CN211140612U

CN211140612U - RGV dolly

Info

Publication number: CN211140612U
Application number: CN201921509777.5U
Authority: CN
Inventors: 赫龙飞; 刘明月; 李振宇
Original assignee: Langfang Zhheng Robot Technology Co ltd
Current assignee: Langfang Zhheng Robot Technology Co ltd
Priority date: 2019-09-11
Filing date: 2019-09-11
Publication date: 2020-07-31
Anticipated expiration: 2029-09-11

Abstract

The utility model provides a RGV dolly, including the track, set up the dolly body on the track, set up the drive arrangement in dolly body one end, set up the elevating gear at dolly body middle part, set up the multistage fork device on elevating gear upper portion, set up the oil pressure unit who keeps away from drive arrangement one end at the dolly body, set up the side direction positioner of elevating gear below on the dolly, set up in the track both sides and with the communication device of side direction positioner matched with a plurality of locating plates and control dolly body motion. The utility model is provided with a lateral positioning device, the lateral positioning device is matched with a positioning plate to facilitate the accurate positioning of the trolley body, a communication device is arranged to preliminarily position and decelerate the trolley body, and the communication device is matched with the lateral positioning device to greatly improve the positioning capability of the trolley body; the rail wagon is provided with the lifting device and the multi-stage pallet fork devices, the lifting device and the multi-stage pallet fork devices are matched to automatically take and transport cargoes on two sides of the rail, and the application range of the RGV wagon is greatly expanded.

Description

RGV dolly

Technical Field

The application relates to the technical field of automatic conveying, in particular to an RGV (reduced gauge volume) trolley,

background

In modern logistics handling, the development of the logistics industry and the processing industry is continuously promoted by the intelligent logistics system. RGV is then generated. The RGV is an abbreviation of a rail shuttle trolley, and is mainly used for various storage warehouses and the work responsible for material handling. As a logistics peripheral device, the system can be conveniently and automatically butted with other systems. And conveying the goods according to the control instruction. RGVs are smart cars that run along a track and can connect multiple process stations within a plant. The machine can convey workpieces from one station to the next station and complete the workpiece transfer of the whole machining line body. Generally, when the RGV trolley transports goods with small mass, the positioning is easier at a processing station, but the larger the goods mass is, the more difficult the RGV trolley is positioned.

Also disclosed in chinese patent document CN109650287A is an RGV with transverse and longitudinal transplanting platforms. The RGV is provided with a lifting platform; a roller line is arranged on the lifting platform; the jacking transplanting device comprises a conveying mechanism and a jacking mechanism. The conveying mechanism is arranged on the jacking mechanism, the jacking mechanism drives the transmission mechanism to ascend or descend, the jacking mechanism is arranged on the lifting table or the roller line, and the conveying mechanism comprises a conveying bottom plate, a conveying driving mechanism fixed on the conveying bottom plate and more than one group of conveying chain components; the conveying driving mechanism conveys the chain component to move, the conveying chain component is positioned between two adjacent rollers of the roller line or on the outer side of the roller on the outermost side of the roller line, and the conveying direction of the conveying chain component is vertical to the conveying direction of the roller line. The top surface of the conveying chain component is lower than the top surface of the roller line. The invention has the transverse moving capability and the longitudinal lifting capability, and realizes the right-angle turning and conveying of goods. Although the RGV trolley can transport goods, if the position where the goods are placed is not provided with the capacity of automatically transferring the goods, or the goods are heavier and have large mass, the trolley cannot automatically take and place the goods with large mass. Affecting the usability of the RGV car.

Disclosure of Invention

The application provides an RGV dolly for solving above-mentioned technical problem.

The technical scheme adopted by the application is as follows: an RGV trolley is characterized by comprising a rail, a trolley body arranged on the rail, a driving device arranged at one end of the trolley body, a lifting device arranged in the middle of the trolley body, a multi-stage fork device arranged on the upper part of the lifting device, an oil pressure device arranged at one end of the trolley body far away from the driving device, a lateral positioning device arranged below the lifting device on the trolley, a plurality of positioning plates arranged on two sides of the rail and matched with the lateral positioning device, and a communication device for controlling the movement of the trolley body;

the two ends of the track are respectively provided with a limiting device, and the limiting devices comprise a stop plate arranged on the track and a clamping plate arranged on the track on one side of the stop plate, which is far away from the trolley body;

the trolley body comprises a trolley frame, two driving wheel sets and a plurality of walking wheel sets, wherein the two driving wheel sets are symmetrically arranged at the two ends of the bottom of the trolley frame and matched with the track, the walking wheel sets are arranged between the driving wheel sets and matched with the track, and the driving wheel sets and the walking wheel sets respectively comprise a first rotating shaft arranged at the bottom of the trolley frame and walking wheels arranged at the two ends of the first rotating shaft and matched with the track;

the driving device comprises a driving motor arranged at one end of the frame, a driving wheel arranged at the output end of the driving motor, a first driven wheel arranged on a first rotating shaft of a driving wheel set at one end close to the driving motor and a second driven wheel arranged on a first rotating shaft of the driving wheel set at one end far away from the driving motor, wherein the driving wheel is connected with the first driven wheel and the second driven wheel through chains;

the lifting device and the lateral positioning device are connected with the oil pressure device;

the communication device is configured to control the start and stop of a driving device, a lifting device, a multi-stage fork device, an oil pressure device and a lateral positioning device of the trolley body.

Furthermore, the lifting device comprises two lifting frames arranged at the middle part of the vehicle frame, a supporting plate arranged between the two lifting frames, and a driver arranged on the two lifting frames for driving the supporting plate to lift, the two lifting frames are sequentially arranged on the vehicle frame along the track direction, the lifting frames comprise a first base plate arranged on the vehicle frame, a second base plate arranged at the upper part of the first base plate and crossing two sides of the vehicle frame, two vertical guide plates oppositely arranged on the second base plate and parallel to the track, and a lifting guide device arranged at one side of the vertical guide plate close to the other lifting frame, the lifting guide device comprises a vertical fixing plate arranged on the second base plate and vertically connected with the vertical guide plates, a vertical guide rail arranged on the vertical fixing plate, a slide block arranged on the vertical guide rail, and a slide block connecting plate arranged above the slide block and connected with the lower part of the supporting plate, the driver is vertically arranged on the first substrate, and the output end of the driver is connected with the lower part of the support plate.

