A RGV trolley

Abstract

The present application provides an RGV trolley, comprising a track, a trolley body arranged on the track, 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 away from the driving device, a lateral positioning device arranged below the lifting device on the trolley, a plurality of positioning plates arranged on both sides of the track and matched with the lateral positioning device, and a communication device for controlling the movement of the trolley body. The present application is provided with a lateral positioning device, which cooperates with the positioning plate to facilitate the precise positioning of the trolley body, a communication device is provided to decelerate the initial positioning of the trolley body, and the communication device and the lateral positioning device cooperate to greatly improve the positioning ability of the trolley body; a lifting device and a multi-stage fork device are provided, and the lifting device and the multi-stage fork device can be used to automatically transport the goods on both sides of the track through the cooperation of the lifting device and the multi-stage fork device, which greatly improves the application range of the RGV trolley.

Description

Technical Field

[0001] The present application relates to the field of automated conveying technology, and in particular to an RGV trolley. Background Art

[0002] In modern logistics and handling, intelligent logistics systems continue to promote the development of the logistics industry and the processing industry. RGV was born. RGV is the abbreviation of rail shuttle trolley. RGV trolleys are mainly used in various storage warehouses and responsible for material handling. As a logistics peripheral equipment, it can be easily connected to other systems automatically. Goods are transported according to control instructions. RGV is an intelligent car running along the track and can connect multiple processing stations in the workshop. It can transport workpieces from one station to the next station and complete the workpiece transfer of the entire processing line. Generally, it is easier for RGV trolleys to locate at processing stations when transporting small-mass goods, but the larger the mass of the goods, the more difficult it is to locate the RGV trolley.

[0003] Another example is a RGV with a lateral and longitudinal transplanting platform disclosed in Chinese patent document CN109650287A. The RGV trolley is provided with a lifting platform; a roller line is provided on the lifting platform; and the lifting and transplanting device includes a conveying mechanism and a lifting mechanism. The conveying mechanism is provided on the lifting mechanism, and the lifting mechanism drives the transmission mechanism to rise or fall. The lifting mechanism is provided on the lifting platform or the roller line. The conveying mechanism includes a conveying bottom plate, a conveying drive mechanism fixed on the conveying bottom plate, and one or more conveying chain assemblies; the conveying drive mechanism conveys the chain assembly to move, and the conveying chain assembly is located between two adjacent rollers of the roller line or outside the outermost roller of the roller line, and the conveying direction of the conveying chain assembly is perpendicular to the conveying direction of the roller line. The top surface of the conveying chain assembly is lower than the top surface of the roller of the roller line. The present invention has the ability to move horizontally and lift vertically, and realizes the right-angle turning and transportation of goods. Although the RGV trolley can realize the transportation of goods, if the place where the goods are placed is not provided with the ability to automatically transfer goods, or if the goods are heavy and of large mass, this trolley cannot automatically pick up and place the goods of large mass. This affects the usability of the RGV trolley. Summary of the invention

[0004] The present application provides an RGV trolley to solve the above-mentioned technical problems.

[0005] The technical solution adopted by the present application is: an RGV trolley, comprising a track, a trolley body arranged on the track, 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 away from the driving device, a lateral positioning device arranged below the lifting device on the trolley, a plurality of positioning plates arranged on both sides of the track and matched with the lateral positioning device, and a communication device for controlling the movement of the trolley body;

[0006] Both ends of the track are provided with a limit device, and the limit device includes a blocking plate arranged on the track and a tightening plate arranged on the track on the side of the blocking plate away from the trolley body;

[0007] The trolley body includes a frame, two driving wheel groups symmetrically arranged at two ends of the bottom of the frame and matched with the track, and a plurality of running wheel groups arranged between the driving wheel groups and matched with the track, and the driving wheel groups and the running wheel groups both include a first rotating shaft arranged at the bottom of the frame and running wheels arranged at two ends of the first rotating shaft and matched with the track;

[0008] 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 the first rotating shaft of the driving wheel group near the end of the driving motor, and a second driven wheel arranged on the first rotating shaft of the driving wheel group far from the end of the driving motor, wherein the driving wheel is connected to the first driven wheel and the second driven wheel through a chain;

[0009] The lifting device and the lateral positioning device are both connected to the oil pressure device;

[0010] The communication device is configured to control the start and stop of the driving device, lifting device, multi-stage fork device, hydraulic device and lateral positioning device of the trolley body.

[0011] Furthermore, the lifting device includes two lifting frames arranged in the middle of the frame, a support plate arranged between the two lifting frames, and a driver arranged on the two lifting frames to drive the support plates to lift and lower. The two lifting frames are arranged on the frame in sequence along the track direction. The lifting frame includes a first base plate arranged on the frame, a second base plate arranged on the upper part of the first base plate and spanning both sides of the frame, two vertical guide plates relatively arranged on the second base plate and parallel to the track, and a lifting guide device arranged on the side of the vertical guide plate close to the other lifting frame. The lifting guide device includes a vertical fixing plate arranged on the second base plate and vertically connected to the vertical guide plate, a vertical guide rail arranged on the vertical fixing plate, a slider arranged on the vertical guide rail, and a slider connecting plate arranged above the slider and connected to the bottom of the support plate. The driver is vertically arranged on the first base plate, and the output end is connected to the bottom of the support plate.

[0012] Furthermore, the lifting device also includes an auxiliary supporting device, which includes a second rotating shaft and a third rotating shaft arranged below the supporting plate, a first gear arranged at both ends of the second rotating shaft, a second gear arranged at both ends of the third rotating shaft, and a rack assembly arranged on the lifting frame, the second rotating shaft and the third rotating shaft are arranged in parallel along the track direction below the supporting plate, the first gear and the second gear on the same side of the second rotating shaft and the third rotating shaft are meshed, the rack assembly includes a first rack and a second rack, the first rack and the second rack are relatively arranged on two vertical guide plates, the first rack and the second rack on the same side of the second rotating shaft and the third rotating shaft are respectively meshed with the first rack and the second rack on the lifting frame on the same side.

