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

Abstract

The application discloses RGV driving angle module adopting electric push rod driven lifting steering and guiding functions relates to the technical field of professional rail vehicles. The device can effectively prevent the phenomenon of rollover and derailment of the RGV trolley when the RGV trolley passes through a turnout and turns, improves the safety performance of the RGV trolley, and has the advantages of high integration level and simple structure. The driving angle module comprises a suspension system, a driving system, two groups of guide 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; the driving system is used for driving the RGV trolley to normally run and brake; the suspension system is connected to the drive system and is used for transmitting forces and force twists acting between the wheels and the frame; the guide system can guide and limit the RGV trolley; 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.

Description

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

Technical Field

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

Background

As automated logistics systems and automated warehouses develop, many of the shortcomings of conventional automated systems and warehouses are exposed, and in order to be able to remedy these shortcomings, RGV (rail guided vehicle ) applications develop, which can be readily and automatically coupled to other systems, such as in/out docking stations, various buffer stations, conveyors, lifts and robots, etc., for planned transportation. In addition, the device does not need personnel to operate, and has high running speed. Therefore, the workload of warehouse management personnel is obviously reduced, and the working efficiency is improved.

However, when turning and crossing, since the RGV trolley has only one wheel in the track, the freedom of the wheels on the other side is not limited in the horizontal direction, and if there is crosswind or lateral deviation, the risk of the trolley out of control is high, and a great potential safety hazard exists. Therefore, the existing RGV trolley is relatively safe under the condition of low speed and light load, and an additional device is needed when the trolley turns to ensure the reliability of turning and crossing under the condition of medium and high speed and heavy load. In addition, most RGV dollies on the market now are track direction, and for passive steering, and this direction type is comparatively serious to the wearing and tearing of dolly leading wheel, and the wearing and tearing condition is more outstanding under the medium speed heavy load condition, has strengthened RGV dolly's use cost greatly and has shortened its safety guarantee period.

Disclosure of Invention

The embodiment of the application provides an RGV driving angle module adopting an electric push rod driven lifting steering and guiding function, which can effectively prevent the phenomenon of rollover and derailment when an RGV trolley passes a turnout and turns, promote the safety performance of the RGV trolley and has the advantages of high integration level and simple structure.

In order to achieve the above objective, embodiments of the present application provide an RGV driving angle module using an electric putter driven lift steering and guiding function, including a suspension system, a driving system, two sets of guiding systems, a steering system and a connection 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; 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.

Further, 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.

Further, the fixed end of the electric push rod is connected to the right cross beam, and the extending end of the electric push rod is connected to the steering wheel mounting beam.

Further, the two groups of steering wheel assemblies are connected to the front end face and the rear end face of the steering wheel mounting beam through the optical axis brackets.

Further, the steering wheel assembly comprises a steering wheel shaft 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.

Further, the steering system also comprises a middle guide round flange linear bearing and a bearing support seat; 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.

Further, the two groups of guide systems are respectively connected to the front end and the rear end of the left cross beam of the connecting frame, and the two groups of guide systems are symmetrically arranged relative to the central line of the connecting frame in the front-rear direction.

Further, the guide system comprises a guide arm, a first end of the guide arm is hinged to the end part of the left cross beam, and a second end of the guide arm is connected with a guide 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.

Further, 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 abutted against 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 connected to 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.

Further, the cross section of the guide arm is cross-shaped; 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.

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

1. according to the embodiment of the application, the steering system capable of adjusting the passive steering and the lifting type active steering system driven by the electric push rod are adopted, so that when the RGV trolley moves, the guide wheels are always abutted against the inner side of the groove type rail, and when the RGV trolley turns or passes through a turnout, the steering wheels can descend and are abutted against the outer side of the groove type rail, and therefore the left side and the right side of the wheels are limited, and further the steering and the aisle turnout can be safely and smoothly conducted. In addition, because the electric push rod drives and then drives the steering wheel to move up and down, the steering wheel has small movable space and small interference to the steering wheel, and the lifting structure is relatively simple, so that the condition that the steering wheel is overturned and suspended in the control space can not exist.

2. The embodiment of the application integrates a suspension system, a driving system and a guiding and steering system into a driving angle module through a connecting frame, and the driving angle module are not excessively coupled with each other.