Furthermore, elevating gear still includes auxiliary supporting device, auxiliary supporting device is including setting up second rotation axis and third rotation axis in backup pad below, setting up the first gear at second rotation axis both ends, setting up the second gear at third rotation axis both ends to and set up the rack subassembly on the crane, second rotation axis and third rotation axis are along track direction parallel arrangement in the backup pad below, second rotation axis and third rotation axis mesh with the first gear and the second gear of one side mutually, the rack subassembly includes first rack and second rack, first rack and second rack set up relatively on two vertical deflector, first rack and the second rack of second rotation axis and third rotation axis homonymy mesh with first rack and the second rack on the homonymy crane respectively.

Furthermore, a reinforcing plate parallel to the vertical fixing plate is arranged on one side, away from the vertical fixing plate, of the vertical guide plate on the second base plate.

Furthermore, the lateral positioning device comprises a positioning base plate arranged on the frame and two positioning devices which are symmetrically arranged on the positioning base plate and perpendicular to the rail, each positioning device comprises a positioning oil cylinder, a connecting plate fixed on a piston rod of the positioning oil cylinder, two guide sliding pieces symmetrically arranged on two sides of the positioning oil cylinder and a positioning pin arranged at the free end of the piston rod of the positioning oil cylinder and matched with the positioning plate, each guide sliding piece comprises a guide sliding rail, a guide sliding block arranged on the guide sliding rail and a guide sliding block connecting plate arranged on the guide sliding block, and the guide sliding block connecting plate is connected with the connecting plate.

Furthermore, the multi-stage fork device comprises a plurality of telescopic forks arranged on the supporting plate in parallel and a fork driving device arranged below the telescopic forks, the telescopic forks comprise lower forks arranged on the supporting plate, middle forks arranged on the lower forks in a sliding way and upper forks arranged on the middle forks in a sliding way, the lower forks comprise lower fork bodies, through holes arranged on the lower fork bodies, double lugs arranged below the through holes of the lower fork bodies, connecting shafts arranged between the double lugs and gears e arranged on the connecting shafts, the middle forks comprise middle fork bodies, two driven wheels arranged at two ends of the middle fork bodies, belts arranged between the driven wheels and racks arranged below the middle fork bodies, the racks are matched with the gears e, the upper forks are fixed with the belts, the fork driving device comprises a servo motor and a plurality of couplings, the servo motor is fixed below the lower forks, the servo motor is connected with the connecting shaft close to one side of the servo motor through a coupler, and the adjacent lower fork connecting shaft is connected with the connecting shaft through the coupler.

Furthermore, the driving device further comprises a tension wheel arranged on the upper portion of the chain and a third driven wheel arranged in the middle of the frame, and the tension wheel is arranged on one side close to the driving motor.

Further, the communication device comprises a fixed support arranged at one end of the track, a first communication module arranged on the fixed support, a reflector arranged on the fixed support, a second communication module arranged at one side of the frame close to the fixed support and a laser positioning sensor arranged at one side of the frame close to the fixed support, wherein the first communication module is configured to output start and stop information of a driving device, a lifting device, a multi-stage fork device, an oil pressure device and a lateral positioning device for controlling the trolley body, the second communication module is configured to receive start and stop information of the driving device, the lifting device, the multi-stage fork device, the oil pressure device and the lateral positioning device which are output by the first communication module and used for controlling the trolley body, and control the driving device, the lifting device, the multi-stage fork device, the oil pressure device and the lateral positioning device to start and stop, and the laser positioning sensor and the reflector are configured to accurately position the trolley body, and the positioning information is sent to the first communication module through the second communication module.

Further, the frame both ends left and right sides all is equipped with guider, guider is including fixing L shape fixed plate on the frame, sets up first leading wheel and the second leading wheel in L shape fixed plate below, sets up at the anterior clear thing board of L shape fixed plate to and set up the buffering spring on L shape fixed plate, L shape fixed plate is including fixing the vertical board on the frame and setting up the horizontal plate in vertical board below, first leading wheel and second leading wheel set up in the horizontal plate below, and are located the track both sides, clear thing board sets up between first leading wheel in horizontal plate the place ahead and the second leading wheel, and is located the track top, the buffering spring sets up on vertical board.

Furthermore, the bottoms of the two sides of the frame are provided with a plurality of anti-overturning plates, the anti-overturning plates are of a Z-shaped structure, and one end of each anti-overturning plate is horizontally fixed at the bottom of the frame and the other end of each anti-overturning plate is arranged below the rail.

The application has the advantages and positive effects that: the RGV trolley is provided with the communication device, and the communication device is convenient for controlling the start and stop of the driving device, the lifting device, the fork device, the oil pressure device and the lateral positioning device of the trolley body; the trolley body is provided with a lateral positioning device, a plurality of positioning plates are arranged on two sides of the track, the lateral positioning device is matched with the positioning plates to facilitate further positioning of the trolley body, the communication device is used for preliminary positioning and speed reduction of the trolley body, the lateral positioning device is matched with the positioning plates to accurately position the trolley, and the communication device is matched with the lateral positioning device to greatly improve the positioning capacity of the trolley body; the rail wagon is provided with the lifting device and the multi-stage pallet fork devices, the lifting device and the multi-stage pallet fork devices are matched to automatically take and transport cargoes on two sides of the rail, and the application range of the RGV wagon is greatly expanded.