[0013] Furthermore, a reinforcing plate parallel to the vertical fixing plate is provided on the side of the vertical guide plate on the second substrate away from the vertical fixing plate.

[0014] Furthermore, the lateral positioning device includes a positioning base plate arranged on the frame and two positioning devices symmetrically arranged on the positioning base plate and perpendicular to the track, the positioning device includes a positioning cylinder, a connecting plate fixed on the piston rod of the positioning cylinder, two guide slides symmetrically arranged on both sides of the positioning cylinder and a positioning pin arranged at the free end of the piston rod of the positioning cylinder and cooperating with the positioning plate, the guide slide includes a guide rail, a guide slide block arranged on the guide rail and a guide slide block connecting plate arranged on the guide slide block, and the guide slide block connecting plate is connected to the connecting plate.

[0015] Furthermore, the multi-stage fork device includes a plurality of telescopic forks arranged in parallel on a support plate and a fork driving device arranged below the telescopic fork, the telescopic fork includes a lower fork arranged on the support plate, a middle fork slidably arranged on the lower fork and an upper fork slidably arranged on the middle fork, the lower fork includes a lower fork body, a through hole arranged on the lower fork body, two ears arranged below the through hole of the lower fork body, a connecting shaft arranged between the two ears and a gear e arranged on the connecting shaft, the middle fork includes a middle fork body, two driven wheels arranged at both ends of the middle fork body, a belt arranged between the driven wheels and a rack arranged below the middle fork body, the rack cooperates with the gear e, the upper fork is fixed with the belt, the fork driving device includes a servo motor and a plurality of couplings, the servo motor is fixed below the lower fork, the servo motor is connected to a connecting shaft close to one side of the servo motor through a coupling, and adjacent lower fork connecting shafts are connected to the connecting shafts through couplings.

[0016] Furthermore, the driving device also includes a tensioning wheel arranged on the upper part of the chain and a third driven wheel arranged in the middle part of the frame, and the tensioning wheel is arranged on the side close to the driving motor.

[0017] Furthermore, the communication device includes a fixed bracket arranged at one end of the track, a communication module 1 arranged on the fixed bracket, a reflector arranged on the fixed bracket, a communication module 2 arranged on the side of the frame close to the fixed bracket, and a laser positioning sensor arranged on the side of the frame close to the fixed bracket. The communication module 1 is configured to output information for controlling the start and stop of the driving device, lifting device, multi-stage fork device, hydraulic device and lateral positioning device of the trolley body, and the communication module 2 is configured to receive the information output by the communication module 1 for controlling the start and stop of the driving device, lifting device, multi-stage fork device, hydraulic device and lateral positioning device of the trolley body, and control the start and stop of the driving device, lifting device, multi-stage fork device, hydraulic device and lateral positioning device of the trolley body. The laser positioning sensor and the reflector are configured for precise positioning of the trolley body, and send the positioning information to the communication module 1 via the communication module 2.

[0018] Furthermore, guide devices are provided on both left and right sides of both ends of the frame, and the guide devices include an L-shaped fixing plate fixed to the frame, a first guide wheel and a second guide wheel arranged below the L-shaped fixing plate, a cleaning plate arranged in front of the L-shaped fixing plate, and a buffer spring arranged on the L-shaped fixing plate. The L-shaped fixing plate includes a vertical plate fixed to the frame and a horizontal plate arranged below the vertical plate, the first guide wheel and the second guide wheel are arranged below the horizontal plate and located on both sides of the track, the cleaning plate is arranged between the first guide wheel and the second guide wheel in front of the horizontal plate and located above the track, and the buffer spring is arranged on the vertical plate.

[0019] Furthermore, a plurality of anti-rollover plates are provided at the bottom of both sides of the frame. The anti-rollover plates are in a Z-shaped structure, with one end being horizontally fixed to the bottom of the frame and the other end being arranged below the track.

[0020] The advantages and positive effects of the present application are as follows: an RGV trolley of the present application is provided with a communication device, which is convenient for controlling the start and stop of the driving device, lifting device, fork device, hydraulic device and lateral positioning device of the trolley body; the trolley body is provided with a lateral positioning device, and multiple positioning plates are provided on both sides of the track. The lateral positioning device and the positioning plates cooperate to facilitate further positioning of the trolley body. The communication device initially positions and slows down the trolley body, and the lateral positioning device and the positioning plates cooperate to accurately position the trolley. The communication device and the lateral positioning device cooperate to greatly improve the positioning ability of the trolley body; a lifting device and a multi-stage fork device are provided, and the lifting device and the multi-stage fork device cooperate to automatically transport the goods on both sides of the track, which greatly improves the application scope of the RGV trolley.

[0021] In addition to the technical problems solved by the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of these technical solutions described above, other technical problems that can be solved by the present application, other technical features included in the technical solutions, and the advantages brought by these technical features will be further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the structure of an RGV trolley provided in an embodiment of the present application;

[0023] Figure 2 It is a schematic diagram of the structure of the driving device and the oil pressure device provided in the embodiment of the present application;

[0024] Figure 3 is a schematic diagram of the structure of the limiting device provided in an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of the structure of the trolley body provided in an embodiment of the present application;

[0026] Figure 5 is a schematic diagram of the structure of a driving device provided in an embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of the structure of the lifting device provided in the embodiment of the present application;

[0028] Figure 7 is a schematic diagram of an auxiliary support device provided in an embodiment of the present application;

[0029] Figure 8 is a schematic diagram of the structure of the auxiliary support device provided in an embodiment of the present application;

