CN116443782B - An RGV trolley for transporting wheel blanks and its usage method - Google Patents

An RGV trolley for transporting wheel blanks and its usage method

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Publication number
CN116443782B
CN116443782B CN202310414940.4A CN202310414940A CN116443782B CN 116443782 B CN116443782 B CN 116443782B CN 202310414940 A CN202310414940 A CN 202310414940A CN 116443782 B CN116443782 B CN 116443782B
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CN
China
Prior art keywords
rgv trolley
wheel
telescopic
base
base plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202310414940.4A
Other languages
Chinese (zh)
Other versions
CN116443782A (en
Inventor
耿培涛
许杰峰
陆志忠
江涛
华晓春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Baowu Group Masteel Rail Transit Materials Technology Co Ltd
Original Assignee
Baowu Group Masteel Rail Transit Materials Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Baowu Group Masteel Rail Transit Materials Technology Co Ltd filed Critical Baowu Group Masteel Rail Transit Materials Technology Co Ltd
Priority to CN202310414940.4A priority Critical patent/CN116443782B/en
Publication of CN116443782A publication Critical patent/CN116443782A/en
Application granted granted Critical
Publication of CN116443782B publication Critical patent/CN116443782B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

本发明公开了一种用于车轮坯料运输的RGV小车，包括行走机构、升降机构、伸缩机构和防倾翻机构，所述升降机构安装在行走机构的车架上，伸缩机构安装在升降机构的上底板上，伸缩机构在垂直于RGV小车行进方向的方向上进行水平伸缩，防倾翻机构安装在车架旁位于RGV小车与伸缩机构伸出的方向相反的一侧。本发明的用于车轮坯料运输的RGV小车不仅结构简单、使用方便、易于操作，而且自动化程度高、速度快、稳定性好、成本低、操作维护简单，可靠性强，有效解决了现有技术中行车进行车轮坯料运输方式的不足，实现了车轮坯料在不同设定站点间的智能运输。本发明还公开了一种用于车轮坯料运输的RGV小车的使用方法。

This invention discloses an RGV trolley for transporting wheel blanks, comprising a traveling mechanism, a lifting mechanism, a telescopic mechanism, and an anti-tipping mechanism. The lifting mechanism is mounted on the frame of the traveling mechanism, and the telescopic mechanism is mounted on the upper base plate of the lifting mechanism. The telescopic mechanism extends and retracts horizontally in a direction perpendicular to the traveling direction of the RGV trolley. The anti-tipping mechanism is mounted beside the frame on the side of the RGV trolley opposite to the direction of extension of the telescopic mechanism. This invention's RGV trolley for transporting wheel blanks is not only simple in structure, convenient to use, and easy to operate, but also highly automated, fast, stable, low-cost, simple to operate and maintain, and highly reliable. It effectively solves the shortcomings of existing methods for transporting wheel blanks using traveling vehicles, realizing intelligent transportation of wheel blanks between different designated stations. This invention also discloses a method for using the RGV trolley for transporting wheel blanks.

Description

RGV trolley for transporting wheel blanks and application method thereof
Technical Field
The invention belongs to the technical field of wheel blank transportation, and particularly relates to an RGV trolley for wheel blank transportation and a use method thereof.
Background
The production of finished wheels is to go through the working procedures of blanking, heating, rolling, heat treatment, rough machining, finish machining, detection and the like, at present, wheel blanks cut into fixed lengths by a disc cold saw in a blanking area are hung above a chute which is inclined with the ground by a door arranged at a discharge hole of the disc cold saw, the wheel blanks slide to the ground along the chute, a driver hangs the wheel blanks in different set ground libraries according to the specifications of the wheel products, when the wheel blanks are rolled to certain specifications of the wheel products, the driver hangs the wheel blanks in the ground libraries in a steel pushing groove beside a heating furnace, the wheel blanks are pushed to the door side of the heating furnace by a hydraulic pusher, and the wheel blanks are clamped by a manual operation forklift and conveyed into the heating furnace for heating. The existing storage and transportation modes of the wheel blanks cannot well track single wheel blanks, are not suitable for production requirements of fine wheels, and require intelligent modification of the whole logistics system from the wheel blanking process to the heating process.
The fixed-point conveying of the wheel blanks from one station to another station is an important ring for intelligent upgrading and reconstruction of the wheel blanks from the blanking process to the heating process logistics system. The existing travelling crane wheel blank lifting mode cannot realize automatic operation, is time-consuming and labor-consuming, cannot realize accurate placement of wheel blanks, is inevitably bumped and smashed and rolled in the travelling crane wheel blank lifting process, and has potential safety hazards at the same time.
According to the search, the Chinese patent application No. CN201910878866.5 published in 2019-11-19 provides an RGV transport vehicle, which comprises a travelling mechanism, a lifting mechanism, an automatic charging device and a control system. The lifting mechanism comprises a crank connecting rod mechanism, a parallel four-bar mechanism and a swing arm sliding sleeve mechanism, wherein the swing arm sliding sleeve mechanism comprises a pair of swing arms and a pair of sliding columns which are vertically arranged, the sliding columns are connected with sliding sleeves in a sliding manner, one ends of the swing arms are hinged with the corresponding sliding sleeves, and the other ends of the swing arms are hinged with the parallel moving rods. The automatic charging device comprises a charging socket assembly and a charging plug assembly, the charging plug assembly comprises a guide column and a charging plug, the guide column and the charging plug are connected with the shell in a floating mode, the charging socket assembly is provided with a guide hole and a charging socket, and after the guide column is inserted into the guide hole, the charging plug is inserted into the charging socket. The control system controls the sequential actions of the travelling mechanism, the lifting mechanism and the automatic charging device.
The utility model patent of China with the application number of CN202223087757.8 published on 2023-02-03 provides an RGV trolley, which comprises a supporting arm, a travelling mechanism, a lifting mechanism and a slewing mechanism, wherein the slewing mechanism comprises a slewing bearing, a slewing table, a first driving part and a gear shaft, the slewing table is rotatably arranged on the travelling mechanism, the slewing bearing is arranged on the slewing table, the first driving part is arranged on the travelling mechanism and is positioned in the slewing bearing, the output end of the first driving part is connected with the slewing bearing through the gear shaft and is used for driving the slewing bearing to rotate, the lifting mechanism is arranged on the slewing table, and the supporting arm is used for clamping an article and is arranged on the lifting mechanism. However, the technical solutions of the above patents still cannot solve the above technical problems.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an RGV trolley for transporting wheel blanks, which has the advantages of simple structure, convenient use and easy operation, the invention also provides a use method of the RGV trolley for transporting the wheel blanks, which effectively solves the defect of the prior art that the travelling crane carries out the transportation of the wheel blanks and realizes the intelligent transportation of the wheel blanks among different setting sites.