In addition to the technical problems addressed by the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above, other technical problems solved by the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail below with reference to the accompanying drawings,

drawings

FIG. 1 is a schematic diagram of an RGV cart according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a driving device and an oil pressure device provided by an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a position limiting device according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a cart body provided in the embodiments of the present application;

FIG. 5 is a schematic structural diagram of a driving device provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a lifting device provided in an embodiment of the present application;

FIG. 7 is a schematic view of an auxiliary support device provided in an embodiment of the present application;

FIG. 8 is a schematic structural diagram of an auxiliary supporting device provided in an embodiment of the present application;

FIG. 9 is a schematic diagram of a stiffener structure provided in an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a lateral positioning device provided in an embodiment of the present application;

FIG. 11 is a schematic structural view of a multi-stage fork device provided in an embodiment of the present application;

FIG. 12 is a schematic view of a lower fork structure provided in an embodiment of the present application;

FIG. 13 is a schematic diagram of a mid-fork structure provided by an embodiment of the present application;

FIG. 14 is a schematic view of a rack structure provided by an embodiment of the present application;

FIG. 15 is a schematic diagram of a tensioning wheel and a third driven wheel provided by an embodiment of the present application;

fig. 16 is a schematic structural diagram of a fixing bracket, a first communication module and a reflector provided in an embodiment of the present application;

fig. 17 is a schematic structural diagram of a second communication module and a laser positioning sensor provided in the embodiment of the present application;

FIG. 18 is a schematic structural view of a guide device provided in an embodiment of the present application;

fig. 19 is a schematic structural view of an anti-toppling plate provided in an embodiment of the present application.

In the drawing, the hydraulic positioning device comprises a track 1, a 110 limiting device, a 111 blocking plate, a 112 tightening plate, a trolley body 2, a 210 frame, a 220 driving wheel set, a 230 traveling wheel set, a 3 driving device, a 310 driving motor, a 320 driving wheel, a 330 first driven wheel, a 340 second driven wheel, a 350 tensioning wheel, a 360 third driven wheel, a 4 lifting device, a 410 lifting frame, a 411 first base plate, a 412 second base plate, a 413 vertical guide plate, a 414 lifting guide device, a 414a vertical fixing plate, a 414b vertical guide rail, a 414c slider, a 414d slider connecting plate, a 420 supporting plate, a 430 driver, a 440 auxiliary support device, a 441 second rotating shaft, a 442 third rotating shaft, a 443 first gear, a 444 second gear 445, a rack assembly, a 445a first rack, a 445b second rack connecting plate, a 450 reinforcing plate, a 5 multi-stage fork device, a 510 telescopic fork, a 511 lower fork, a 511a lower fork body, a 511b through hole, 511c double-ears, 511d connecting shafts, a middle fork 512, a middle fork shafts, a main body 512, a middle fork shafts, a middle fork bodies, a driven wheel connecting plates, a driven wheels, a driven wheel, a 340 b vertical guide device, a 340 b, a vertical guide rail, a 310 b, a vertical guide device, a vertical guide rail, a vertical guide device, a vertical guide rail, a transverse guide device, a transverse

Detailed Description

The present application is described in further detail below with reference to the accompanying drawings and examples, it being understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive thereof, and that, for purposes of illustration and description, only those portions of the relevant invention are shown in the drawings,

it should be noted that, in case of conflict, the embodiments and features of the embodiments in the present application can be combined with each other, and the present application will be described in detail with reference to the accompanying drawings and the embodiments,

as shown in fig. 1, 2, 3, 4 and 5, an RGV trolley is characterized by comprising a rail 1, a trolley body 2 arranged on the rail 1, a driving device 3 arranged at one end of the trolley body 2, a lifting device 4 arranged at the middle part of the trolley body 2, a multi-stage fork device 5 arranged at the upper part of the lifting device 4, an oil pressure device 6 arranged at one end of the trolley body 2 far away from the driving device 3, a lateral positioning device 7 arranged below the lifting device 4 on the trolley, a plurality of positioning plates 8 arranged at two sides of the rail 1 and matched with the lateral positioning device 7, and a communication device 9 for controlling the movement of the trolley body 2;

the two ends of the track 1 are respectively provided with a limiting device 110, and each limiting device 110 comprises a stop plate 111 arranged on the track 1 and a clamping plate 112 arranged on the track 1 on the side, away from the trolley body 2, of the stop plate 111;

the trolley body 2 comprises a frame 210, two driving wheel sets 220 symmetrically arranged at two ends of the bottom of the frame 210 and matched with the track 1, and a plurality of walking wheel sets 230 arranged between the driving wheel sets 220 and matched with the track 1, wherein each of the driving wheel sets 220 and the walking wheel sets 230 comprises a first rotating shaft 10 arranged at the bottom of the frame 210 and walking wheels 11 arranged at two ends of the first rotating shaft 10 and matched with the track 1;

the driving device 3 comprises a driving motor 310 arranged at one end of the frame 210, a driving wheel 320 arranged at the output end of the driving motor 310, a first driven wheel 330 arranged on the first rotating shaft 10 of the driving wheel set 220 at one end close to the driving motor 310, and a second driven wheel 340 arranged on the first rotating shaft 10 of the driving wheel set 220 at one end far away from the driving motor 310, wherein the driving wheel 320 is connected with the first driven wheel 330 and the second driven wheel 340 through chains;

the lifting device 4 and the lateral positioning device 7 are both connected with the oil pressure device 6;

the communication device 9 is configured to control the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6 and the lateral positioning device 7 of the trolley body 2.