[0030] Fig. 9 is a schematic diagram of the reinforcement plate structure provided in an embodiment of the present application;

[0031] Fig.10 is a schematic diagram of the structure of a lateral positioning device provided in an embodiment of the present application;

[0032] Fig.11 It is a schematic diagram of the structure of a multi-stage fork device provided in an embodiment of the present application;

[0033] Fig.12 It is a schematic diagram of the lower fork structure provided in an embodiment of the present application;

[0034] Fig.13 It is a schematic diagram of the middle fork structure provided in an embodiment of the present application;

[0035] Fig.14 is a schematic diagram of the rack structure provided in an embodiment of the present application;

[0036] Fig.15 It is a schematic diagram of the structure of the tensioning wheel and the third driven wheel provided in an embodiment of the present application;

[0037] Fig.16 It is a schematic diagram of the structure of the fixing bracket, the communication module 1 and the reflector provided in the embodiment of the present application;

[0038] Fig.17 It is a schematic diagram of the structure of the communication module 2 and the laser positioning sensor provided in the embodiment of the present application;

[0039] Fig.18 is a schematic diagram of the structure of the guide device provided in an embodiment of the present application;

[0040] Fig.19 It is a schematic diagram of the anti-overturning plate structure provided in an embodiment of the present application.

[0041] In the figure: 1 track; 110 limit device; 111 blocking plate; 112 tightening plate; 2 trolley body; 210 frame; 220 driving wheel set; 230 walking wheel set; 3 driving device; 310 driving motor; 320 driving wheel; 330 first driven wheel; 340 second driven wheel; 350 tensioning wheel; 360 third driven wheel; 4 lifting device; 410 lifting frame; 411 first base plate; 412 second base plate; 413 vertical guide plate; 414 lifting guide device; 4 14a vertical fixing plate; 414b vertical guide rail; 414c slider; 414d slider connecting plate; 420 support plate; 430 driver; 440 auxiliary support device; 441 second rotating shaft; 442 third rotating shaft; 443 first gear; 444 second gear; 445 rack assembly; 445a first rack; 445b second rack; 450 reinforcement plate; 5 multi-stage fork device; 510 telescopic fork; 511 lower fork; 511a lower fork body; 511b through hole; 511c double ears; 511d connecting shaft; 511e gear; 512 middle fork; 512a middle fork body; 512b driven wheel; 512c belt; 512d rack; 513 upper fork; 520 fork driving device; 521 servo motor; 522 coupling; 6 hydraulic device; 7 lateral positioning device; 710 positioning base plate; 720 positioning device; 721 positioning cylinder; 722 connecting plate; 723 guide slide; 723a guide slide rail; 723b guide slide block; 723c guide slider connecting plate; 724 positioning pin; 8 positioning plate; 9 communication device; 910 fixing bracket; 920 communication module 1; 930 reflective plate; 940 communication module 2; 950 laser positioning sensor; 10 first rotating shaft; 11 walking wheel; 12 guide device; 1210 L-shaped fixing plate; 1211 vertical plate; 1212 horizontal plate; 1220 first guide wheel; 1230 second guide wheel; 1240 cleaning plate; 1250 buffer spring; 13 anti-overturning plate DETAILED DESCRIPTION

[0042] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. In addition, it should be noted that, for the convenience of description, only the parts related to the invention are shown in the accompanying drawings.

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0044] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, an RGV trolley comprises 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 on the upper part of the lifting device 4, an oil pressure device 6 arranged at one end of the trolley body 2 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 on both sides of the track 1 and matched with the lateral positioning device 7, and a communication device 9 for controlling the movement of the trolley body 2;

[0045] Both ends of the track 1 are provided with a limit device 110, and the limit device 110 includes a blocking plate 111 arranged on the track 1 and a tightening plate 112 arranged on the track 1 on the side of the blocking plate 111 away from the trolley body 2;

[0046] The trolley body 2 includes a frame 210, two driving wheel sets 220 symmetrically arranged at both ends of the bottom of the frame 210 and matched with the track 1, and a plurality of running wheel sets 230 arranged between the driving wheel sets 220 and matched with the track 1, and the driving wheel sets 220 and the running wheel sets 230 both include a first rotating shaft 10 arranged at the bottom of the frame 210 and running wheels 11 arranged at both ends of the first rotating shaft 10 and matched with the track 1;

[0047] The driving device 3 includes a driving motor 310 disposed at one end of the frame 210, a driving wheel 320 disposed at the output end of the driving motor 310, a first driven wheel 330 disposed on the first rotating shaft 10 of the driving wheel group 220 at one end close to the driving motor 310, and a second driven wheel 340 disposed on the first rotating shaft 10 of the driving wheel group 220 at one end away from the driving motor 310, wherein the driving wheel 320 is connected to the first driven wheel 330 and the second driven wheel 340 via a chain;

[0048] The lifting device 4 and the lateral positioning device 7 are both connected to the oil pressure device 6;

[0049] 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.

[0050] In this embodiment, the track 1 is a key structure for supporting the trolley to move. Limiting devices 110 are provided at both ends of the track 1. The limiting devices 110 include a blocking plate 111 arranged on the track 1 and a tightening plate 112 arranged on the side of the blocking plate 111 away from the trolley body 2. The tightening plate 112 is arranged on the track 1 close to the blocking plate 111. The blocking plate 111 mechanically limits the trolley body 2 to prevent the trolley body 2 from running out of the track 1. The clamping plate further ensures the limiting and blocking effect of the blocking plate 111. In this embodiment, the trolley body 2 is provided with a frame 210, two driving wheel groups 2 20 and multiple walking wheel groups 230, the two driving wheel groups 220 and the multiple walking wheel groups 230 cooperate to greatly improve the support strength of the frame 210, and at the same time improve the stability of the trolley body 2 during walking, the two driving wheel groups 220 are symmetrically arranged at the bottom of both ends of the frame 210, and the multiple walking wheel groups 230 are evenly arranged between the two driving wheel groups 220. In this embodiment, the driving wheel group 220 and the walking wheel group 230 both include a first rotating shaft 10 arranged at the bottom of the frame 210 and walking wheels 11 arranged at both ends of the first rotating shaft 10 and matched with the track 1;

