A rotary lifting RGV

Abstract

The present invention relates to the field of logistics, and in particular to a rotary lifting RGV, comprising a base frame, a walking mechanism and a rigid chain lifting platform are arranged on the base frame, a rotary mechanism is arranged on the rigid chain lifting platform, the rotary mechanism is connected to a storage rack, and a limiting mechanism is arranged on the storage rack. The present invention increases a rotary function by setting the rotary mechanism, and can rotate goods, thereby ensuring that the directions of the pallets entering the cargo port and the cargo shelf are consistent. The limiting mechanism can limit and fix the goods, so that the goods will not slide during transportation. In addition, the rotary lifting RGV can realize the transportation of a pallet or a trolley with rollers at the bottom, and performs all-round limiting on the pallet or the trolley with rollers. The rotary lifting RGV can also play a good buffering role for the goods and dynamically adjust the center of gravity, and well protect the storage rack, the gear plate and other components.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and in particular to a rotary lifting RGV. Background Art

[0002] RGV trolleys, also known as rail-mounted shuttle trolleys, can be used in various warehouses with high-density storage methods. The trolley channel can be designed to be arbitrarily long, which can increase the storage capacity of the entire warehouse, and there is no need for forklifts to enter the aisles during operation, making it safer. RGV trolleys can be easily connected to other logistics systems automatically, such as in / out platforms, various buffer stations, conveyors, elevators and robots, etc., to transport materials according to the plan. In addition, it does not require human operation and has a fast running speed, which significantly reduces the workload of warehouse managers and improves labor productivity. At the same time, the application of shuttle vehicles can make the logistics system very simple. The patent with application number CN202321926755.5 discloses an RGV trolley. Although the RGV trolley can realize the lifting and power-off self-locking functions of the loading platform, it still has the following disadvantages: 1) In some logistics systems, the directions of the pallets at the loading port and the shelf may be different, so the goods need to be rotated as a whole for certain adjustments, but the RGV trolley does not have this function; 2) When the goods are placed on the loading platform, there is a risk of sliding and tilting, especially when the goods are placed on the transmission chain of the RGV trolley, the transmission process is very unstable; 3) The heavier goods will cause a greater impact on the loading platform at the moment of being placed on the loading platform, and then cause greater damage to the loading platform or other components; 4) The center of gravity of the goods may be biased to one side of the loading platform, and then there is a risk of rollover. At the same time, due to the extremely uneven force on the loading platform, it causes greater damage to the loading platform, greatly reducing its service life; 5) The RGV trolley cannot adapt to pallets and trolleys with rollers at the bottom. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] In view of the deficiencies in the prior art, the present invention aims to provide a rotating lifting RGV, which solves the problems existing in the prior art. The present invention adds a rotation function by setting a rotating mechanism, which can rotate the goods, thereby ensuring that the directions of the pallets entering the cargo port and the shelf are consistent, and the goods can be limited and fixed by setting a limiting mechanism, so that the goods will not slide during transportation.

[0005] (II) Technical solution

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a rotary lifting RGV, comprising a base frame, a walking mechanism and a rigid chain lifting platform are provided on the base frame, a rotating mechanism is provided on the rigid chain lifting platform, the rotating mechanism is connected to a storage rack, and a limiting mechanism is provided on the storage rack.

[0007] Preferably, the walking mechanism includes a first motor fixed to the bottom of the base frame, a first sprocket is fixed on the rotating shaft of the first motor, the first sprocket is connected to the second sprocket by a chain, a transmission is fixed at the center position of the second sprocket, both ends of the transmission shaft are rotatably connected to the base frame, active walking wheels are fixed near both ends of the transmission shaft, the active walking wheels are provided with walking tracks matching them, and a driven walking wheel is provided on the bottom surface of the base frame.

[0008] Preferably, the rigid chain lifting platform comprises a rigid chain driving structure fixed on a base frame, the rigid chain driving structure is connected with a rigid chain, the lifting platform is fixed at the end of the rigid chain, and a scissor fork structure is provided on both sides of the lifting platform.

[0009] Preferably, the scissors fork structure includes two first movable plates and a second movable plate which are cross-arranged, and the first movable plate and the second movable plate are hinged together at their center positions by a hinge shaft, the upper end of the first movable plate is rotatably connected to the bottom surface of the lifting platform, and the lower end thereof is slidably connected to the base frame, the upper end of the second movable plate is slidably connected to the bottom surface of the lifting platform, and the lower end thereof is rotatably connected to the base frame.