In order to achieve the aim, the technical scheme is that the RGV trolley for transporting the wheel blanks comprises a travelling mechanism, a lifting mechanism, a telescopic mechanism and an anti-tipping mechanism, wherein the lifting mechanism is arranged on a frame of the travelling mechanism, the telescopic mechanism is arranged on an upper bottom plate of the lifting mechanism, the telescopic mechanism horizontally stretches in a direction perpendicular to the running direction of the RGV trolley, and the anti-tipping mechanism is arranged beside the frame and is positioned on one side of the RGV trolley opposite to the stretching direction of the telescopic mechanism.
Further, running gear includes frame, pivot subassembly, gear motor I, drive wheelset and driven wheelset, the frame includes main frame, L type foundation plate and bottom plate I, L type foundation plate connects in the four corners department of main frame, bottom plate I fixed connection is located one side of frame on the main frame, anti-tipping mechanism's gyro wheel base installs on bottom plate I, the below rigid coupling pivot subassembly of L type foundation plate, gear motor I installs on pivot subassembly's U type mount pad, gear motor I's output shaft passes through shaft coupling I and is connected with drive wheelset's pivot I, drive wheelset and driven wheelset are connected with corresponding pivot subassembly respectively.
Further, pivot subassembly includes first pivot, first axle sleeve, second pivot, second axle sleeve, connecting plate and U type mount pad, all inlays between first pivot and the first axle sleeve, between second pivot and the second axle sleeve and is equipped with two rows of tapered roller bearings, and second pivot below is connected with U type mount pad, and the one end of connecting plate is connected on the outer wall of second axle sleeve, and the other end at the connecting plate is connected to the below of first pivot, and first axle sleeve fixed connection is on L type foundation plate.
Further, running gear still includes guide pulley group and L type mounting panel, and L type mounting panel sets up in the both sides of U type mount pad, and guide pulley group passes through the leading axle rigid coupling on L type mounting panel and the both sides of fixed cartridge at the guide rail, is equipped with the bearing between leading wheel and the shaft.
Further, elevating system includes upper plate, lower plate, gear motor II, trapezoidal lead screw, trapezoidal nut linear guide pair and cuts elevating system, and lower plate fixed mounting is on the frame, and the linear guide of linear guide pair is installed on the upper surface of lower plate, cuts elevating system setting between upper plate and lower plate, and gear motor II installs on the upper surface of lower plate, and gear motor II's output shaft is connected with trapezoidal lead screw through shaft coupling II, trapezoidal nut fixed mounting on the connecting rod.
Further, the shear type lifting assembly comprises a first support frame and a second support frame which are arranged in a crossing manner, the first support frame is rotationally connected with the second support frame, the upper ends of the first support frame and the second support frame are rotationally connected with the lower surface of the upper bottom plate, the lower ends of the first support frame are rotationally connected with a guide rail sliding block of a linear guide rail pair through a connecting rod, the guide rail sliding block is slidingly connected on the linear guide rail, and the lower ends of the second support frame are rotationally connected with the upper surface of the lower bottom plate.
Further, telescopic machanism includes base, gear motor III, drive assembly and flexible arm, and base fixed mounting is on elevating system's upper plate, and gear motor III installs on the base admittedly, flexible arm sliding connection is on the base, and the lower surface of flexible arm is equipped with the rack, and the rack meshes with drive assembly's gear, and gear motor III's output shaft and drive assembly are connected drive gear and are rotated.
Further, tilting prevention mechanism includes basic support, L type mounting panel, balancing pole, gyro wheel and gyro wheel base, basic support fixed mounting is in receiving material station, one side of unloading station track, RGV dolly walks on the track, L type mounting panel fixed connection is on basic support, the balancing pole passes through adjusting bolt and nut to be installed on L type mounting panel, gyro wheel base fixed mounting is at bottom plate I, the gyro wheel is installed on gyro wheel base, when the gyro wheel base follows RGV dolly and moves to receiving material station, unloading station, the gyro wheel is located the below of balancing pole and with balancing pole rolling contact.
Further, the rotating shaft I of the driving wheel group is rotatably mounted on two side walls of the U-shaped mounting seat through the bearing seat, the rotating shaft II of the driven wheel group is rotatably mounted on two side walls of the U-shaped mounting seat through the bearing seat, the mounting bottom plate for mounting the gear motor I is arranged on the inner side face of the U-shaped mounting seat for mounting the driving wheel group, the gear motor I is fixedly mounted on the mounting bottom plate, and the output shaft of the gear motor I is connected with the rotating shaft I of the driving wheel group through the shaft coupling.
The invention also provides a use method of the RGV trolley for transporting the wheel blanks, which is based on the RGV trolley for transporting the wheel blanks and comprises the following steps:
s1, when the RGV trolley is in a standby state, the lifting mechanism is positioned at the lowest position, the telescopic arm of the telescopic mechanism is contracted to a zero position, and the trolley is stopped at a specified position;
S2, when the loading disc placed on the loading table is filled with the sawed wheel blanks, the electric control unit sends a signal to the RGV trolley, the RGV trolley moves to reach a set loading station, and the idler wheel of the anti-tipping mechanism is positioned under the balance bar and is in rolling contact with the balance bar, so that the RGV trolley is prevented from tipping;
s3, the telescopic mechanism works to enable the telescopic arm to be positioned right below a charging tray provided with wheel blanks on the charging table;
S4, the lifting mechanism works to drive the telescopic mechanism to rise to a set height, so that the telescopic arm supports a charging tray filled with wheel blanks;
s5, retracting the telescopic mechanism to enable the telescopic arm carrying the wheel blank to be retracted to a zero position;
s6, the lifting mechanism is lowered back to the lowest position, and the telescopic arm carrying the wheel blanks descends along with the lifting mechanism;
S7, working a travelling mechanism of the RGV trolley, and stopping movement of the RGV trolley when the RGV trolley reaches a set unloading station;
S8, the lifting mechanism works to drive the telescopic mechanism to ascend, so that the telescopic arm carrying the wheel blank reaches the height when unloading;
S9, the telescopic mechanism works, and the telescopic arm carrying the wheel blank extends out, so that the wheel blank on the telescopic arm reaches the position right above the receiving position;
s10, the lifting mechanism is lowered back to the lowest position, and in the process of lowering of the lifting mechanism, the charging tray filled with the wheel blanks is transferred to a supporting surface of a receiving position from the telescopic arm, and the charging tray filled with the wheel blanks is unloaded on the charging tray filled with the wheel blanks;
S11, retracting the telescopic mechanism, and retracting the telescopic arm to a zero position;
And S12, after receiving a discharging end signal, the RGV trolley traveling mechanism drives the whole RGV trolley to travel to a specified position along the guide rail, and one working cycle is ended.
The technical scheme of the invention has the advantages that:
1. The RGV trolley for transporting the wheel blanks not only can realize automatic transportation of the wheel blanks by intelligently upgrading and reforming the storage logistics from the blanking process to the heating process, but also can realize accurate placement of the wheel blanks, and simultaneously satisfies the information tracking of the wheel blank transportation process.