[0051] In this embodiment, the driving device 3 is a key structure for driving the movement of the trolley body 2. 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 arranged at one end of the frame 210. The driving wheel 320 is provided on the output shaft of the driving motor 310. The first driven wheel 330 is provided on the rotating shaft of the driving wheel group 220 near the end of the driving motor 310. The second driven wheel 340 is provided on the first rotating shaft 10 of the driving wheel group 220 away from the driving motor 310. The driving wheel 320, the first driven wheel 330 and the second driven wheel 340 are connected together by a chain. The trolley body 2 can make a reciprocating motion on the track 1 through the driving motor 310, the driving wheel 320 and the first driven wheel 330 and the second driven wheel 340 connected to the driving wheel 320, thereby transporting the goods.

[0052] In this embodiment, a lifting device 4 is provided in the middle of the trolley body 2, and a multi-stage fork device 5 is provided on the lifting device 4, wherein the multi-stage fork device 5 can be retracted in both directions to pick up goods, and the lifting device 4 and the multi-stage fork device 5 cooperate to facilitate the transportation of goods on both sides of the track 1; in this embodiment, a lateral positioning device 7 is provided below the lifting device 4 on the trolley body 2, and the lateral positioning device 7 cooperates with a plurality of positioning plates 8 arranged on both sides of the track 1, which can accurately position the trolley, so that the trolley can transport goods arranged on the positioning plates 8; in this embodiment, the oil pressure device 6 is connected to the lifting device 4 and the lateral positioning device 7, and is the driving power mechanism of the lifting device 4 and the lateral positioning device 7.

[0053] 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 hydraulic device 6 and the lateral positioning device 7 of the trolley body 2.

[0054] During operation, when the trolley body 2 moves to the vicinity of the target position, the communication device 9 can perform preliminary positioning, turn off the driving device 3, brake the trolley body 2, and start the oil pressure device 6 and the lateral positioning device 7 at the same time. The lateral positioning device 7 cooperates with the positioning plate 8 near the target for precise positioning. The communication device 9 cooperates with the lateral positioning device 7. The multi-level positioning greatly improves the positioning ability of the trolley body 2, especially the positioning ability of the trolley body 2 when transporting large mass goods; after the trolley body 2 stops positioning, the communication device 9 controls the multi-level fork device 5 and the lifting device 4 to automatically pick up the goods on both sides of the track 1, which greatly improves the application range of the RGV trolley.

[0055] like Figure 6As shown, in a preferred embodiment, the lifting device 4 includes two lifting frames 410 arranged in the middle of the frame 210, a support plate 420 arranged between the two lifting frames 410, and a driver 430 arranged on the two lifting frames 410 to drive the support plate 420 to rise and fall. The two lifting frames 410 are sequentially arranged on the frame 210 along the direction of the track 1. The lifting frames 410 include a first base plate 411 arranged on the frame 210, a second base plate 412 arranged on the upper part of the first base plate 411 and spanning across both sides of the frame 210, and two vertical guides arranged on the second base plate 412 and parallel to the track 1. The vertical guide plate 413 and the lifting guide device 414 are arranged on the side of the vertical guide plate 413 close to the other lifting frame 410, the lifting guide device 414 includes a vertical fixed plate 414a arranged on the second substrate 412 and vertically connected to the vertical guide plate 413, a vertical guide rail 414b arranged on the vertical fixed plate 414a, a slider 414c arranged on the vertical guide rail 414b, and a slider connecting plate 414d arranged above the slider 414c and connected to the bottom of the support plate 420, the driver 430 is vertically arranged on the first substrate 411, and the output end is connected to the bottom of the support plate 420.

[0056] In this embodiment, the lifting device 4 includes two lifting frames 410, a support plate 420 arranged between the two lifting frames 410, and a driver 430 arranged on the two lifting frames 410 to drive the support plate 420 to rise and fall. The two lifting frames 410 are symmetrically arranged on the frame 210 and are the 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 arranged on the frame 210 and is parallel to the track 1. The second base plate 412 is perpendicular to the track 1 and is arranged on the upper part of the first base plate 411 and spans across both sides of the frame 210. The first base plate 411 and the second base plate 412 are mounting seats for the lifting frames 410. The first substrate 411 and the second substrate 412 cooperate with each other, which greatly improves the stability of the lifting frame 410. The two vertical guide plates 413 are relatively arranged on the second substrate 412 and are parallel to the track 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 connecting plate 414d. The vertical fixing plate 414a is arranged on the second substrate 412, the vertical guide plate 413 is close to the other lifting frame 410, and is vertically connected to the vertical guide plate 413. The vertical track 1 is arranged on the vertical fixing plate 414a, the slider 414c is slidably arranged on the vertical guide rail 414b, and a slider connecting plate 414d is provided above the slider 414c.

[0057] In this embodiment, the slider connecting plate 414d is in an inverted L shape, and the slider 414c is fixedly connected to the bottom of the support plate 420 through the slider connecting plate 414d. In this embodiment, four lifting guide devices 414 are provided on the two lifting frames 410, and the four lifting guide devices 414 cooperate with the support plate, which greatly improves the stability of the lifting of the support plate 420. In this embodiment, the two lifting frames 410 are both provided with a driver 430, and the driver 430 is vertically arranged on the first substrate 411, and the output end is connected to the bottom of the support plate 420. In this embodiment, the driver 430 is a lifting cylinder, and the lifting cylinder is connected to the oil pressure device 6. When working, the oil pressure device 6 cooperates with the lifting cylinder to control the lifting of the support plate 420, which is convenient for the multi-stage fork device 5 to pick up goods sideways.