[0010] Preferably, the rotating mechanism includes a second motor fixed on the lifting platform, the second motor is connected to a gear through a pair of bevel gears, the gear is meshed with a toothed disc, a rack is fixed to the toothed disc, an annular block is fixed to the bottom surface of the rack, a plurality of guide wheels are provided below the annular block, the guide wheels are rotatably connected to a guide wheel seat, and the guide wheel seat is fixed on the lifting platform.

[0011] Preferably, support frames are provided on both sides of the base frame.

[0012] Preferably, four limiting mechanisms are provided on the rack, and the four limiting mechanisms are respectively provided at the four corners of the top surface of the rack, the limiting mechanisms include fixed blocks fixed at the corners of the top surface of the rack, a supporting block is fixed on the top surface of the fixed block, a V-shaped wheel supporting block is fixed on the top surface of the supporting block, and clamping blocks are fixed on both sides of one end of the V-shaped wheel supporting block away from the corner of the top surface of the rack.

[0013] Preferably, the storage rack is configured as a rectangular block with a hollow interior, and a slot matching the fixed block is opened on the storage rack, a number of springs are fixed between the bottom surface of the fixed block and the bottom surface of the slot, and a first L-shaped rigid chain and a second L-shaped rigid chain are fixed to the bottom surface of the fixed block, a first counterweight block is fixed to the end of the horizontal section of the first L-shaped rigid chain, and a second counterweight block is fixed to the end of the horizontal section of the second L-shaped rigid chain, and the second counterweight block and the first counterweight block are both slidably connected to the inner bottom surface of the storage rack.

[0014] Preferably, a slide groove matching the first counterweight block is provided on the inner bottom surface of the storage rack, a first magnet layer is fixed on the bottom surface of the first counterweight block, a second magnet layer that repels the first magnet layer is fixed on the bottom surface of the slide groove, and the opposing surfaces of the first magnet layer and the second magnet layer are both set to be smooth.

[0015] Preferably, the first counterweight block is arranged to be inhomogeneous, and its density gradually increases from one end fixed to the first counterweight block to the other end.

[0016] (III) Beneficial effects

[0017] 1. The present invention increases the rotation function by setting a rotating mechanism, and can rotate the goods, thereby ensuring that the directions of the pallets entering the cargo entrance and the shelf are consistent. The setting of the limiting mechanism can limit and fix the goods, so that the goods will not slide during transportation;

[0018] 2. The present invention realizes the transportation of a pallet or a trolley with rollers at the bottom by configuring the limiting mechanism to be composed of a fixed block, a support block, a V-shaped wheel support block and a clamping block, and performs all-round limiting on the pallet or the trolley with rollers so that it cannot move at all, and the limiting and fixing effect is good, thereby ensuring the stability and safety of the cargo transportation process;

[0019] 3. The present invention sets the storage rack as a rectangular block with a hollow interior, and sets it through a slot, a spring, a first L-shaped rigid chain, a second L-shaped rigid chain, a first counterweight block and a second counterweight block. In this way, when the AGV trolley forks a pallet or a trolley with rollers carrying goods onto the limiting mechanism, the V-shaped wheel support block will be pressed downward. Due to the setting of the spring, a good buffering effect is played. The downward movement of the V-shaped wheel support block will drive the fixed block downward, thereby squeezing the first L-shaped rigid chain and the second L-shaped rigid chain downward, and then pushing the first counterweight block and the second counterweight block across the center line of the inner bottom surface of their respective corresponding storage racks. If the goods are homogeneous and the center of gravity of the goods corresponds exactly to the center of the storage rack, the force on the four limiting mechanisms is uniform, and then the first counterweight blocks (or the second counterweight blocks) opposite to each other in pairs will cross the center line of the inner bottom surface of the storage rack by the same length, so that the balance of the storage rack can still be ensured. In this case, the structure plays a good buffering role. This is relatively When there is a double buffering effect, one is the buffering effect of the spring, and the other is the buffering effect of the first L-shaped rigid chain pushing the first counterweight (or the second L-shaped rigid chain pushing the second counterweight), which greatly improves the buffering effect, and this double buffering effect combines flexible buffering and rigid buffering, and the combination of the two has a complementary effect. The setting of the spring can avoid the direct impact of the goods on the first L-shaped rigid chain and the second L-shaped rigid chain, and has a good protective effect on the first L-shaped rigid chain and the second L-shaped rigid chain. The setting of the first L-shaped rigid chain and the second L-shaped rigid chain can avoid the spring from being squeezed to a large extent at once, and can avoid the tilting of the goods when the center of gravity is relatively biased. The spring has a certain elasticity, which helps the first L-shaped rigid chain to push the first counterweight (or the second L-shaped rigid chain to push the second counterweight) to a certain extent. In addition, since the force of the storage rack is at the four corners, the setting of four first counterweights and four second counterweights plays a good balancing role;