2. The RGV trolley for transporting the wheel blanks is simple in structure, convenient to use and easy to operate, and is used as wheel blank transporting equipment, the degree of automation is high, the speed is high, the stability is good, the cost is low, the operation and maintenance are simple, the reliability is high, the defect that the travelling crane is used for transporting the wheel blanks in the prior art is effectively overcome, and the intelligent transportation of the wheel blanks among different set stations is realized.
Drawings
The invention is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic diagram of an RGV trolley according to the present invention;
FIG. 2 is a schematic diagram of an RGV trolley travel mechanism of the present invention;
FIG. 3 is a schematic view of the structure of the rotating shaft assembly of the traveling mechanism of the present invention;
FIG. 4 is a schematic view of a lifting mechanism according to the present invention;
FIG. 5 is a schematic view of the telescopic mechanism of the present invention;
FIG. 6 is a schematic view of an anti-tipping mechanism of the invention.
The marks in the figure are respectively 1, a travelling mechanism, 2, a lifting mechanism, 3, a telescopic mechanism and 4, and an anti-tipping mechanism.
Detailed Description
In the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "planar direction", "circumferential", etc. refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element referred to must have a specific orientation, and are constructed and operated in a specific orientation, and therefore are not to be construed as limiting the present invention.
As shown in fig. 1 to 6, an RGV trolley for transporting wheel blanks comprises a travelling mechanism 1, a lifting mechanism 2, a telescopic mechanism 3 and an anti-tipping mechanism 4, wherein the lifting mechanism 2 is arranged on a frame 101 of the travelling mechanism 1, the telescopic mechanism 3 is arranged on an upper bottom plate 201 of the lifting mechanism 2, the telescopic mechanism 3 horizontally stretches and contracts in a direction perpendicular to the travelling direction of the RGV trolley, and the anti-tipping mechanism 4 is arranged beside the frame 101 and is positioned on one side of the RGV trolley opposite to the stretching direction of the telescopic mechanism 3. The RGV trolley for transporting the wheel blanks is simple in structure, convenient to use, easy to operate, high in automation degree, high in speed, good in stability, low in cost, simple in operation and maintenance and high in reliability, effectively overcomes the defect of the prior art that the travelling crane is used for transporting the wheel blanks, and achieves intelligent transportation of the wheel blanks among different set stations.
The traveling mechanism 1 comprises a frame 101, a rotating shaft assembly 102, a gear motor I103, a driving wheel group 105 and a driven wheel group 106, wherein the frame 101 comprises a main frame 1011, an L-shaped foundation plate 1012 and a bottom plate I1013, the L-shaped foundation plate 1012 is connected to four corners of the main frame 1011, the bottom plate I1013 is fixedly connected to the main frame 1011 and is positioned on one side of the frame 101, a roller pedestal 407 of an anti-tipping mechanism 4 is arranged on the bottom plate I1013, the rotating shaft assembly 102 is fixedly connected to the lower part of the L-shaped foundation plate 1012, the gear motor I103 is arranged on a U-shaped mounting seat 1028 of the rotating shaft assembly 102, an output shaft of the gear motor I103 is connected with a rotating shaft I1051 of the driving wheel group 105 through a coupler I104, and the driving wheel group 105 and the driven wheel group 106 are respectively connected with the corresponding rotating shaft assembly 102. The running mechanism 1 further comprises a guide wheel set 107 and an L-shaped mounting plate 1029, the L-shaped mounting plate 1029 is arranged on two sides of the U-shaped mounting seat 1028, the guide wheel set 107 is fixedly connected to the L-shaped mounting plate 1029 through a guide wheel shaft 1071 and fixedly clamped on two sides of a guide rail, and a bearing is arranged between the guide wheel 1072 and the wheel shaft 1071.
Specifically, the travelling mechanism 1 comprises 1 driving wheel group, 3 driven wheel groups and 4 guiding wheel groups. The main frame 1011 is welded by square tubes, has good rigidity and light weight, one side of the frame 101 is provided with a bottom plate I1013 for fixing a roller base 407 of the anti-tipping mechanism, two ends of the frame 101 are fixedly connected with four L-shaped foundation plates 1012, and a rotating shaft component is fixedly connected below the L-shaped foundation plates.
The rotating shaft assembly 102 comprises a first rotating shaft 1021, a first shaft sleeve 1022, a second rotating shaft 1023, a second shaft sleeve 1024, a connecting plate 1027 and a U-shaped mounting seat 1028, wherein two rows of tapered roller bearings 1025 are respectively embedded between the first rotating shaft 1021 and the first shaft sleeve 1022 and between the second rotating shaft 1023 and the second shaft sleeve 1024, the lower part of the second rotating shaft 1023 is connected with the U-shaped mounting seat 1028, one end of the connecting plate 1027 is connected to the outer wall of the second shaft sleeve 1024, the lower part of the first rotating shaft 1021 is connected to the other end of the connecting plate 1027, and the first shaft sleeve 1022 is fixedly connected to the L-shaped base plate 1012.
The rotating shaft I1051 of the driving wheel group 105 is rotatably arranged on two side walls of the U-shaped mounting seat 1028 through a bearing seat, the rotating shaft II1061 of the driven wheel group 106 is rotatably arranged on two side walls of the U-shaped mounting seat 1028 through a bearing seat, the mounting base plate 1031 for mounting the gear motor I103 is arranged on the inner side surface of the U-shaped mounting seat 1028 for mounting the driving wheel group 105, the gear motor I103 is fixedly arranged on the mounting base plate 1031, and an output shaft of the gear motor I103 is connected with the rotating shaft I1051 of the driving wheel group 105 through a coupler.
Specifically, two rows of tapered roller bearings 1025 are embedded between the first rotating shaft 1021 and the first shaft sleeve 1022, two rows of tapered roller bearings 1025 are embedded between the second rotating shaft 1023 and the second shaft sleeve 1024, the uppermost parts of the two rows of tapered roller bearings 1025 are locked by locking nuts 1026, the lower part of the second rotating shaft 1023 is connected with a U-shaped mounting seat 1028, and the U-shaped mounting seat 1028 can flexibly rotate around the frame 101. The rotating shaft I1051 of the driving wheel group 105 is movably sleeved between two side walls of the U-shaped mounting seat 1028 through bearing blocks, likewise, the rotating shaft II1061 of the driven wheel group 106 is movably sleeved between two side walls of the U-shaped mounting seat 1028 through bearing blocks, a reducing motor I103 mounting baseplate 1031 is fixedly connected to the inner side surface of the U-shaped mounting seat 1028 at the driving wheel group 105, the reducing motor I103 is fixedly arranged on the mounting baseplate 1031, the output end of the reducing motor I103 is connected with the rotating shaft I1051 of the driving wheel group 105 through a coupler I104, a driving wheel 1053 on the rotating shaft I1051 of the driving wheel group 105 is driven to rotate through the reducing motor I103, the driving wheel 1053 drives a frame 101 to move, and three driven wheels 1063 rotate in a following manner, so that the whole RGV trolley is driven to run on a guide rail. The L-shaped mounting plates 1029 are fixedly connected to the two ends of the U-shaped mounting seat 1028, the guide wheel sets 107 are fixedly connected to the L-shaped mounting plates 1029 through the guide wheel shafts 1071 and fixedly clamped on the two sides of the guide rail, bearings 1073 are embedded between the guide wheels 1072 and the wheel shafts 1071, friction resistance during guiding is reduced, and when the RGV trolley turns, the guide wheel sets 107 can freely rotate around the frame 101 along with the follow-up of the U-shaped mounting seat 1028, so that a self-adaptive guiding effect is achieved.