[0058] like Figure 7 and Figure 8 As shown, in a preferred embodiment, the lifting device 4 further includes an auxiliary support device 440, the auxiliary support device 440 includes a second rotating shaft 441 and a third rotating shaft 442 arranged below the support plate 420, a first gear 443 arranged at both ends of the second rotating shaft 441, a second gear 444 arranged at both ends of the third rotating shaft 442, and a rack assembly 445 arranged on the lifting frame 410, the second rotating shaft 441 and the third rotating shaft 442 are arranged in parallel along the track direction below the support plate 420, 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 meshed, and the rack assembly 445 includes a first rack 445a and a second rack 445b, and the first rack 445a and the second rack 445b are relatively arranged on 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.

[0059] In this embodiment, the lifting device 4 is further provided with an auxiliary supporting device 440, which 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 arranged in parallel below the support plate 420 along the direction of the track 1. Both ends of the second rotating shaft 441 are provided with a first gear 443, and both ends of the third rotating shaft 442 are provided with a 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 meshed. In this embodiment, both lifting frames 410 are provided with a rack assembly 445, which includes a first rack 445a and a second rack 445b. The first rack 445a and the second rack 445b are relatively arranged on two vertical guide plates 413. The second rotating shaft 441 and the third rotating shaft 44 The first gear 443 and the second gear 444 on the same side are respectively meshed with the first rack 445a and the second rack 445b on the lifting frame 410 on the same side. During the lifting process of the lifting cylinder or when the multi-stage fork device 5 takes or places goods, the second rotating shaft 441, the third rotating shaft 442, the first gear 443, the second gear 444 and the support plate 420 are lifted or lowered synchronously. The support plate 420 disperses the gravity and bending moment of the goods to the lifting frame 410 through the first gear 443, the second gear 444 and the rack assembly 445, so that the various parts of the lifting device 4 are evenly stressed, and the tilting of the support plate supporting the multi-stage fork device 5 when the multi-stage fork device 5 takes or places goods sideways is avoided, so that the lifting stability of the lifting device 4 is further improved, the service life of the lifting device 4 is extended, and the ability of the multi-stage fork device 5 to take or place goods sideways is greatly improved, so that the multi-stage fork device 5 can take or place goods of larger mass sideways.

[0060] like Fig. 9 As shown, in a preferred embodiment, a reinforcing plate 450 parallel to the vertical fixing plate 414a is provided on the side of the vertical guide plate 413 on the second base 412 away from the vertical fixing plate 414a. In this embodiment, a reinforcing plate 450 parallel to the vertical fixing plate 414a is provided on the side of the vertical guide plate 413 on the second base away from the vertical fixing plate 414a, and the reinforcing plate 450 further improves the stability of the lifting device 4 when picking up and placing goods, and at the same time facilitates the lifting device 4 to pick up and place large-mass goods.

[0061] like Fig.10As shown, in a preferred embodiment, the lateral positioning device 7 includes a positioning base plate 710 arranged on the frame 210 and two positioning devices 720 symmetrically arranged on the positioning base plate 710 and perpendicular to the track 1, the positioning device 720 includes a positioning cylinder 721, a connecting plate 722 fixed on the piston rod of the positioning cylinder 721, two guide slides 723 symmetrically arranged on both sides of the positioning cylinder 721 and a positioning pin 724 arranged at the free end of the piston rod of the positioning cylinder 721 and cooperating with the positioning plate 8, the guide slide 723 includes a guide rail 723a, a guide slider 723b arranged on the guide rail 723a and a guide slider connecting plate 723c arranged on the guide slider 723b, and the guide slider connecting plate 723c is connected to the connecting plate 722.

[0062] 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 for the positioning device 720. The two positioning devices 720 are symmetrically arranged on the positioning base plate 710 to facilitate the cooperation with the positioning plates 8 arranged on both sides of the track 1. In this embodiment, the positioning device 720 includes a positioning cylinder 721, a connecting plate 722, two guide slides 723 and a positioning pin 724. The connecting plate 722 is fixed on the piston rod of the positioning cylinder 721. The guide slides 723 are arranged on both sides of the positioning cylinder 721. 3. The guide slide 723 includes a guide rail 723a, a slider 414c arranged on the guide rail 723a, and a slider connecting plate 414d arranged on the slider 414c. The slider connecting plate 414d is connected to the connecting plate 722. When the hydraulic workstation supplies oil to the positioning cylinder 721, the piston rod moves forward with the positioning pin 724. The positioning pin 724 is inserted into the positioning hole on the positioning plate 8 fixed on the outer side of the track 1 under the guidance of the guide slide 723, thereby realizing high-precision positioning of the trolley body 2 and preparing for the trolley body 2 to pick up and place goods.

[0063] like Fig.11 , Fig.12 , Fig.13 and Fig.14As shown, in a preferred embodiment, the multi-stage fork device 5 includes a plurality of telescopic forks 510 arranged in parallel on a support plate and a fork driving device 520 arranged below the telescopic forks 510, the telescopic fork 510 includes a lower fork 511 arranged on the support 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 includes a lower fork body 511a, a through hole 511b arranged on the lower fork body 511a, two ears 511c arranged below the through hole 511b of the lower fork body 511a, a connecting shaft 511d arranged between the two ears 511c and a gear 511e arranged on the connecting shaft 511d, the middle fork 512 It includes a middle fork body 512a, two driven wheels 512b arranged at both ends of the middle fork body 512a, a belt 512c arranged between the driven wheels 512b and a rack 512d arranged below the middle fork body 512a, the rack 512d cooperates with the gear 511e, the upper fork 513 is fixed to the belt 512c, the fork driving device 520 includes a servo motor 521 and a plurality of couplings 522, the servo motor 521 is fixed below the lower fork 511, the servo motor 521 is connected to a connecting shaft 511d close to one side of the servo motor 521 through a coupling 522, and the connecting shafts 511d of the adjacent lower forks 511 are connected to each other through a coupling 522.