[0020] 4. The present invention configures the storage rack to be an internally hollow rectangular block, and configures the storage rack through slots, springs, a first L-shaped rigid chain, a second L-shaped rigid chain, a first counterweight block, and a second counterweight block. When the center of gravity of the cargo is obviously biased to one side, the V-shaped wheel support block with a larger force pushes the first counterweight block and (or) the second counterweight block through a length of the center line of the inner bottom surface of the storage rack that is greater than the length of the V-shaped wheel support block with a smaller force on the opposite side (there are two adjacent opposite sides) that pushes the first counterweight block and (or) the second counterweight block through a length of the center line of the inner bottom surface of the storage rack. This increases the weight of the side with a lighter force, thereby shifting the center of gravity of the entire storage rack to the side with a lighter force, ensuring uniform force on the storage rack, thereby providing good protection for the storage rack and the toothed disc fixed thereunder. In this case, the setting can not only play a good buffering role, but also play a good role in adjusting the center of gravity of the rack carrying goods. According to the specific conditions of the loading and transportation of goods, a dynamic adjustment process of the center of gravity is performed. Moreover, the setting can make timely adjustments regardless of which side or even which corner of the rack the center of gravity of the goods is biased towards;

[0021] 5. The present invention has a good limiting effect on the first counterweight block through the setting of the slide groove, so that the first counterweight block can move straight forward and backward when pushed by the first L-shaped rigid chain. The first magnet layer and the second magnet layer are set to reduce the resistance of the first counterweight block when it slides along the slide groove, making it easier to push the first counterweight block, wherein the opposing surfaces of the first magnet layer and the second magnet layer are set to be smooth, which further reduces the resistance;

[0022] 6. The present invention sets the first ballast block to be non-homogeneous, and its density gradually increases from one end fixed with the first ballast block to the other end. This setting is aimed at the situation where the center of gravity of the cargo is biased to one side, so that the adjustment speed of the center of gravity is faster and the effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an overall schematic diagram of the present invention.

[0024] Figure 2 It is an overall schematic diagram of the present invention.

[0025] Figure 3 For the present invention Figure 1 Schematic diagram after removing the support frame and walking track.

[0026] Figure 4 It is a schematic diagram of the storage rack, the limiting mechanism, the slot, the spring, the first L-shaped rigid chain and the first counterweight block of the present invention.

[0027] Figure 5 For the present invention Figure 4 Schematic diagram after rotating 90 degrees.

[0028] Figure 6 It is a schematic diagram of the storage rack, the first L-shaped rigid chain, the first counterweight, the slide slot, the first magnet layer and the second magnet layer of the present invention.

[0029] In the figure: 1-base frame, 2-travel mechanism, 3-rigid chain lifting platform, 4-rotation mechanism, 5-shelf, 6-limiting mechanism, 7-first motor, 8-first sprocket, 9-chain, 10-second sprocket, 11-transmission shaft, 12-active travel wheel, 13-travel track, 14-driven travel wheel, 15-rigid chain drive structure, 16-rigid chain, 17-lifting platform, 18-scissor fork structure, 19-first movable plate, 20-second movable plate, 21- Articulated shaft, 22-second motor, 23-gear, 24-toothed disc, 25-annular block, 26-guide wheel, 27-guide wheel seat, 28-support frame, 29-fixed block, 30-support block, 31-V-wheel support block, 32-block, 33-slot, 34-spring, 35-first L-type rigid chain, 36-second L-type rigid chain, 37-first counterweight block, 38-second counterweight block, 39-slide, 40-first magnet layer, 41-second magnet layer. DETAILED DESCRIPTION

[0030] The following will be combined with the attached embodiment of the present invention Figure 1-6 The technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The present invention provides a technical solution: a rotary lifting RGV, including a base frame 1, a walking mechanism 2 and a rigid chain lifting platform 3 are provided on the base frame 1, a rotating mechanism 4 is provided on the rigid chain lifting platform 3, the rotating mechanism 4 is connected to a storage rack 5, and a limiting mechanism 6 is provided on the storage rack 5. When working, the AGV first forks the goods to the limiting mechanism 6 on the storage rack 5, and the limiting mechanism 6 limits the goods to prevent the goods from moving, thereby ensuring the stability of the goods on the storage rack 5 during the transmission process and eliminating safety hazards. Then, the goods are transported to the designated shelf by the walking mechanism 2, and then the height of the goods is adjusted by the rigid chain lifting platform 3, and the direction of the cargo entrance and the pallet of the shelf are made consistent by the rotating mechanism 4, and then the goods are forked into the shelf by the AGV trolley. It should be noted here that the above-mentioned goods refer to the goods themselves and the pallets carrying the goods.