In the embodiment, the track 1 is a key structure for supporting the trolley to travel, the two ends of the track 1 are provided with the limiting devices 110, each limiting device 110 comprises a stop plate 111 arranged on the track 1 and a clamping plate 112 arranged on one side, away from the trolley body 2, of the stop plate 111, the clamping plate 112 is arranged on the track 1 close to the stop plate 111, the stop plate 111 mechanically limits the trolley body 2 to prevent the trolley body 2 from running out of the track 1, and the clamping plates further guarantee the limiting and blocking effects of the stop plate 111; in this embodiment, the trolley body 2 is provided with a frame 210, two driving wheel sets 220 and a plurality of traveling wheel sets 230, the two driving wheel sets 220 and the plurality of traveling wheel sets 230 are matched to greatly improve the supporting force on the frame 210, and simultaneously improve the stability of the trolley body 2 in the traveling process, the two driving wheel sets 220 are symmetrically arranged at the bottoms of the two ends of the frame 210, and the plurality of traveling wheel sets 230 are uniformly arranged between the driving wheel sets 220, in this embodiment, the driving wheel sets 220 and the traveling wheel sets 230 both include a first rotating shaft 10 arranged at the bottom of the frame 210 and traveling wheels 11 arranged at the two ends of the first rotating shaft 10 and matched with the track 1;

in this embodiment, the driving device 3 is a key structure for driving the trolley body 2 to move, the driving device 3 includes a driving motor 310, a driving wheel 320, a first driven wheel 330 and a second driven wheel 340, the driving motor 310 is disposed at one end of the frame 210, the driving wheel 320 is disposed on an output shaft of the driving motor 310, a first driven wheel 330 is disposed on a rotating shaft of the driving wheel set 220 near one end of the driving motor 310, a second driven wheel 340 is disposed on a first rotating shaft 10 of the driving wheel set 220 far away from one end of the driving motor 310, the driving wheel 320, the first driven wheel 330 and the second driven wheel 340 are connected together through a chain, the trolley body 2 is matched with the driving motor 310, the driving wheel 320 and the first driven wheel 330 and the second driven wheel 340 connected with the driving wheel 320, and can move back and.

In the embodiment, the middle part of the trolley body 2 is provided with the lifting device 4, the lifting device 4 is provided with the multi-stage fork device 5, the multi-stage fork device 5 can stretch and retract in two directions to take goods, and the lifting device 4 is matched with the multi-stage fork device 5, so that the goods on two sides of the track 1 can be conveniently taken and transported; in the embodiment, a lateral positioning device 7 is arranged below the lifting device 4 on the trolley body 2, and the lateral positioning device 7 is matched with a plurality of positioning plates 8 arranged on two sides of the track 1, so that the trolley can be accurately positioned, and the trolley can conveniently take and transport goods arranged on the positioning plates 8; in this embodiment, the hydraulic device 6 is connected to the lifting device 4 and the lateral positioning device 7, and is a driving power mechanism for the lifting device 4 and the lateral positioning device 7.

In this embodiment, the communication device 9 is used to control the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6 and the lateral positioning device 7 of the trolley body 2.

When the trolley body 2 moves to a position near a target position during working, the communication device 9 can be initially positioned, the driving device 3 is closed, the trolley body 2 is braked, the oil pressure device 6 and the lateral positioning device 7 are started simultaneously, the lateral positioning device 7 is matched with the positioning plate 8 near the target for accurate positioning, the communication device 9 is matched with the lateral positioning device 7, the positioning capacity of the trolley body 2 is greatly improved by adopting multi-stage positioning, and particularly the positioning capacity of the trolley body 2 for conveying large-mass goods is improved; after the trolley body 2 is positioned and stopped, the communication device 9 controls the multistage fork devices 5 and the lifting devices 4 to automatically take and transport the cargos on the two sides of the track 1, and the application range of the RGV trolley is greatly expanded.

As shown in fig. 6, in a preferred embodiment, the lifting device 4 comprises two lifting frames 410 disposed at the middle of the carriage 210, a support plate 420 disposed between the two lifting frames 410, and a driver 430 disposed on the two lifting frames 410 for driving the support plate 420 to lift, the two lifting frames 410 are sequentially disposed on the carriage 210 along the track 1 direction, the lifting frames 410 comprise a first base plate 411 disposed on the carriage 210, a second base plate 412 disposed on the upper portion of the first base plate 411 and crossing both sides of the carriage 210, two vertical guide plates 413 oppositely disposed on the second base plate 412 and parallel to the track 1, and a lifting guide device 414 disposed on one side of the vertical guide plate 413 close to the other lifting frame 410, the lifting guide device 414 comprises a vertical fixing plate 414a disposed on the second base plate 412 and vertically connected to the vertical guide plate 413, a vertical guide rail 414b disposed on the vertical fixing plate 414a, A slider 414c disposed on the vertical guide rail 414b, and a slider coupling plate 414d disposed above the slider 414c and coupled to a lower side of the support plate 420, the driver 430 being vertically disposed on the first base plate 411, and an output terminal being coupled to a lower side of the support plate 420.

In this embodiment, the lifting device 4 includes two lifting frames 410, a support plate 420 disposed between the two lifting frames 410, and a driver 430 disposed on the two lifting frames 410 to drive the support plate 420 to lift, the two lifting frames 410 are symmetrically disposed on the carriage 210 and are basic components of the lifting device 4, the lifting frames 410 are provided with a first base plate 411, a second base plate 412, two vertical guide plates 413 and a lifting guide device 414, the first base plate 411 is disposed on the carriage 210 and is parallel to the rail 1, the second base plate 412 is perpendicular to the rail 1 and is disposed on the upper portion of the first base plate 411 and crosses over two sides of the carriage 210, the first base plate 411 and the second base plate 412 are installation seats of the lifting frames 410, the first base plate 411 and the second base plate 412 are matched with each other, the stability of the lifting frames 410 is greatly improved, the two vertical guide plates 413 are disposed on the second base plate 412 and are parallel to the rail 1, in this embodiment, the lifting guide device 414 is provided with a vertical fixing plate 414a, a vertical guide rail 414b, a slider 414c and a slider 414d are disposed on the second base plate 412, the lifting guide plate 414 is connected to a lifting frame 410, the lifting guide device 410, the lifting guide device is connected to a lifting device, the lifting guide device, the slider 414 is connected to a lifting device, the lifting device 410, the lifting guide plate 414 is provided with a lifting guide device, the lifting device, the slider 414 is provided with a lifting guide device, the lifting device, the slider 414 is provided with a lifting guide device, the lifting guide device, the slider 414, the lifting device, the slider 414 is provided with a lifting device, the lifting device.