[0064] In this embodiment, the multi-stage fork device 5 is arranged on the support plate and can be lifted and lowered 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 fork 510 is arranged in parallel on the support plate. In this embodiment, the telescopic fork 510 includes a lower fork 511, a middle fork 512 and an upper fork 513. The lower fork 511 is fixed on the support plate, the middle fork 512 is arranged above the lower fork 511 and can slide in both directions along the lower fork 511. The upper fork 513 is arranged above the middle fork 512 and can slide in both directions along the middle fork 512. In this embodiment, the lower fork 511 includes a lower fork The middle fork 512 comprises a body 511a, a through hole 511b arranged on the lower fork body 511a, two ears 511c arranged below the through hole 511b of the lower fork body 511a, a connecting shaft 511d arranged between the two ears 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 both ends of the middle fork body 512a, a belt 512c arranged between the driven wheels 512b, and a rack 512d arranged below the middle fork body 512a. The gear 511e and the rack 512d cooperate to drive the middle fork 512 to move along the lower fork 512a. 11 slides, and at the same time, the driven wheels 512b arranged at both ends of the middle fork 512 slide along the lower fork 511 and drive the belt 512c to rotate. The upper fork 513 and the belt 512c are fixed, and then the upper fork 513 also slides in the same direction along the middle fork 512 as the middle fork 512 slides. In this embodiment, the fork driving device 520 is provided with a servo motor 521 and a plurality of couplings 522. The servo motor 521 is fixed under the lower fork 511 and is connected to the adjacent connecting shaft 511d through the coupling 522. The connecting shafts 511d of adjacent lower forks 511 are connected through the coupling 522. When working, the servo motor 521 The coupling 522 and the connecting shaft 511d cooperate to drive the gear 511e under the lower fork 511 to rotate, thereby driving the rack 512d under the middle fork 512 to move, and the rack 512d drives the middle fork 512 to move. The driven wheels 512b at both ends of the middle fork body 512a drive the belt 512c to rotate as the middle fork 512 moves, thereby driving the upper fork 513 fixed to the belt 512c to move in the same direction as the middle fork 512. In this embodiment, the multi-stage fork device and the lifting device cooperate to pick up and place goods on both sides of the track, without the need for a separate device for automatically transferring goods, which greatly improves the application range of the trolley.

[0065] like Fig.15As shown, in a preferred embodiment, the driving device 3 further includes a tensioning wheel 350 disposed on the upper part of the chain and a third driven wheel 360 disposed in the middle of the frame 210, and the tensioning wheel 350 is disposed on a side close to the driving motor 310. In this embodiment, the driving device 3 further includes a tensioning wheel 350 and a third driven wheel 360, the tensioning wheel 350 is disposed on the upper part of the chain and close to a side of the driving motor 310, and the third driven wheel 360 is disposed in the middle of the frame 210, and the tensioning wheel 350 and the third driven wheel 360 cooperate to facilitate control of the tension of the chain, to prevent the chain from falling off during the travel of the trolley body 2, and at the same time greatly improve the efficiency of the trolley body 2 in transporting goods.

[0066] like Fig.16 and Fig.17 As shown, in a preferred embodiment, the communication device 9 includes a fixed bracket 910 arranged at one end of the track 1, a communication module 1 920 arranged on the fixed bracket 910, a reflector 930 arranged on the fixed bracket 910, a communication module 2 940 arranged on the side of the frame 210 close to the fixed bracket, and a laser positioning sensor 950 arranged on the side of the frame 210 close to the fixed bracket. The communication module 1 920 is configured to output a signal 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 the reflected signal of the communication module 2 The communication module 2 940 is configured to receive the signal output by the communication module 1 920 for controlling the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the hydraulic device 6 and the lateral positioning device 7 of the trolley body 2, and control the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the hydraulic device 6 and the lateral positioning device 7 of the trolley body 2, and output the signal fed back by the laser positioning sensor at the same time. The laser positioning sensor 950 and the reflector 930 are configured to perform real-time positioning of the trolley body 2, and feed back the obtained real-time positioning information of the trolley body to the communication module 2 940.

[0067] In this embodiment, the communication device 9 is a control device of the RGV trolley, wherein the communication module 1 920 is connected to an external host computer, and the communication module 1 920 outputs the signal sent by the host computer to control the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the hydraulic device 6 and the lateral positioning device 7 of the trolley body 2 to the communication module 2 940. After receiving the signal from the communication module 1 920, the communication module 2 940 executes the corresponding signal command to control the start and stop of the driving device 3, the lifting device 4, the multi-stage fork device 5, the hydraulic device 6 and the lateral positioning device 7 of the trolley body 2. The laser positioning sensor 950 arranged on the frame 210 and the reflector 930 arranged on the fixed bracket 910 cooperate to perform real-time positioning, and feed back the real-time positioning information of the trolley body 2 to the communication module 2 940. The communication module 2 940 feeds back the real-time positioning information of the trolley body 2 to the communication module 1 920, and the host computer connected to the communication module 1 920 sends a corresponding signal to control the trolley body 2 according to the real-time positioning information of the trolley body 2.