The lifting mechanism 2 comprises an upper bottom plate 201, a lower bottom plate 202, a gear motor II203, a trapezoidal screw 205, a trapezoidal nut 206, a linear guide rail pair 209 and a scissor lifting assembly 210, wherein the lower bottom plate 202 is fixedly installed on the frame 101, a linear guide rail 2091 of the linear guide rail pair 209 is installed on the upper surface of the lower bottom plate 202, the scissor lifting assembly 210 is arranged between the upper bottom plate 201 and the lower bottom plate 202, the gear motor II203 is installed on the upper surface of the lower bottom plate 202, an output shaft of the gear motor II203 is connected with the trapezoidal screw 205 through a coupler II204, and the trapezoidal nut 206 is fixedly installed on a connecting rod 207. Can be in order to better realize the rotation of trapezoidal lead screw 205, the both ends of trapezoidal lead screw 205 are equipped with bearing frame 208, and trapezoidal lead screw 205 passes through bearing frame 208 and installs on lower plate 202, and trapezoidal nut 206 cup joints at trapezoidal lead screw 205, and trapezoidal nut 206 meshes with trapezoidal lead screw 205, and trapezoidal nut 206 and trapezoidal lead screw 205 can carry out relative motion. The lower end of the scissor lift assembly 210 is rotatably coupled to the upper surface of the lower plate 202, and the upper end of the scissor lift assembly 210 is rotatably coupled to the lower surface of the upper plate 201.
The shear type lifting assembly 210 comprises a first support 2101 and a second support 2102 which are arranged in a crossing manner, the first support 2101 and the second support 2102 are connected in a rotating manner, the upper ends of the first support 2101 and the second support 2102 are connected with the lower surface of the upper base plate 201 in a rotating manner, the lower end of the first support 2101 is connected with a guide rail sliding block 2092 of the linear guide rail pair 209 in a rotating manner through a connecting rod 207, the guide rail sliding block 2092 is connected to the linear guide rail 2091 in a sliding manner, and the lower end of the second support 2102 is connected with the upper surface of the lower base plate 202 in a rotating manner.
Specifically, the upper base plate 201 and the lower base plate 202 are hollow structures, the upper base plate 201 and the lower base plate 202 are adjusted in distance by arranging a pair of scissor lifting assemblies 210, and the scissor lifting assemblies 210 comprise a first supporting frame 2101 and a second supporting frame 2102 which are arranged in a mutually crossed mode. In order to better realize the rotation of the trapezoidal screw 205, the two ends of the trapezoidal screw 205 are provided with bearing blocks 208, so that the external friction of the trapezoidal screw 205 is reduced. Through the setting of above structure, gear motor II203 passes through shaft coupling II204 drive trapezoidal lead screw 205 and rotates, drives connecting rod 207 by trapezoidal lead screw 205's nut 206 and realizes removing along the guide rail 2091 of linear guide pair 209 to drive first support 2101 frame and remove, realize elevating system 2's lift, adopt trapezoidal lead screw 205 nut 206 transmission, elevating system 2 can realize the auto-lock.
The lifting mechanism 2 is arranged between the driving wheel set 105 and the driven wheel set 106, is enclosed in the frame 101, and ensures the running stability of the trolley because the whole weight of the trolley is arranged between the four wheel sets in running. The upper bottom plate 201 and the lower bottom plate 202 are in a hollowed-out design, and a driving device of the telescopic mechanism is arranged between the scissor type lifting assemblies, so that the installation height of the RGV trolley is effectively compressed, and the requirement on the height of a station cargo rack is further reduced.
The telescopic mechanism 3 comprises a base 301, a gear motor III302, a transmission assembly and a telescopic arm 308, wherein the base 301 is fixedly arranged on the upper bottom plate 202 of the lifting mechanism 2, the gear motor III302 is fixedly arranged on the base 301, the telescopic arm 308 is slidably connected to the base 301, a rack 307 is arranged on the lower surface of the telescopic arm 308, the rack 307 is meshed with a gear of the transmission assembly, and an output shaft of the gear motor III302 is connected with the transmission assembly to drive the gear to rotate so as to drive the rack to move, so that the telescopic arm 308 stretches.
Specifically, the telescopic mechanism 3 is configured to horizontally telescope in a direction perpendicular to the traveling direction of the RGV trolley, the transmission assembly includes a sprocket 303, a chain 304, and a transmission shaft 305, a gear is mounted on the transmission shaft 305 and rotates along with the transmission shaft 305, the gear motor III302 drives the gear on the transmission shaft 305 to rotate through the sprocket 303 and the chain 304, and the gear drives the rack 307 to advance and retract, so as to drive the telescopic arm 308 to telescope. The telescopic mechanism 3 comprises two bases 301 and two telescopic arms 308, the two bases 301 are arranged in parallel, and the two telescopic arms 308 are respectively connected to the two bases 301 in a sliding manner.
The anti-tipping mechanism 4 comprises a base bracket 401, an L-shaped mounting plate 402, a balance bar 403, a roller 406 and a roller pedestal 407, wherein the RGV trolley is arranged at the material level of a wheel blank of the loading and unloading trolley of the RGV trolley, the base bracket 401 is arranged at the other side of the RGV trolley in the extending direction of the telescopic arm 308, namely, the base bracket 401 is fixedly arranged at one side of a track of a receiving station and a discharging station, the RGV trolley walks on the track, the L-shaped mounting plate 402 is fixedly connected onto the base bracket 401, the balance bar 403 is arranged on the L-shaped mounting plate 402 through an adjusting bolt 404 and a nut 405, the height of the balance bar 403 in the vertical direction can be adjusted through the adjusting bolt 404 and the nut 405, the roller pedestal 407 is fixedly arranged on a bottom plate I1013, the roller 406 is arranged on the roller pedestal 407, and when the roller pedestal 407 moves to the receiving station and the discharging station along with the RGV trolley and walks to the position of the base bracket 401, the roller 406 is matched with the balance bar 403, namely, the roller 406 is positioned below the balance bar 403 and in rolling contact with the balance bar 403. When the RGV trolley is loading and unloading the wheel stock, the roller 406 is located directly under the balance bar 403, preventing the RGV trolley from tipping.
The base bracket 401 and the balance bar 403 are fixedly installed at a charging (receiving) station and a discharging (discharging) station, do not move along with the RGV trolley, but the roller pedestal 407 and the roller 406 are installed on the frame of the RGV trolley, move along with the RGV trolley, and when the RGV trolley moves to the charging (receiving) station and the discharging (discharging) station, the roller 406 moves right below the balance bar 403 along with the RGV trolley and is in rolling contact with the lower surface of the balance bar 403.