3. The embodiment of the application can be directly connected with the frame, so that the RGV trolley is not provided with a transmission shaft, the gravity center height of the RGV trolley can be effectively reduced, the running requirement of the RGV trolley is met, and the safety coefficient is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an RGV drive angle module employing an electric pushrod driven lift steering and steering function in accordance with an embodiment of the present application;

FIG. 2 is a schematic diagram of a suspension system according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a driving system according to an embodiment of the present application;

FIG. 4 is a schematic view of a steering knuckle according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural view of a connecting frame according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a steering and steering system according to an embodiment of the present application;

FIG. 7 is an enlarged view of a portion of the portion I of FIG. 6;

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

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the specific meaning of the terms in the present application can be understood as appropriate by one of ordinary skill in the art.

The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

Referring to fig. 1, an embodiment of the present application provides an RGV drive angle module employing an electric putter driven lift steering and steering function, comprising a suspension system 1, a drive system 2, two sets of steering systems 3, a steering system 4, and a connection frame 5.

Referring to fig. 1, a suspension system 1 is connected at one end to a drive system 2 and at the other end to a vehicle frame (not shown), and the suspension system 1 is used to transmit forces and torque between the wheels and the vehicle frame and to cushion impact forces transmitted to the vehicle frame or body by uneven road surfaces. Specifically, referring to fig. 2, the suspension system 1 includes a suspension fork 11, an upper yoke 12, a lower yoke 13, two yoke set screws 14, an upper swing arm ball 15, a lower swing arm ball 16, and a spring damper 17. The upper and lower ends of the suspension fork 11 are respectively connected with an upper yoke 12 and a lower yoke 13 through a yoke fixing screw 14. The upper fork arm 12 and the lower fork arm 13 are both A-shaped fork arms, and the bottom edges of the A-shaped fork arms are connected to the suspension fork 11. The upper swing arm ball 15 is provided on the lower surface of the end of the upper yoke 12 remote from the suspension fork 11. The lower swing arm ball 16 is provided on the upper surface of the end of the lower yoke 13 remote from the suspension fork 11. The upper swing arm ball 15 is arranged opposite to the lower swing arm ball 16. Thus, various parameters of the wheel can be accurately positioned. Such as camber, toe, caster, and the like. In addition, as the transverse rigidity of the two fork arms is larger, the inclination angle of the turning is smaller, so that the camber angle of the wheel can be automatically changed and the wheel tread change is reduced when the wheel moves up and down, the abrasion of the tire is reduced, the track surface can be self-adapted, the ground contact area of the tire is large, and the ground contact performance is good.

A spring damper 17 is provided between the upper yoke set screw 14 and the lower yoke 13. When the wheel is jumped, the spring damper 17 can make an axial telescopic movement along its own axis, so that the shock caused by the running process can be relieved. In addition, rubber washers are arranged at the joints of the two ends of the spring damper 17, so that abrasion of the spring damper 17 in the running process of the RGV trolley can be effectively reduced.

The suspension fork 11 is provided with a first coupling hole 111, and the suspension fork 11 is coupled to the frame by a bolt passing through the first coupling hole 111. Therefore, since the driving system 2 is directly connected to the corresponding side of the frame through the suspension adapter plate 11 in the embodiment of the application, compared with the prior art, the RGV trolley is connected to the wheels on two sides of the frame through the transmission shafts, and the RGV trolley is provided with no transmission shafts, so that the gravity center height of the RGV trolley can be effectively reduced, the running requirement of the RGV trolley is met, and the safety factor is improved.

Referring to fig. 3, the drive system 2 includes wheels 21, an in-wheel motor 22, a disc brake 23, and a knuckle 24. Specifically, the tire of the wheel 21 is a high-elasticity solid tire, and is wrapped around the outer edge of the in-wheel motor 22, so that vibration transmitted to the vehicle body can be damped, tire wear during running can be reduced, and the service life of the RGV trolley can be prolonged. The hub motor 22 is provided on the hub of the wheel 21 and is connected to the brake disc 231 of the disc brake 23 by 6 circumferentially distributed bolts. The hub motor 12 is used as a power source of the whole trolley, and the embodiment of the application combines the application scene of the RGV trolley, and the selected hub motor has the characteristics of high output power and large torque when running at medium and low rotational speeds. The brake caliper 232 of the disc brake 23 is connected to the knuckle 24 by bolts, and friction plates (not shown) of the disc brake 23 are sandwiched on both sides of the brake disc 231. During braking, the brake calipers 232 are controlled to lock, the friction plates and the brake discs 231 are rubbed with each other, and the RGV trolley braking requirement is met. Thereby, the disc brake 23 can provide braking force to the wheels 21.