As shown in fig. 7 and 8, in a preferred embodiment, the lifting device 4 further includes an auxiliary support device 440, the auxiliary support device 440 includes second and third rotation shafts 441 and 442 disposed below the support plate 420, first gears 443 disposed at both ends of the second rotation shaft 441, second gears 444 disposed at both ends of the third rotation shaft 442, and a rack assembly 445 disposed on the lift bracket 410, the second and third rotation shafts 441 and 442 are disposed in parallel below the support plate 420 in a track direction, the first and second gears 443 and 444 on the same side as the second and third rotation shafts 441 and 442 are engaged, the rack assembly 445 includes first and second racks 445a and 445b disposed opposite to the two vertical guide plates 413, and the first and second racks 445a and 445b on the same side as the second and third rotation shafts 441 and 442 are respectively engaged with the rack assembly 445b on the same side as the lift bracket 410 The first rack 445a and the second rack 445b are engaged.

In this embodiment, the lifting device 4 is further provided with an auxiliary supporting device 440, the auxiliary supporting device 440 includes a second rotating shaft 441, a third rotating shaft 442, a first gear 443, a second gear 444 and a rack assembly 445, the second rotating shaft 441 and the third rotating shaft 442 are disposed below the supporting plate 420 in parallel along the track 1 direction, both ends of the second rotating shaft 441 are provided with the first gear 443, both ends of the third rotating shaft 442 are provided with the second gear 444, the first gear 443 and the second gear 444 on the same side of the second rotating shaft 441 and the third rotating shaft 442 are engaged with each other, in this embodiment, both lifting frames 410 are provided with the rack assembly 445, the rack assembly 445 includes a first rack 445a and a second rack 445b, the first rack 445a and the second rack 445b are disposed on the two vertical guiding plates 413 in an opposite manner, the first gear 443 and the second gear 444 on the same side of the second rotating shaft 441 and the third rotating shaft 442 are engaged with the first rack 445a and the second rack 445b on the same side 410, in the lifting process of the lifting oil cylinder, or when the multi-stage fork device 5 takes and places goods, the second rotating shaft 441, the third rotating shaft 442, the first gear 443, the second gear 444 and the supporting plate 420 synchronously lift, the gravity and the bending moment of the goods are dispersed on the lifting frame 410 by the supporting plate 420 through the first gear 443, the second gear 444 and the rack component 445, so that all parts of the lifting device 4 are uniformly stressed, the supporting plate for supporting the multi-stage fork device 5 is inclined when the multi-stage fork device 5 laterally takes the goods is avoided, the lifting stability of the lifting device 4 is further improved, the service life of the lifting device 4 is prolonged, meanwhile, the lateral goods taking and placing capacity of the multi-stage fork device 5 is greatly improved, and the multi-stage fork device 5 can conveniently laterally take and place goods with larger mass.

As shown in fig. 9, in a preferred embodiment, a reinforcing plate 450 parallel to the vertical fixing plate 414a is disposed on the side of the vertical guide plate 413 away from the vertical fixing plate 414a of the second base plate 412. In this embodiment, the side of the vertical guide plate 413 far away from the vertical fixing plate 414a on the second base is provided with a reinforcing plate 450 parallel to the vertical fixing plate 414a, and the reinforcing plate 450 further improves the stability of the lifting device 4 when picking and placing the goods, and is convenient for the lifting device 4 to pick and place the goods with large mass.

As shown in fig. 10, in a preferred embodiment, the lateral positioning device 7 includes a positioning base plate 710 disposed on the frame 210 and two positioning devices 720 symmetrically disposed on the positioning base plate 710 and perpendicular to the rail 1, the positioning devices 720 include a positioning cylinder 721, a connecting plate 722 fixed on a piston rod of the positioning cylinder 721, two slide guides 723 symmetrically disposed on two sides of the positioning cylinder 721, and a positioning pin 724 disposed at a free end of the piston rod of the positioning cylinder 721 and cooperating with the positioning plate 8, the slide guides 723 includes a slide guide 723a, a slide guide 723b disposed on the slide guide 723a, and a slide guide connecting plate 723c disposed on the slide guide 723b, and the slide guide connecting plate 723c is connected to the connecting plate 722.

In this embodiment, the lateral positioning device 7 is provided with a positioning base plate 710 and two positioning devices 720, the positioning base plate 710 is a mounting plate of the positioning devices 720, the two positioning devices 720 are symmetrically arranged on the positioning base plate 710 and are convenient to match with the positioning plates 8 arranged on both sides of the rail 1, in this embodiment, the positioning device 720 includes a positioning cylinder 721, a connecting plate 722, two sliding guides 723 and a positioning pin 724, the connecting plate 722 is fixed on a piston rod of the positioning cylinder 721, the two sides of the positioning cylinder 721 are both provided with the sliding guides 723, the sliding guides 723 include a sliding guide 723a, a sliding block 414c arranged on the sliding guide 723a and a sliding block connecting plate 414d arranged on the sliding block 414c, the sliding block connecting plate 414d is connected with the connecting plate 722, when the oil is supplied to the positioning cylinder 721 by the oil pressure workstation, the piston rod drives the positioning pin 724 to move forward, and the positioning pin 724 is inserted into a, thereby realize 2 high accuracy location of dolly body, get for dolly body 2 and put the goods and prepare.

As shown in fig. 11, 12, 13 and 14, in a preferred embodiment, the multi-stage fork device 5 includes a plurality of telescopic forks 510 disposed in parallel on a support plate and a fork driving device 520 disposed under the telescopic forks 510, the telescopic forks 510 include a lower fork 511 disposed on the support plate, a middle fork 512 slidably disposed on the lower fork 511, and an upper fork 513 slidably disposed on the middle fork 512, the lower fork 511 includes a lower fork body 511a, a through hole 511b disposed on the lower fork body 511a, a lug 511c disposed under the through hole 511b of the lower fork body 511a, a connecting shaft 511d disposed between the lugs 511c, and a gear 511e disposed on the connecting shaft 511d, the middle fork 512 includes a middle fork body 512a, two driven wheels 512b disposed at both ends of the middle fork body 512a, a belt 512c disposed between the driven wheels 512b, and a rack 512d disposed under the middle fork body 512a, the rack 512d is matched with the gear 511e, the upper fork 513 is fixed with the belt 512c, the fork driving device 520 comprises a servo motor 521 and a plurality of couplers 522, the servo motor 521 is fixed below the lower fork 511, the servo motor 521 is connected with a connecting shaft 511d close to one side of the servo motor 521 through the couplers 522, and the adjacent connecting shaft 511d of the lower fork 511 is connected with the connecting shaft 511d through the couplers 522.