[0068] like Fig.18 As shown, in a preferred embodiment, a guide device 12 is provided on both left and right sides of both ends of the frame 210, and the guide device 12 includes an L-shaped fixing plate 1210 fixed on the frame 210, a first guide wheel 1220 and a second guide wheel 1230 arranged below the L-shaped fixing plate 1210, a cleaning plate 1240 arranged in front of the L-shaped fixing plate 1210, and a buffer spring 1250 arranged on the L-shaped fixing plate 1210, the L-shaped fixing plate 1210 includes a vertical plate 1211 fixed on the frame 210 and a horizontal plate 1212 arranged below the vertical plate 1211, the first guide wheel 1220 and the second guide wheel 1230 are arranged below the horizontal plate 1212 and are located on both sides of the track 1, the cleaning plate 1240 is arranged between the first guide wheel 1220 and the second guide wheel 1230 in front of the horizontal plate 1212 and is located above the track 1, and the buffer spring 1250 is arranged on the vertical plate 1211.

[0069] In this embodiment, guide devices 12 are provided on both sides of the left and right ends of the frame 210, and the guide devices 12 include an L-shaped fixing plate 1210, a first guide wheel 1220, a second guide wheel 1230, a cleaning plate 1240 and a buffer spring 1250. The L-shaped fixing plate 1210 includes a vertical fixing plate 414a and a horizontal plate 1212. The vertical fixing plate 414a is fixed in front of the frame 210, and the first guide wheel 1220 and the second guide wheel 1230 are arranged below the horizontal plate 1212 and are located on both sides of the track 1. The two guide wheels 1230 ensure that the trolley body 2 moves along the track 1. The cleaning plate 1240 is arranged between the first guide wheel 1220 and the second guide wheel 1230 in front of the horizontal plate 1212, and is located above the track 1, so as to facilitate the cleaning of debris on the track 1 and ensure the normal operation of the trolley body 2. The buffer spring 1250 is arranged on the vertical fixed plate 414a. In this embodiment, the buffer spring 1250 cooperates with the blocking plate 111 arranged at the end of the track 1 to ensure the stability of the trolley body 2 when it stops at the two ends of the track 1.

[0070] like Fig.19 As shown, in a preferred embodiment, a plurality of anti-tipping plates 13 are provided at the bottom of both sides of the frame 210, and the anti-tipping plates are in a Z-shaped structure, with one end fixed to the bottom of the frame and the other end arranged under the track. In this embodiment, a plurality of anti-tipping plates 13 are provided at the bottom of both sides of the frame 210, and the anti-tipping plates are in a Z-shaped structure, with one end fixed to the bottom of the frame and the other end arranged under the track. When taking and placing goods sideways, the anti-tipping plates 13 are tightly fastened to the track 1, effectively preventing the trolley body 2 from tipping over as a whole, thereby improving the safety of the trolley body 2 in taking and placing goods.

[0071] The embodiments of the present application are described in detail above, but the described contents are only preferred embodiments of the present application and cannot be considered to limit the scope of implementation of the present application. All changes and improvements made within the scope of application of the present application should still fall within the scope of patent coverage of the present application.

Claims

1. An RGV trolley, characterized in that: The invention comprises 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 on the upper part of the lifting device (4), an oil pressure device (6) arranged at the end of the trolley body (2) 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 on both sides of the track (1) and cooperating with the lateral positioning device (7), and a communication device (9) for controlling the movement of the trolley body (2); Both ends of the track (1) are provided with a limiting device (110), the limiting device (110) comprising a blocking plate (111) arranged on the track (1) and a tightening plate (112) arranged on the track (1) on the side of the blocking plate (111) facing away from the trolley body (2); The trolley body (2) comprises a frame (210), two driving wheel assemblies (220) symmetrically arranged at two ends of the bottom of the frame (210) and matched with the track (1), and a plurality of running wheel assemblies (230) arranged between the driving wheel assemblies (220) and matched with the track (1), wherein the driving wheel assemblies (220) and the running wheel assemblies (230) both comprise a first rotating shaft (10) arranged at the bottom of the frame (210) and running wheels (11) arranged at two ends of the first rotating shaft (10) and matched with the track (1); The tightening plate (112) is arranged on the track (1) close to the blocking plate (111); The driving device (3) comprises a driving motor (310) arranged at one end of the vehicle 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 group (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 group (220) at one end away from the driving motor (310), wherein the driving wheel (320) is connected to the first driven wheel (330) and the second driven wheel (340) via a chain; The lifting device (4) and the lateral positioning device (7) are both connected to 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 hydraulic device (6) and the lateral positioning device (7) of the trolley body (2); The lifting device (4) comprises two lifting frames (410) arranged in the middle of the 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 and lower. The two lifting frames (410) are arranged on the frame (210) in sequence along the direction of the track (1). The lifting frame (410) comprises a first base plate (411) arranged on the frame (210), a second base plate (412) arranged on the upper part of the first base plate (411) and spanning across both sides of the frame (210), and two vertical guide plates (412) arranged on the second base plate (412) and parallel to the track (1). 3), and a lifting guide device (414) arranged on a side of the vertical guide plate (413) close to another lifting frame (410), the lifting guide device (414) comprising a vertical fixing plate (414a) arranged on the second substrate (412) and vertically connected to the vertical guide plate (413), a vertical guide rail (414b) arranged on the vertical fixing plate (414a), a slider (414c) arranged on the vertical guide rail (414b), and a slider connecting plate (414d) arranged above the slider (414c) and connected to the bottom of the support plate (420), the driver (430) being vertically arranged on the first substrate (411), and the output end being connected to the bottom of the support plate (420); The slider connection plate (414d) is in an inverted L-shape, the slider (414c) is fixedly connected to the lower part of the support plate (420) via the slider connection plate (414d), and four lifting guide devices (414) are provided on the two lifting frames (410); The lifting device (4) further comprises an auxiliary support device (440), wherein the auxiliary support device (440) comprises a second rotating shaft (441) and a third rotating shaft (442) arranged below the support plate (420), a first gear (443) arranged at both ends of the second rotating shaft 441, a second gear (444) arranged at both ends of the third rotating shaft (442), and a rack assembly (445) arranged on the lifting frame (410), wherein the second rotating shaft (441) and the third rotating shaft (442) are arranged below the support plate (420) in parallel along the track direction, and the second rotating shaft (443) is arranged at both ends of the second rotating shaft 441. 1) The first gear (443) and the second gear (444) on the same side as the third rotating shaft (442) are meshed, the rack assembly (445) comprises a first rack (445a) and a second rack (445b), the first rack (445a) and the second rack (445b) are arranged on two vertical guide plates (413) opposite to each other, and the first rack (445a) and the second rack (445b) on the same side as 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; The second rotating shaft (441), the third rotating shaft (442), the first gear (443), the second gear (444) and the support plate (420) are lifted and lowered synchronously.