Referring to fig. 3 and 4, a knuckle 24 is attached to the disc brake 23, and the knuckle 24 is located laterally of the brake caliper 232. Knuckle 24 is a triangular plate with its apex facing upward. An upper ball seat 241 which is matched with the upper swing arm ball head 15 is arranged on the top surface of the steering knuckle 24. A lower ball seat 242 matched with the lower swing arm ball head 16 is arranged on the bottom surface of the steering knuckle 24. After the suspension switching disc 11 and the disc brake 23 are installed, the upper swing arm ball 15 is accommodated in the upper ball seat 241, and the lower swing arm ball 16 is accommodated in the lower ball seat 242. The bottom surface of the knuckle 24 is also provided with a second connection hole 243, and the knuckle 24 is connected to the link 5 by a bolt passing through the second connection hole 243.

Referring to fig. 5, the link 5 includes a left cross member 51, a right cross member 52, a front support bar 53, and a rear support bar 54. For easy disassembly and assembly, the connecting frame 5 is a welding piece. The left cross beam 51, the right cross beam 52, the front support bar 53 and the rear support bar 54 all adopt square tubes. The front support bar 53 is connected between the front end of the left cross member 51 and the front end of the right cross member 52. The rear support bar 54 is connected between the rear end of the left cross member 51 and the rear end of the right cross member 52. The front support bar 53 and the rear support bar 54 are each L-shaped bars. The front support rod 53 includes a front cross bar 531 and a front vertical bar 532 disposed at the left end of the front cross bar 531, the lower end of the front vertical bar 532 is connected to the front end of the left cross bar 51, and the left and right ends of the front cross bar 531 are respectively connected to the upper end of the front vertical bar 532 and the front end of the right cross bar 52.

The rear support bar 54 includes a rear cross bar 541 and a rear vertical bar 542 disposed at a left end of the rear cross bar 541, a lower end of the rear vertical bar 542 is connected to a rear end of the left cross bar 51, and left and right ends of the rear cross bar 442 are respectively connected to an upper end of the rear vertical bar 542 and a rear end of the right cross bar 52. Thus, the left cross member 51 is lower than the right cross member 52. The knuckle 24 in the drive system 2 is attached to the upper surface of the left cross member 51.

Referring to fig. 6, the guidance system 3 is capable of guiding and restraining an RGV cart. Specifically, the two sets of guide systems 3 are respectively connected to the front and rear ends of the left cross member 51 of the connection frame 5, and the two sets of guide systems 3 are symmetrically disposed with respect to the center line of the connection frame 5 in the front-rear direction. To simplify the structure, both ends of the left cross member 51 are bent in a direction approaching the wheel 21 and an opening is provided at a side of the bent portion approaching the wheel 21.

Each set of guiding systems 3 comprises a guiding arm 31, a guiding wheel 32, an adjusting and damping device 33. The first end of the guide arm 31 extends into the opening of the left cross member 51 and is hinged in the left cross member 51 by the guide arm fixing pin 34. The second end of the guide arm 31 is connected to the guide wheel 32 by a connecting pin 35. The guide arm 31 is provided with an adjusting and damping device 33. The adjusting and buffering device 33 can enable the guide wheel 32 to be always contacted with the grooved rail during guiding, and reduce impact force brought by the inner side of the grooved rail. Therefore, the guide arm 31 can rotate around the guide arm fixing pin 34 in the horizontal plane, the guide wheel 32 is always contacted with the inner side of the groove-shaped track in the guide process, and the guide process of the RGV trolley is smoother.

Specifically, referring to fig. 7, the adjusting and cushioning device 33 includes an inner adjusting and cushioning device and an outer adjusting and cushioning device.

The inside adjusting and buffering device includes an adjusting lever bracket 331, a first adjusting lever 332, a first adjusting nut 333, and a first rectangular spring 334. The adjustment lever bracket 331 includes a connection portion 3311 and a limiting portion 3312. The first end of the connection part 3311 is connected to the left cross member 51, and the limiting part 3312 is connected to the outer cylindrical surface of the first adjustment lever 332. For more reliable connection, the connection portion 3311 is V-shaped with its opening toward the left cross member 51. The stop 3312 includes a vertical stop surface. The first adjusting lever 332 has a first end connected to the guide arm 31 and a second end extending beyond the limiting portion 3312 of the adjusting lever bracket 331 to be fastened to the first adjusting nut 33. The first adjusting lever 332 is sleeved with a first rectangular spring 334, and two ends of the first rectangular spring 334 respectively abut against the guide arm 31 and the limiting part 3312 of the adjusting lever bracket 331.