In this embodiment, the multi-stage fork device 5 is disposed on the supporting plate and can perform lifting movement along with the lifting device, the multi-stage fork device is provided with a plurality of telescopic forks 510 and a fork driving device 520, the telescopic forks 510 are disposed in parallel on the supporting plate, in this embodiment, the telescopic forks 510 include a lower fork 511, a middle fork 512 and an upper fork 513, the lower fork 511 is fixed on the supporting plate, the middle fork 512 is disposed above the lower fork 511 and can slide along the lower fork 511 in two directions, the upper fork 513 is disposed above the middle fork 512 and can slide along the middle fork 512 in two directions, in this embodiment, the lower fork 511 includes a lower fork body 511a, a through hole 511b disposed on the lower fork body 511a, a double lug 511c disposed below the through hole 511b of the lower fork body 511a, a connecting shaft 511d disposed between the double lugs 511c and a gear 511e disposed on the connecting shaft 511d, the middle fork 512 includes a middle fork body 512a, a, Two driven wheels 512b arranged at two ends of a middle fork body 512a, a belt 512c arranged between the driven wheels 512b and a rack 512d arranged below the middle fork body 512a, wherein a gear 511e and the rack 512d are matched to drive the middle fork 512 to slide along a lower fork 511, the driven wheels 512b arranged at two ends of the middle fork 512 slide along the lower fork 511 and drive the belt 512c to rotate, an upper fork 513 is fixed with the belt 512c, and further the upper fork 513 slides along the middle fork 512 along with the sliding of the middle fork 512 in the same direction, in the embodiment, a fork driving device 520 is provided with a servo motor 521 and a plurality of couplings 522, the servo motor 521 is fixed below the lower fork 511 and connected with an adjacent connecting shaft 511d through the couplings 522, the adjacent connecting shafts 511d of the lower fork 511 are connected through the couplings 522, and when in operation, the servo motor 521 drives the gear 511e below the lower fork 511 to rotate through the couplings 522 and 511d, and then drive rack 512d below the middle fork 512 to move, rack 512d drives the middle fork 512 to move, driven wheel 512b at both ends of the middle fork body 512a drives belt 512c to rotate along with the movement of the middle fork 512, and then drives the upper fork 513 fixed with belt 512c to move with the middle fork 512 in the same direction.

In a preferred embodiment, as shown in fig. 15, the driving device 3 further comprises a tension pulley 350 disposed at the upper part of the chain and a third driven pulley 360 disposed at the middle part of the frame 210, wherein the tension pulley 350 is disposed at the side close to the driving motor 310. In this embodiment, drive arrangement 3 still includes take-up pulley 350 and third from driving wheel 360, and take-up pulley 350 sets up on chain upper portion and is close to driving motor 310 one side, and the third sets up at frame 210 middle part from driving wheel 360, and take-up pulley 350 and third cooperate from driving wheel 360, and the progress of being convenient for control chain avoids dolly body 2 to advance the in-process chain and drops, has improved the efficiency that dolly body 2 got the fortune goods simultaneously greatly.

As shown in fig. 16 and 17, in a preferred embodiment, the communication device 9 includes a fixed bracket 910 disposed at one end of the track 1, a first communication module 920 disposed on the fixed bracket 910, a reflector 930 disposed on the fixed bracket 910, a second communication module 940 disposed on one side of the frame 210 close to the fixed bracket, and a laser positioning sensor 950 disposed on one side of the frame 210 close to the fixed bracket, the first communication module 920 is configured to output signals for controlling the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6, and the lateral positioning device 7 of the trolley body 2, and receive signals fed back by the second communication module, the second communication module 940 is configured to receive signals for controlling the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6, and the lateral positioning device 7 of the trolley body 2, which are output by the first communication module 920, and controlling the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6 and the lateral positioning device 7 of the trolley body 2, and simultaneously outputting signals fed back by the laser positioning sensor, wherein the laser positioning sensor 950 and the reflector 930 are configured to position the trolley body 2 in real time and feed back the obtained real-time positioning information of the trolley body to the second communication module 940.

In this embodiment, the communication device 9 is a control device of an RGV car, wherein the communication module i 920 is connected with an external upper computer, the communication module i 920 outputs signals sent by the upper computer to control the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6 and the lateral positioning device 7 of the car body 2 to the communication module i 940, the communication module i 940 executes corresponding signal commands after receiving the signals of the communication module i 920, controls the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the oil pressure device 6 and the lateral positioning device 7 of the car body 2, the laser positioning sensor 950 arranged on the car frame 210 and the reflector 930 arranged on the fixed support 910 are matched for real-time positioning, and feeds back the real-time positioning information of the car body 2 to the communication module i 940, the communication module i 940 feeds back the real-time positioning information of the car body 2 to the communication module i 920, and the upper computer connected with the first communication module 920 sends a signal for correspondingly controlling the trolley body 2 according to the real-time positioning information of the trolley body 2.

As shown in fig. 18, in a preferred embodiment, the left and right sides of the frame 210 are provided with the guide devices 12, the guide devices 12 include L-shaped fixing plates 1210 fixed on the frame 210, first guide wheels 1220 and second guide wheels 1230 arranged below the L-shaped fixing plates 1210, a cleaning plate 1240 arranged in front of the L-shaped fixing plates 1210, and buffer springs 1250 arranged on the L-shaped fixing plates 1210, the L-shaped fixing plates 1210 include vertical plates 1211 fixed on the frame 210 and horizontal plates 1212 arranged below the vertical plates 1211, the first guide wheels 1220 and the second guide wheels 1230 are arranged below the horizontal plates 1212 and are located on both sides of the rail 1, the cleaning plates 1240 are arranged between the first guide wheels 1220 and the second guide wheels 1230 in front of the horizontal plates 1212 and are located above the rail 1, and the buffer springs 1250 are arranged on the vertical plates 1211.

