction of the connection frame.

8. The RGV drive angle module of claim 7 employing an electric pushrod driven lift steering and steering function, wherein the steering system comprises a steering arm having a first end hinged to an end of the left beam and a second end connected to a steering wheel; the guide arm is provided with an adjusting and buffering device; the adjusting and buffering device can enable the guide wheel to be always in contact with the grooved rail during guiding, and reduces impact force brought by the inner side of the grooved rail.

9. The RGV drive angle module of claim 8 employing an electric pushrod driven lift steering and steering function,

the adjusting and buffering device comprises an inner adjusting and buffering device and an outer adjusting and buffering device;

the inner side adjusting and buffering device comprises an adjusting rod bracket, a first adjusting rod, a first adjusting nut and a first rectangular spring; the adjusting rod support comprises a connecting part and a limiting part, the first end of the connecting part is connected to the left cross beam, and the limiting part is connected with the first adjusting rod; the first end of the first adjusting rod is connected to the guide arm; the second end of the first adjusting rod extends out of the limiting part of the adjusting rod bracket and then is fastened with the first adjusting nut; a first rectangular spring is sleeved on the first adjusting rod; two ends of the first rectangular spring are respectively abutted against the guide arm and the limiting part of the adjusting rod bracket;

the end part of the left cross beam is bent towards the direction close to the wheel to form an adjusting rod connecting part, and an opening is formed in one side of the adjusting rod connecting part close to the wheel; the outer side adjusting and buffering device comprises a second adjusting rod, a second adjusting nut and a second rectangular spring; the first end of the second adjusting rod is abutted against the guide arm; the second end of the second adjusting rod extends out of the left side wall of the connecting part of the adjusting rod and is then fastened with a second nut; a second rectangular spring is sleeved on the second adjusting rod; and two ends of the second rectangular spring are respectively abutted against the left side wall of the guide arm and the left side wall of the adjusting rod connecting part.

10. The RGV drive angle module of claim 9 employing an electric pushrod driven lift steering and steering function, wherein the steering arm has a cross-section of a cross shape; the first adjusting rod and the second adjusting rod are two; the two first adjusting rods are respectively positioned at the upper side and the lower side of the guide arm; the two second adjusting rods are also respectively positioned at the upper side and the lower side of the guide arm.

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