The RGV trolley for transporting the wheel blanks further comprises a control unit, wherein a gear motor I103, a gear motor II203 and a gear motor III302 are electrically connected with a controller of the control unit, and the controller can be a PLC (programmable logic controller), a singlechip and the like. The driving motors of the RGV trolley all adopt variable frequency motors, so that the requirement of speed change can be met.
Based on the RGV trolley for wheel blank transportation, the invention also provides a use method of the RGV trolley for wheel blank transportation, which comprises the following steps:
s1, when the RGV trolley is in a standby state, the lifting mechanism 2 is positioned at the lowest position, the telescopic arm of the telescopic mechanism 3 is contracted to a zero position, and the trolley is stopped at a specified position;
s2, when a charging tray placed on a charging table is filled with sawn wheel blanks, an electric control unit sends a signal to an RGV trolley, the RGV trolley moves to reach a set charging station, rollers of an anti-tipping mechanism 4 move to the position right below a balance bar 403 along with the RGV trolley, and the rollers are in rolling contact with the balance bar 403 to prevent the RGV trolley from tipping;
The automatic feeding device is specifically operated, when a loading disc placed on a loading table is filled with sawn wheel blanks, an electric control unit sends a signal to an RGV trolley, a traveling mechanism 1 drives a driving wheel 1053 on a rotating shaft I1051 of a driving wheel set 105 to rotate through a gear motor I103, the driving wheel 1053 drives a frame body 101 to move, and three driven wheels 1063 follow rotation, so that the whole RGV trolley is driven to run on a guide rail, and a guide wheel set 107 carries out self-adaptive guide in the running process of the RGV trolley. When the RGV trolley reaches a set charging station, the gear motor I103 stops working, and the roller 406 of the anti-tipping mechanism 4 is positioned right below the balance bar 403 and is in rolling contact with the balance bar 403, so that the RGV trolley is prevented from tipping. The base 401 and balance bar 403 are fixedly mounted at the charging (receiving) station and do not move with the RGV trolley, but the roller pedestal 407 and roller 406 are mounted on the frame of the RGV trolley, following the movement of the RGV trolley, and when the RGV trolley moves to the charging (receiving) station, the roller 406 follows the RGV trolley to move directly under the balance bar 403 and into rolling contact with the lower surface of the balance bar 403.
S3, the telescopic mechanism 3 works, so that the telescopic arm 308 is positioned right below a charging tray provided with wheel blanks on a charging table;
Specifically, the gear motor III302 of the telescopic mechanism 3 starts to work, the gear motor III302 drives the gear on the transmission shaft 305 to rotate through the sprocket 303 and the chain 304, the gear drives the rack 307 to advance, the telescopic arm 308 is driven to extend to a set distance, the gear motor III302 stops working, and at the moment, the telescopic arm 308 is located under the charging tray provided with wheel blanks on the charging table.
S4, the lifting mechanism 2 works to drive the telescopic mechanism to rise to a set height, so that the telescopic arm 308 supports a charging tray filled with wheel blanks;
The device is specifically operated in such a way that a speed reducing motor II203 of a lifting mechanism 2 receives a signal to start working, the speed reducing motor II203 drives a trapezoidal screw rod 205 to rotate through a coupler II204, a nut 206 of the trapezoidal screw rod 205 drives a connecting rod 207 to move backwards along a guide rail 2091 of a linear guide rail pair 209, so that a first support 2101 is driven to move backwards, an included angle between the first support 2101 and a second support 2102 in the vertical direction of a scissor lifting assembly 210 is reduced, and when the lifting mechanism 2 is lifted to a set height, a telescopic arm 308 of a telescopic mechanism 3 supports a charging tray filled with wheel blanks to the set height, and the speed reducing motor II203 stops working.
S5, retracting the telescopic mechanism 3 to enable the telescopic arm 308 carrying the wheel blank to be retracted to a zero position;
The telescopic mechanism is specifically operated in such a way that a speed reducing motor III302 of the telescopic mechanism 3 starts to work after receiving a command, the speed reducing motor III302 drives a gear on a transmission shaft 305 to rotate through a chain wheel 303 and a chain 304, and the gear drives a rack 307 to retreat, so that a telescopic arm 308 is driven to shrink to a zero position, and the speed reducing motor III302 stops working.
S6, the lifting mechanism 2 is lowered back to the lowest position, and the telescopic arm 308 carrying the wheel blanks descends along with the lifting mechanism;
The operation is that the gear motor II203 of the lifting mechanism 2 starts to work, the gear motor II203 drives the trapezoidal screw 205 to rotate through the coupler II204, then the nut 206 of the trapezoidal screw 205 drives the connecting rod 207 to move forward along the guide rail 2091 of the linear guide rail pair 209, thereby driving the first support 2101 to move forward, the included angle between the first support 2101 and the second support 2102 of the scissor lifting assembly 210 is increased in the vertical direction until the lifting mechanism 2 descends to the lowest position, and the gear motor II203 stops working.
S7, the running mechanism 1 of the RGV trolley works, and when the RGV trolley reaches a set unloading station, the RGV trolley stops moving;
The special operation is that the RGV trolley traveling mechanism 1 receives a traveling to unloading position signal, a driving wheel 1053 on a rotating shaft I1051 of a driving wheel set 105 is driven to rotate through a gear motor I103, the driving wheel 1053 drives a frame body 101 to move, three driven wheels 1063 rotate in a following way, and therefore the whole RGV trolley is driven to travel on a guide rail, and a guide wheel set 107 carries out self-adaptive guide in the traveling process of the RGV trolley. When the RGV trolley reaches a set unloading station, the gear motor I103 stops working, and the roller 406 of the anti-tipping mechanism 4 is positioned right below the balance bar 403 and is in rolling contact with the balance bar 403, so that the RGV trolley is prevented from tipping. The base 401 and balance bar 403 are fixedly mounted at the discharge (blanking) station and do not move with the RGV trolley, but the roller pedestal 407 and roller 406 are mounted on the frame of the RGV trolley, following the movement of the RGV trolley, and when the RGV trolley is moved to the discharge (blanking) station, the roller 406 follows the RGV trolley to move directly under the balance bar 403 and into rolling contact with the lower surface of the balance bar 403.
S8, the lifting mechanism 2 works to drive the telescopic mechanism to ascend, so that the telescopic arm 308 carrying the wheel blanks reaches the height during unloading;
The device is specifically operated in such a way that a speed reducing motor II203 of a lifting mechanism 2 receives a signal to start working, the speed reducing motor II203 drives a trapezoidal screw rod 205 to rotate through a coupler II204, a nut 206 of the trapezoidal screw rod 205 drives a connecting rod 207 to move backwards along a guide rail 2091 of a linear guide rail pair 209, so that a first support 2101 is driven to move backwards, an included angle between the first support 2101 and a second support 2102 in the vertical direction of a scissor lifting assembly 210 is reduced, and when the lifting mechanism 2 is lifted to a set height, a telescopic arm 308 of a telescopic mechanism 3 supports a charging tray filled with wheel blanks to the set height, and the speed reducing motor II203 stops working.