In this embodiment, the left and right sides of the two ends of the vehicle frame 210 are provided with the guiding devices 12, the guiding devices 12 include L-shaped fixing plates 1210, first guide wheels 1220, second guide wheels 1230, a material cleaning plate 1240 and a buffering spring 1250, the L-shaped fixing plates 1210 include vertical fixing plates 414a and horizontal plates 1212, the vertical fixing plates 414a are fixed in front of the vehicle frame 210, the first guide wheels 1220 and the second guide wheels 1230 are disposed below the horizontal plates 1212 and located on the two sides of the rail 1, the first guide wheels 1220 and the second guide wheels 1230 ensure that the vehicle body 2 moves along the rail 1, the material cleaning plate 1240 is disposed between the first guide wheels 1220 and the second guide wheels 1230 in front of the horizontal plates 1212 and located above the rail 1, so as to clean up the impurities on the rail 1, and ensure the normal operation of the vehicle body 2, and the buffering spring 1250 is disposed on the vertical fixing plates 414 a.

In a preferred embodiment, as shown in fig. 19, the frame 210 is provided with a plurality of anti-roll plates 13 at the bottom of both sides, the anti-roll plates are in a zigzag structure, one end of each anti-roll plate is fixed at the bottom of the frame, and the other end of each anti-roll plate is arranged below the rails. In this embodiment, the bottom of the two sides of the frame 210 is provided with a plurality of anti-overturning plates 13, each anti-overturning plate is of a zigzag structure, one end of each anti-overturning plate is fixed to the bottom of the frame, the other end of each anti-overturning plate is arranged below the corresponding track, and when goods are taken and placed laterally, the anti-overturning plates 13 are fastened with the corresponding tracks 1, so that the whole trolley body 2 is effectively prevented from overturning, and the safety of taking and placing the goods by the trolley body 2 is improved.

The embodiments of the present application have been described in detail, but the description is only a preferred embodiment of the present application and should not be construed as limiting the scope of the application, and all changes and modifications that are made within the scope of the application should be covered by the claims.

Claims

1. An RGV trolley is characterized by comprising a track (1), a trolley body (2) arranged on the track (1), a driving device (3) arranged at one end of the trolley body (2), a lifting device (4) arranged in the middle of the trolley body (2), a multi-stage fork device (5) arranged at the upper part of the lifting device (4), an oil pressure device (6) arranged at one end, far away from the driving device (3), of the trolley body (2), a lateral positioning device (7) arranged below the lifting device (4) on the trolley, a plurality of positioning plates (8) arranged at two sides of the track (1) and matched with the lateral positioning device (7), and a communication device (9) for controlling the trolley body (2) to move;

the two ends of the track (1) are respectively provided with a limiting device (110), and each limiting device (110) comprises a stop plate (111) arranged on the track (1) and a clamping plate (112) arranged on the track (1) on one side, away from the trolley body (2), of the stop plate (111);

the trolley body (2) comprises a trolley frame (210), two driving wheel sets (220) which are symmetrically arranged at two ends of the bottom of the trolley frame (210) and are matched with the track (1), and a plurality of walking wheel sets (230) which are arranged between the driving wheel sets (220) and are matched with the track (1), wherein each driving wheel set (220) and each walking wheel set (230) comprises a first rotating shaft (10) arranged at the bottom of the trolley frame (210) and walking wheels (11) which are arranged at two ends of the first rotating shaft (10) and are matched with the track (1);

the driving device (3) comprises a driving motor (310) arranged at one end of the frame (210), a driving wheel (320) arranged at the output end of the driving motor (310), a first driven wheel (330) arranged on a first rotating shaft (10) of the driving wheel set (220) at one end close to the driving motor (310), and a second driven wheel (340) arranged on the first rotating shaft (10) of the driving wheel set (220) at one end far away from the driving motor (310), wherein the driving wheel (320) is connected with the first driven wheel (330) and the second driven wheel (340) through chains;

the lifting device (4) and the lateral positioning device (7) are connected with the oil pressure device (6);

the communication device (9) is configured to control the start and stop of a driving device (3), a lifting device (4), a multi-stage fork device (5), an oil pressure device (6) and a lateral positioning device (7) of the trolley body (2).

2. An RGV trolley as claimed in claim 1, characterized in that the lifting device (4) comprises two lifting frames (410) arranged in the middle of the trolley frame (210), a support plate (420) arranged between the two lifting frames (410), and a driver (430) arranged on the two lifting frames (410) for driving the support plate (420) to lift, the two lifting frames (410) are arranged on the trolley frame (210) in sequence along the direction of the rail (1), the lifting frames (410) comprise a first base plate (411) arranged on the trolley frame (210), a second base plate (412) arranged on the upper part of the first base plate (411) and crossing the two sides of the trolley frame (210), two vertical guide plates (413) arranged on the second base plate (412) and parallel to the rail (1), and a lifting guide device (414) arranged on one side of the vertical guide plates (413) close to the other lifting frame (410), the lifting guide device (414) comprises a vertical fixing plate (414a) which is arranged on the second base plate (412) and is vertically connected with the vertical guide plate (413), a vertical guide rail (414b) which is arranged on the vertical fixing plate (414a), a sliding block (414c) which is arranged on the vertical guide rail (414b) and a sliding block connecting plate (414d) which is arranged above the sliding block (414c) and is connected with the lower part of the supporting plate (420), the driver (430) is vertically arranged on the first base plate (411), and the output end is connected with the lower part of the supporting plate (420).