2. The RGV vehicle according to claim 1, characterized in that: A reinforcing plate (450) parallel to the vertical fixing plate (414a) is provided on the side of the vertical guide plate (413) on the second base plate (412) away from the vertical fixing plate (414a).

3. The RGV vehicle according to claim 2, characterized in that: The lateral positioning device (7) comprises a positioning base plate (710) arranged on the vehicle frame (210) and two positioning devices (720) symmetrically arranged on the positioning base plate (710) and perpendicular to the track (1); the positioning device (720) comprises a positioning cylinder (721), a connecting plate (722) fixed on the piston rod of the positioning cylinder (721), two guide slides (723) symmetrically arranged on both sides of the positioning cylinder (721), and a positioning pin (724) arranged at the free end of the piston rod of the positioning cylinder (721) and matched with the positioning plate (8); the guide slide (723) comprises a guide slide rail (723a), a guide slide block (723b) arranged on the guide slide rail (723a), and a guide slide block connecting plate (723c) arranged on the guide slide block (723b); the guide slide block connecting plate (723c) is connected to the connecting plate (722).

4. The RGV vehicle according to claim 3, characterized in that: The multi-stage fork device (5) comprises a plurality of telescopic forks (510) arranged in parallel on a support plate and a fork driving device (520) arranged below the telescopic forks (510); the telescopic fork (510) comprises a lower fork (511) arranged on the support 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), two ears (511c) arranged below the through hole (511b) of the lower fork body (511a), a connecting shaft (511d) arranged between the two ears (511c), and a gear (511e) arranged on the connecting shaft (511d); the middle fork (512) comprises a middle fork body (511a); 12a), two driven wheels (512b) arranged at both ends of the middle fork body (512a), a belt (512c) arranged between the driven wheels (512b), and a rack (512d) arranged below the middle fork body (512a), the rack (512d) cooperating with the gear (511e), the upper fork (513) being fixed to the belt (512c), the fork driving device (520) comprising a servo motor (521) and a plurality of couplings (522), the servo motor (521) being fixed below the lower fork (511), the servo motor (521) being connected to a connecting shaft (511d) close to one side of the servo motor (521) via the coupling (522), and the connecting shafts (511d) of adjacent lower forks (511) being connected to the connecting shaft (511d) via the coupling (522).

5. The RGV vehicle according to claim 4, characterized in that: The driving device (3) further comprises a tensioning wheel (350) arranged on the upper part of the chain and a third driven wheel (360) arranged in the middle part of the frame (210); the tensioning wheel (350) is arranged on a side close to the driving motor (310).

6. The RGV vehicle according to claim 5, characterized in that: The communication device (9) comprises a fixed bracket (910) arranged at one end of the track (1), a communication module 1 (920) arranged on the fixed bracket (910), a reflector (930) arranged on the fixed bracket (910), a communication module 2 (940) arranged on a side of the frame (210) close to the fixed bracket (910), and a laser positioning sensor (950) arranged on a side of the frame (210) close to the fixed bracket (910), wherein the communication module 1 (920) is configured to output a control signal to start 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). The communication module 2 (940) is configured to receive information output by the communication module 1 (920) for controlling the start and stop of the driving device (3), the lifting device (4), the multi-stage fork device (5), the hydraulic device (6) and the lateral positioning device (7) of the trolley body (2), and control the start and stop of the driving device (3), the lifting device (4), the multi-stage fork device (5), the hydraulic device (6) and the lateral positioning device (7) of the trolley body (2); the laser positioning sensor (950) and the reflector (930) are configured to accurately position the trolley body (2), and send the positioning information to the communication module 1 (920) via the communication module 2 (940).

7. The RGV vehicle according to claim 6, characterized in that: The frame (210) is provided with guide devices (12) on both left and right sides of both ends. The guide devices (12) include an L-shaped fixing plate (1210) fixed to the frame (210), a first guide wheel (1220) and a second guide wheel (1230) arranged below the L-shaped fixing plate (1210), a cleaning plate (1240) arranged in front of the L-shaped fixing plate (1210), and a buffer spring (1250) arranged on the L-shaped fixing plate (1210). The L-shaped fixing plate (1210) includes a first guide wheel (1220) and a second guide wheel (1230) arranged below the L-shaped fixing plate (1210). The invention relates to a track (1) comprising a vertical plate (1211) on the track (1210) and a horizontal plate (1212) arranged below the vertical plate (1211), the first guide wheel (1220) and the second guide wheel (1230) being arranged below the horizontal plate (1212) and being located on both sides of the track (1), the cleaning plate (1240) being arranged between the first guide wheel (1220) and the second guide wheel (1230) in front of the horizontal plate (1212) and being located above the track (1), and the buffer spring (1250) being arranged on the vertical plate (1211).

8. The RGV vehicle according to claim 7, characterized in that: A plurality of anti-tipping plates (13) are provided at the bottom of both sides of the vehicle frame (210); the anti-tipping plates (13) are in a Z-shaped structure, with one end being horizontally fixed to the bottom of the vehicle frame (210) and the other end being arranged below the track (1).

Images