S9, the telescopic mechanism 3 works, and the telescopic arm 308 carrying the wheel blanks extends out, so that the wheel blanks on the telescopic arm 308 reach the position right above the receiving position;
The telescopic mechanism is specifically operated in such a way that a speed reducing motor III302 of the telescopic mechanism 3 starts to work, the speed reducing motor III302 drives a gear on a transmission shaft 305 to rotate through a chain wheel 303 and a chain 304, the gear drives a rack 307 to advance, a telescopic arm 308 is driven to extend to a set distance, the speed reducing motor III302 stops working, and at the moment, the telescopic arm 308 of a charging tray for supporting wheel blanks is positioned right above a receiving position.
S10, the lifting mechanism 2 is lowered back to the lowest position, and in the process of lowering the lifting mechanism, a charging tray filled with wheel blanks is transferred from the telescopic arm 308 to a supporting surface at a receiving position, and the charging tray filled with the wheel blanks is unloaded on the charging tray filled with the wheel blanks;
The device is specifically operated in such a way that a gear motor II203 of a lifting mechanism 2 starts to work, the gear motor II203 drives a trapezoidal screw rod 205 to rotate through a coupler II204, a nut 206 of the trapezoidal screw rod 205 drives a connecting rod 207 to move forward along a guide rail 2091 of a linear guide rail pair 209, so that a first support 2101 is driven to move forward, an included angle between the first support 2101 and a second support 2102 of a scissor lifting assembly 210 in the vertical direction is increased until the lifting mechanism 2 descends to the lowest position, the gear motor II203 stops working, and a charging tray falls on a supporting surface of a material receiving level in the descending process of the lifting mechanism, so that discharging is realized.
S11, retracting the telescopic mechanism 3, and retracting the telescopic arm 308 to a zero position;
the telescopic mechanism is specifically operated in such a way that a speed reducing motor III302 of the telescopic mechanism 3 starts to work after receiving a command, the speed reducing motor III302 drives a gear on a transmission shaft 305 to rotate through a chain wheel 303 and a chain 304, and the gear drives a rack 307 to retreat, so that a telescopic arm 308 is driven to shrink to a zero position, and the speed reducing motor 302 stops working.
And S12. After receiving a discharging end signal, the RGV trolley traveling mechanism 1 drives the whole RGV trolley to travel to a specified position along the guide rail, and one working cycle is ended.
The special operation is that after the RGV trolley traveling mechanism 1 receives a discharging end signal, the traveling mechanism 1 drives a driving wheel 1053 on a rotating shaft I1051 of a driving wheel set 105 to rotate through a gear motor I103, the driving wheel 1053 drives a frame 101 to move, and three driven wheels 1063 rotate along with each other, so that the whole RGV trolley is driven to travel to a specified position along a guide rail, and one working cycle is ended.
The RGV trolley for transporting the wheel blanks can realize intelligent transportation of the wheel blanks among different set stations, can realize automatic transportation of the wheel blanks through intelligent upgrading and reconstruction of storage logistics from a discharging process to a heating process, can realize accurate placement of the wheel blanks, and can meet information tracking of the wheel blank transportation process. The whole device has the advantages of high automation degree, high speed, good stability, low cost, simple operation and maintenance and strong reliability, and after transformation, the traveling crane does not need to be manually operated to carry the wheel blanks, thereby achieving the aims of reducing people and enhancing efficiency.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified in various ways, or of being applied to other applications without modification, without departing from the scope of the invention.

Claims (7)

1.一种用于车轮坯料运输的RGV小车，其特征在于：包括行走机构（1）、升降机构（2）、伸缩机构（3）和防倾翻机构（4），所述升降机构（2）安装在行走机构（1）的车架（101）上，伸缩机构（3）安装在升降机构（2）的上底板（201）上，伸缩机构（3）在垂直于RGV小车行进方向的方向上进行水平伸缩，防倾翻机构（4）安装在车架（101）旁位于RGV小车与伸缩机构（3）伸出的方向相反的一侧；所述行走机构（1）包括车架（101）、转轴组件（102）、减速电机Ⅰ（103）、驱动轮组（105）和从动轮组（106），转轴组件（102）包括第一转轴（1021）、第一轴套（1022）、第二转轴（1023）、第二轴套（1024）、连接板（1027）和U型安装座（1028），第一转轴（1021）与第一轴套（1022）之间、第二转轴（1023）与第二轴套（1024）之间均镶装有两列圆锥滚子轴承（1025），第二转轴（1023）下方与U型安装座（1028）连接，连接板（1027）的一端连接在第二轴套（1024）的外壁上，第一转轴（1021）的下方连接在连接板（1027）的另一端，第一轴套（1022）固定连接在L型基础板（1012）上；所述行走机构（1）还包括导向轮组（107）和L型安装板（1029），L型安装板（1029）设置在U型安装座（1028）的两侧，导向轮组（107）通过导向轮轴（1071）固接在L型安装板（1029）上并固定卡装在导轨的两侧，导向轮（1072）与轮轴（1071）之间装有轴承；所述升降机构（2）包括上底板（201）、下底板（202）、减速电机Ⅱ（203）、梯形丝杠（205）、梯形螺母（206）直线导轨副（209）和剪式升降组件（210），下底板（202）固定安装在车架（101）上，直线导轨副（209）的直线导轨（2091）安装在下底板（202）的上表面上，剪式升降组件（210）设置在上底板（201）与下底板（202）之间，减速电机Ⅱ（203）安装在下底板（202）的上表面上，减速电机Ⅱ（203）的输出轴通过联轴器Ⅱ（204）与梯形丝杠（205）相连接，梯形螺母（206）固定安装在连接杆（207）上；防倾翻机构（4）被固定安装于接料工位以及下料工位轨道的一侧，当防倾翻机构（4）中的滚轮基座（407）随RGV小车运行至接料工位与下料工位时，借助安装在滚轮基座（407）上的滚轮（406）与防倾翻机构（4）的平衡杆（403）形成滚动接触，以此防止RGV小车发生倾翻。