3. An RGV trolley as claimed in claim 2, characterized in that the lifting device (4) further comprises an auxiliary support device (440), the auxiliary support device (440) comprises a second rotation shaft (441) and a third rotation shaft (442) disposed under the support plate (420), first gears (443) disposed at both ends of the second rotation shaft (441), second gears (444) disposed at both ends of the third rotation shaft (442), and a rack assembly (445) disposed on the crane (410), the second rotation shaft (441) and the third rotation shaft (442) being disposed under the support plate (420) in parallel in the track direction, the first gears (443) and the second gears (444) of the second rotation shaft (441) and the third rotation shaft (442) being engaged with each other, the rack assembly (445) comprising a first rack (445a) and a second rack (445b), the first rack (445a) and the second rack (445b) are oppositely arranged on the two vertical guide plates (413), and the first rack (445a) and the second rack (445b) on the same side of the second rotating shaft (441) and the third rotating shaft (442) are respectively meshed with the first rack (445a) and the second rack (445b) on the lifting frame (410) on the same side.

4. An RGV trolley according to claim 3, characterized in that the vertical guide plate (413) of the second base plate (412) is provided with a reinforcement plate (450) parallel to the vertical fixing plate (414a) on the side away from the vertical fixing plate (414 a).

5. An RGV trolley according to claim 4, characterized in that the lateral positioning means (7) comprise a positioning base plate (710) arranged on the carriage (210) and two positioning means (720) symmetrically arranged on the positioning base plate (710) and perpendicular to the rail (1), the positioning device (720) comprises a positioning oil cylinder (721), a connecting plate (722) fixed on a piston rod of the positioning oil cylinder (721), two slide guides (723) symmetrically arranged at two sides of the positioning oil cylinder (721) and positioning pins (724) arranged at the free end of the piston rod of the positioning oil cylinder (721) and matched with the positioning plate (8), the guide sliding piece (723) comprises a guide sliding rail (723a), a guide sliding block (723b) arranged on the guide sliding rail (723a) and a guide sliding block connecting plate (723c) arranged on the guide sliding block (723b), and the guide sliding block connecting plate (723c) is connected with the connecting plate (722).

6. An RGV carriage as claimed in claim 5, characterized in that the multi-stage fork device (5) comprises a plurality of telescopic forks (510) arranged in parallel on the supporting plate and a fork driving device (520) arranged below the telescopic forks (510), the telescopic forks (510) comprise a lower fork (511) arranged on the supporting plate, a middle fork (512) slidably arranged on the lower fork (511) and an upper fork (513) slidably arranged on the middle fork (512), the lower fork (511) comprises a lower fork body (511a), a through hole (511b) arranged on the lower fork body (511a), a double lug (511c) arranged below the through hole (511b) of the lower fork body (511a), a connecting shaft (511d) arranged between the double lugs (511c) and a gear (511e) arranged on the connecting shaft (511d), the middle fork (512) comprises a middle fork body (512a), Two driven wheels (512b) arranged at two ends of a middle fork body (512a), a belt (512c) arranged between the driven wheels (512b) and a rack (512d) arranged below the middle fork body (512a), wherein the rack (512d) is matched with a gear (511e), an upper fork (513) is fixed with the belt (512c), a pallet fork driving device (520) comprises a servo motor (521) and a plurality of couplers (522), the servo motor (521) is fixed below a lower fork (511), the servo motor (521) is connected with a connecting shaft (511d) close to one side of the servo motor (521) through the couplers (522), and the adjacent connecting shaft (511) and the connecting shaft (511d) are connected through the couplers (522).

7. An RGV trolley according to claim 6, characterized in that the driving device (3) further comprises a tension pulley (350) arranged at the upper part of the chain and a third driven pulley (360) arranged at the middle part of the frame (210), the tension pulley (350) is arranged at the side close to the driving motor (310).

8. An RGV trolley as claimed in claim 7, characterized in that the communication device (9) comprises a fixed bracket (910) arranged at one end of the track (1), a first communication module (920) arranged on the fixed bracket (910), a reflector (930) arranged on the fixed bracket (910), a second communication module (940) arranged at one side of the frame (210) close to the fixed bracket (910), and a laser positioning sensor (950) arranged at one side of the frame (210) close to the fixed bracket (910), the first communication module (920) is configured to output information for controlling the start and stop of the driving device (3), the lifting device (4), the multi-stage fork device (5), the oil pressure device (6) and the lateral positioning device (7) of the trolley body (2), and the second communication module (940) is configured to receive the information for controlling the start and stop of the driving device (3), the lifting device (4), the multi-stage fork device (5), the oil pressure device (6) and the lateral positioning device (7) output by the, Information that elevating gear (4), multistage fork device (5), oil pressure unit (6) and side direction positioner (7) opened and stop to control opening and stopping of drive arrangement (3), elevating gear (4), multistage fork device (5), oil pressure unit (6) and side direction positioner (7) of dolly body (2), laser positioning sensor (950) and reflector panel (930) configuration are used for dolly body (2) accurate positioning, and with locating information through communication module two (940), send for communication module one (920).

9. An RGV trolley as claimed in claim 8, characterized in that the frame (210) is provided with guides (12) on both left and right sides, the guides (12) comprise L-shaped fixing plates (1210) fixed on the frame (210), first and second guide wheels (1220, 1230) arranged below the L-shaped fixing plates (1210), a trash plate (1240) arranged in front of the L-shaped fixing plates (1210), and a buffer spring (1250) arranged on the L-shaped fixing plates (1210), the L-shaped fixing plates (1210) comprise vertical plates (1211) fixed on the frame (210) and horizontal plates (1212) arranged below the vertical plates (1211), the first and second guide wheels (1220, 1230) are arranged below the horizontal plates (1212) and on both sides of the rail (1), the trash plates (1240) are arranged in front of the horizontal plates (1212), between the first and second guide wheels (1220), and above the rail (1), and the buffer spring (1250) is arranged on the vertical plates (1211).

10. An RGV trolley according to claim 9, characterized in that the frame (210) is provided with several anti-tip plates (13) at the bottom of both sides, the anti-tip plates (13) are Z-shaped and fixed horizontally at one end at the bottom of the frame (210) and at the other end below the rail (1).