The bent portion of the left cross member 51 forms an adjustment lever connection portion 511. The outer adjustment and damping device includes a second adjustment rod 335, a second adjustment nut 336, and a second rectangular spring 337. The first end of the second adjustment lever 335 abuts against the guide arm 31. The second end of the second adjustment lever 335 is fastened to the second adjustment nut 336 after extending out of the left sidewall of the adjustment lever connection part 511. The second adjusting lever 335 is sleeved with a second rectangular spring 337, and both ends of the second rectangular spring 337 respectively abut against the left side walls of the guide arm 31 and the adjusting lever connecting portion 511.

The guide arm 31 has a cross-shaped cross-section. The number of the first adjustment lever 332 and the second adjustment lever 335 is two. The two first adjusting rods 332 are respectively located at the upper and lower sides of the guide arm 31, and the two second adjusting rods 335 are also respectively located at the upper and lower sides of the guide arm 31. Thus, guiding and limiting can be provided for the first adjusting lever 332 and the second adjusting lever 335, preventing the first adjusting lever 332 and the second adjusting lever 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 two groups, and the two groups of steering wheel assemblies 42 are connected to the front end face and the rear end face of the steering wheel mounting beam 43 through the optical axis brackets 44. The fixed end of the electric push rod 41 is connected to the right cross member 52, and the projecting end of the electric push rod 41 is connected to 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 descends and abuts against the outer side of the groove track when the RGV trolley turns or passes a switch.

Each set of steering wheel assemblies 42 includes a steering wheel shaft 421, steering wheels 422, an intermediate pilot flange linear bearing 423, and a bearing support 424. For ease of processing, the steering wheel 422 is identical in construction to the guide wheel 32. The bearing support 424 includes a connection plate 4241 and two connection lugs 4242 provided on the connection plate 4241. The two connecting lugs 4242 are arranged in parallel up and down, the connecting plate 4241 is connected to the steering wheel mounting beam 43, and the flange of the middle guide circular flange linear bearing 423 is connected to the connecting lug 4242 on the upper side. The upper end of steering wheel shaft 421 passes through the inner hole of middle guide circular flange linear bearing 423 and then is connected with optical axis bracket 44. The lower end of steering wheel shaft 421 is connected to steering wheel 422 through a deep groove ball bearing, whereby steering wheel 422 can rotate around steering wheel shaft 421. The middle guide circular flange linear bearing 423 can not only provide a guide effect for the steering wheel shaft 421 when it moves up and down, but also can limit the height of the steering wheel 422 when the RGV trolley is steered.

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

Referring to fig. 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 wheels 32 are in clearance contact with the inner side of the groove type track 6, so that the guide and limit functions are realized. At this time, the electric push rod 41 is in the extended state, and the steering wheel 422 is in the lifted state. Before entering a turning road section, the electric push rod 41 receives signals and then stretches out to retract to drive the steering wheel mounting beam 43 and the steering wheel assembly 42 to descend, so that the steering wheel 422 falls to a specified height and contacts with the outer side of the grooved rail 6, and at the moment, the RGV trolley is restrained by the grooved rail 6, the guide wheel 32 and the steering wheel 422 at the same time, so that side turning of the RGV trolley can be effectively prevented, and the anti-roll capability of the RGV trolley is greatly improved.

When the RGV trolley is in aisle switch, then either the left or right wheel of the trolley is not in contact with the rail. Taking right steering of the RGV trolley as an example, the RGV trolley is limited by a single-side rail, so that the RGV trolley can smoothly pass through a fork and prevent derailment, the steering wheel 422 on the outer side of the right side rail is put down, and the steering wheel (the steering wheel in the driving angle module on the other side of the frame) on the outer side of the left side rail is still in a lifted state so as to prevent collision with a standing pile. The common restraint of the unilateral track, the guide wheels 32 and the steering wheels 422 can effectively ensure that the trolley runs normally along the grooved track 6.

The power source of an RGV cart employing the drive angle module of an embodiment of the present application is the in-wheel motor 22, with braking force derived from the brake calipers in the drive module. Because the systems forming the angle module are also highly integrated and have no excessive coupling, the power transmission structure of the RGV trolley is distributed more reasonably, and meanwhile, the assembly and subsequent overhaul and maintenance are facilitated, and the operation cost is effectively reduced.

The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to 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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