1. An RGV trolley for transporting wheel blanks, characterized in that: it includes a walking mechanism (1), a lifting mechanism (2), a telescopic mechanism (3), and an anti-tipping mechanism (4), wherein the lifting mechanism (2) is mounted on the frame (101) of the walking mechanism (1), the telescopic mechanism (3) is mounted on the upper base plate (201) of the lifting mechanism (2), the telescopic mechanism (3) performs horizontal telescopic movement in a direction perpendicular to the direction of travel of the RGV trolley, and the anti-tipping mechanism (4) is mounted on the side of the frame (101) opposite to the direction of extension of the RGV trolley and the telescopic mechanism (3); the walking mechanism (1) includes a frame (101), a shaft assembly (102), a geared motor I (103), a drive wheel set (105), and a driven wheel set (106), the shaft assembly (102) and the drive wheel set (105) are all mounted on the frame (105). The walking mechanism (1) includes a first rotating shaft (1021), a first bushing (1022), a second rotating shaft (1023), a second bushing (1024), a connecting plate (1027), and a U-shaped mounting base (1028). Two rows of tapered roller bearings (1025) are installed between the first rotating shaft (1021) and the first bushing (1022), and between the second rotating shaft (1023) and the second bushing (1024). The second rotating shaft (1023) is connected to the U-shaped mounting base (1028) at the bottom. One end of the connecting plate (1027) is connected to the outer wall of the second bushing (1024), and the bottom of the first rotating shaft (1021) is connected to the other end of the connecting plate (1027). The first bushing (1022) is fixedly connected to the L-shaped base plate (1012). The walking mechanism (1) also includes The lifting mechanism (2) includes a guide wheel assembly (107) and an L-shaped mounting plate (1029). The L-shaped mounting plate (1029) is set on both sides of the U-shaped mounting base (1028). The guide wheel assembly (107) is fixedly connected to the L-shaped mounting plate (1029) through the guide wheel shaft (1071) and fixedly clamped to both sides of the guide rail. A bearing is installed between the guide wheel (1072) and the wheel shaft (1071). The lifting mechanism (2) includes an upper base plate (201), a lower base plate (202), a geared motor II (203), a trapezoidal lead screw (205), a trapezoidal nut (206), a linear guide rail pair (209), and a scissor lifting assembly (210). The lower base plate (202) is fixedly installed on the frame (101), and the linear guide rail (2091) of the linear guide rail pair (209) is installed on the lower base plate (202). On the upper surface, the scissor lifting assembly (210) is set between the upper base plate (201) and the lower base plate (202). The geared motor II (203) is installed on the upper surface of the lower base plate (202). The output shaft of the geared motor II (203) is connected to the trapezoidal lead screw (205) through the coupling II (204). The trapezoidal nut (206) is fixedly installed on the connecting rod (207). The anti-tipping mechanism (4) is fixedly installed on one side of the receiving station and the unloading station track. When the roller base (407) in the anti-tipping mechanism (4) moves with the RGV trolley to the receiving station and the unloading station, the roller (406) installed on the roller base (407) forms a rolling contact with the balance bar (403) of the anti-tipping mechanism (4) to prevent the RGV trolley from tipping over. 2.如权利要求1所述的一种用于车轮坯料运输的RGV小车，其特征在于：所述车架（101）包括主框架（1011）、L型基础板（1012）和底板Ⅰ（1013），L型基础板（1012）连接在主框架（1011）的四角处，底板Ⅰ（1013）固定连接在主框架（1011）上位于车架（101）的一侧，防倾翻机构（4）的滚轮基座（407）安装在底板Ⅰ（1013）上，L型基础板（1012）的下方固接转轴组件（102），减速电机Ⅰ（103）安装在转轴组件（102）的U型安装座（1028）上，减速电机Ⅰ（103）的输出轴通过联轴器Ⅰ（104）与驱动轮组（105）的转轴Ⅰ（1051）连接，驱动轮组（105）和从动轮组（106）分别与对应的转轴组件（102）连接。2. An RGV trolley for transporting wheel blanks as described in claim 1, characterized in that: the frame (101) includes a main frame (1011), an L-shaped base plate (1012), and a bottom plate I (1013), the L-shaped base plate (1012) is connected to the four corners of the main frame (1011), the bottom plate I (1013) is fixedly connected to the main frame (1011) and located on one side of the frame (101), and the anti-tipping mechanism (4) has a roller base (407). The base plate I (1013) is mounted on the bottom of the L-shaped base plate (1012), and the shaft assembly (102) is fixedly connected below it. The geared motor I (103) is mounted on the U-shaped mounting seat (1028) of the shaft assembly (102). The output shaft of the geared motor I (103) is connected to the shaft I (1051) of the drive wheel set (105) through the coupling I (104). The drive wheel set (105) and the driven wheel set (106) are respectively connected to the corresponding shaft assembly (102). 3.如权利要求1或2所述的一种用于车轮坯料运输的RGV小车，其特征在于：所述剪式升降组件（210）包括相互交叉设置的第一支撑架（2101）和第二支撑架（2102），第一支撑架（2101）与第二支撑架（2102）之间为转动连接，第一支撑架（2101）和第二支撑架（2102）的上端部与上底板（201）的下表面转动连接，第一支撑架（2101）下端部通过连接杆（207）与直线导轨副（209）的导轨滑块（2092）转动连接，导轨滑块（2092）滑动连接在直线导轨（2091）上，第二支撑架（2102）的下端部与下底板（202）上表面转动连接。3. An RGV trolley for transporting wheel blanks as described in claim 1 or 2, characterized in that: the scissor lifting assembly (210) includes a first support frame (2101) and a second support frame (2102) arranged crosswise, the first support frame (2101) and the second support frame (2102) are rotatably connected, the upper ends of the first support frame (2101) and the second support frame (2102) are rotatably connected to the lower surface of the upper base plate (201), the lower end of the first support frame (2101) is rotatably connected to the guide rail slider (2092) of the linear guide rail pair (209) through a connecting rod (207), the guide rail slider (2092) is slidably connected to the linear guide rail (2091), and the lower end of the second support frame (2102) is rotatably connected to the upper surface of the lower base plate (202). 4.如权利要求1所述的一种用于车轮坯料运输的RGV小车，其特征在于：所述伸缩机构（3）包括基座（301）、减速电机Ⅲ（302）、传动组件和伸缩臂（308），基座（301）固定安装在升降机构（2）的上底板（202）上，减速电机Ⅲ（302）固装在基座（301）上，伸缩臂（308）滑动连接在基座（301）上，伸缩臂（308）的下表面设有齿条（307），齿条（307）与传动组件的齿轮啮合，减速电机Ⅲ（302）的输出轴与传动组件连接驱动齿轮转动。4. An RGV trolley for transporting wheel blanks as described in claim 1, characterized in that: the telescopic mechanism (3) includes a base (301), a reduction motor III (302), a transmission assembly and a telescopic arm (308), the base (301) is fixedly installed on the upper base plate (202) of the lifting mechanism (2), the reduction motor III (302) is fixedly installed on the base (301), the telescopic arm (308) is slidably connected to the base (301), the lower surface of the telescopic arm (308) is provided with a rack (307), the rack (307) meshes with the gear of the transmission assembly, and the output shaft of the reduction motor III (302) is connected to the transmission assembly to drive the gear to rotate. 5.如权利要求2所述的一种用于车轮坯料运输的RGV小车，其特征在于：所述防倾翻机构（4）包括基础支架（401）、L型安装板（402）、平衡杆（403）、滚轮（406）和滚轮基座（407），基础支架（401）固定安装在接料工位、下料工位轨道的一侧，RGV小车在轨道上行走，L型安装板（402）固定连接在基础支架（401）上，平衡杆（403）通过调节螺栓（404）和螺母（405）安装在L型安装板（402）上，滚轮基座（407）固定安装在底板Ⅰ（1013），滚轮（406）安装在滚轮基座（407）上，当滚轮基座（407）跟随RGV小车运行到接料工位、下料工位时，滚轮（406）位于平衡杆（403）的下方且与平衡杆（403）滚动接触。5. An RGV trolley for transporting wheel blanks as described in claim 2, characterized in that: the anti-tipping mechanism (4) includes a base support (401), an L-shaped mounting plate (402), a balance bar (403), rollers (406), and roller bases (407). The base support (401) is fixedly installed on one side of the track at the receiving station and the unloading station. The RGV trolley travels on the track, and the L-shaped mounting plate (402) is fixedly connected to the base support (401). 1) The balance bar (403) is installed on the L-shaped mounting plate (402) by adjusting bolts (404) and nuts (405). The roller base (407) is fixedly installed on the base plate I (1013). The roller (406) is installed on the roller base (407). When the roller base (407) follows the RGV trolley to the receiving station and the unloading station, the roller (406) is located below the balance bar (403) and rolls in contact with the balance bar (403). 6.如权利要求1所述的一种用于车轮坯料运输的RGV小车，其特征在于：所述驱动轮组（105）的转轴Ⅰ（1051）通过轴承座转动安装在U型安装座（1028）两侧壁上，从动轮组（106）的转轴Ⅱ（1061）通过轴承座转动安装在U型安装座（1028）两侧壁上，在安装驱动轮组（105）的U型安装座（1028）的内侧面上设有用于安装减速电机Ⅰ（103）的安装底板（1031），减速电机Ⅰ（103）固定安装在安装底板（1031）上，减速电机Ⅰ（103）输出轴通过联轴器与驱动轮组（105）的转轴Ⅰ（1051）连接。6. An RGV trolley for transporting wheel blanks as described in claim 1, characterized in that: the shaft I (1051) of the drive wheel set (105) is rotatably mounted on the two side walls of the U-shaped mounting base (1028) through a bearing seat, the shaft II (1061) of the driven wheel set (106) is rotatably mounted on the two side walls of the U-shaped mounting base (1028) through a bearing seat, and a mounting base plate (1031) for mounting a reduction motor I (103) is provided on the inner side of the U-shaped mounting base (1028) for mounting the drive wheel set (105), the reduction motor I (103) is fixedly mounted on the mounting base plate (1031), and the output shaft of the reduction motor I (103) is connected to the shaft I (1051) of the drive wheel set (105) through a coupling. 7.一种用于车轮坯料运输的RGV小车的使用方法，其特征在于：基于权利要求1至6任意一项所述的一种用于车轮坯料运输的RGV小车，所述使用方法包括如下步骤：7. A method of using an RGV trolley for transporting wheel blanks, characterized in that: based on the RGV trolley for transporting wheel blanks according to any one of claims 1 to 6, the method of use includes the following steps: S1. RGV小车处于待命状态时，升降机构（2）位于最低位、伸缩机构（3）伸缩臂收缩到零位，小车停在指定位；S1. When the RGV trolley is in standby mode, the lifting mechanism (2) is in the lowest position, the telescopic mechanism (3) retracts its telescopic arm to the zero position, and the trolley stops at the designated position; S2. 当放在上料台上装料盘装满锯切好的车轮坯料时，电控单元给RGV小车发出信号，RGV小车运动到达到设定的装料工位，防倾翻机构（4）的滚轮位于平衡杆（403）正下方，与平衡杆（403）滚动接触，防止RGV小车倾翻；S2. When the loading tray on the loading platform is full of sawn wheel blanks, the electronic control unit sends a signal to the RGV trolley. The RGV trolley moves to the set loading position. The roller of the anti-tipping mechanism (4) is located directly below the balance bar (403) and rolls in contact with the balance bar (403) to prevent the RGV trolley from tipping over. S3.伸缩机构（3）工作，使伸缩臂（308）位于放在上料台上装有车轮坯料的装料盘正下方；S3. The telescopic mechanism (3) operates, so that the telescopic arm (308) is located directly below the loading tray containing the wheel blanks placed on the loading platform; S4. 升降机构（2）工作，带动伸缩机构上升到设定高度，使伸缩臂（308）托起装有车轮坯料的装料盘；S4. The lifting mechanism (2) works, driving the telescopic mechanism to rise to the set height, so that the telescopic arm (308) lifts the loading tray containing the wheel blanks; S5. 伸缩机构（3）回缩，使载有车轮坯料的伸缩臂（308）收缩到零位；S5. The telescopic mechanism (3) retracts, causing the telescopic arm (308) carrying the wheel blank to retract to the zero position; S6. 升降机构（2）回降到最低位，载有车轮坯料的伸缩臂（308）跟随升降机构下降；S6. The lifting mechanism (2) returns to the lowest position, and the telescopic arm (308) carrying the wheel blank descends with the lifting mechanism; S7. RGV小车的行走机构（1）工作，当RGV小车到达到设定的卸料工位时，RGV小车停止运动；S7. The RGV trolley's traveling mechanism (1) works, and when the RGV trolley reaches the set unloading station, the RGV trolley stops moving; S8.升降机构（2）工作，带动伸缩机构上升，使载有车轮坯料的伸缩臂（308）到卸料时的高度；S8. The lifting mechanism (2) works, driving the telescopic mechanism to rise, so that the telescopic arm (308) carrying the wheel blanks reaches the height at which the material is unloaded; S9. 伸缩机构（3）工作，载有车轮坯料的伸缩臂（308）伸出，使伸缩臂（308）上的车轮坯料到达受料位的正上方；S9. The telescopic mechanism (3) operates, and the telescopic arm (308) carrying the wheel blank extends, so that the wheel blank on the telescopic arm (308) reaches directly above the receiving position; S10. 升降机构（2）回降到最低位，在升降机构下降过程中，装有车轮坯料的装料盘从伸缩臂（308）上转移到受料位的支撑面上，装有车轮坯料的装料盘卸在装有车轮坯料的装料盘上；S10. The lifting mechanism (2) returns to the lowest position. During the descent of the lifting mechanism, the loading plate containing the wheel blank is transferred from the telescopic arm (308) to the support surface of the receiving position, and the loading plate containing the wheel blank is unloaded onto the loading plate containing the wheel blank. S11. 伸缩机构（3）回缩，伸缩臂（308）收缩到零位；S11. The telescopic mechanism (3) retracts, and the telescopic arm (308) retracts to the zero position; S12. RGV小车行走机构（1）接到卸料结束的信号后，驱动整个RGV小车沿着导轨行驶到指定位，一个工作循环结束。S12. RGV trolley traveling mechanism (1) After receiving the signal that unloading is finished, drive the entire RGV trolley to travel along the guide rail to the designated position, and one work cycle ends.
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