[0032] The walking mechanism 2 includes a first motor 7 fixed to the bottom of the base frame 1, a first sprocket 8 is fixed on the rotating shaft of the first motor 7, the first sprocket 8 is connected to the second sprocket 10 through a chain 9, a transmission shaft 11 is fixed at the center position of the second sprocket 10, both ends of the transmission shaft 11 are rotatably connected to the base frame 1, active walking wheels 12 are fixed near both ends of the transmission shaft 11, the active walking wheels 12 are provided with walking tracks 13 matching therewith, and a driven walking wheel 14 is provided on the bottom surface of the base frame 1, which is the specific structure of the walking mechanism 2. When walking, the first motor 7 is started, thereby driving the first sprocket 8 to rotate, thereby driving the second sprocket 10 to rotate, thereby driving the transmission shaft 11 to rotate, thereby driving the two active walking wheels 12 to rotate, and the two active walking wheels 12 will walk along the walking track 13, and the driven walking wheel 14 will also walk along the walking track 13, thus realizing the overall walking of the rotary lifting RGV.

[0033] The rigid chain lifting platform 3 includes a rigid chain driving structure 15 fixed on the base frame 1, the rigid chain driving structure 15 is connected to a rigid chain 16, a lifting platform 17 is fixed at the end of the rigid chain 16, and a scissor fork structure 18 is provided on the left and right sides of the lifting platform 17, wherein the rigid chain driving structure 15 belongs to the prior art and will not be repeated here, when it is necessary to raise the lifting platform 17, the rigid chain driving structure 15 is started, the rigid chain 16 is extended, and then the lifting platform 17 is pushed upward, so that the lifting platform 17 rises, and when it is necessary to lower the lifting platform 17, the rigid chain driving structure 15 only needs to be driven in the reverse direction. The scissor fork structure 18 plays a role in assisting lifting, making the entire lifting platform 17 more stable and safer during the lifting process. Compared with the lifting method in the comparative document in the background technology, the setting of the rigid chain lifting platform 3 is more concise, making the structure of the entire RGV trolley more compact and more stable, and also greatly saving costs.

[0034] The scissors fork structure 18 includes two first movable plates 19 and second movable plates 20 which are cross-arranged. The first movable plates 19 and the second movable plates 20 are hinged together at their center positions by a hinge shaft 21. The upper end of the first movable plate 19 is rotatably connected to the bottom surface of the lifting platform 17, and its lower end is slidably connected to the base frame 1. The upper end of the second movable plate 20 is slidably connected to the bottom surface of the lifting platform 17, and its lower end is rotatably connected to the base frame 1. This is the specific structure of the scissors fork structure 18. This structure enables the scissors fork structure 18 to shrink accordingly as the lifting platform 17 is lifted or lowered, thereby ensuring the stability and safety of the entire lifting platform 17 during the lifting process without affecting the lifting of the lifting platform 17.

[0035] The rotating mechanism 4 includes a second motor 22 fixed on the lifting platform 17, the second motor 22 is connected to a gear 23 through a pair of bevel gears, the gear 23 is meshed with a toothed disc 24, the toothed disc 24 is fixed with a rack 5, an annular block 25 is fixed on the bottom surface of the rack 5, a plurality of guide wheels 26 are provided below the annular block 25, the guide wheels 26 are rotatably connected to the guide wheel seat 27, and the guide wheel seat 27 is fixed on the lifting platform 17. This is the specific structure of the rotating mechanism 4. When it is necessary to rotate, the second motor 22 is started, and then the bevel gear is driven to rotate (wherein the first bevel gear is fixed on the rotating shaft of the second motor 22, the second bevel gear is perpendicular to the first bevel gear, and the center position of the second bevel gear is connected to the gear 23 through a connecting shaft), and then the gear 23 is driven to rotate, and then the toothed disc 24 is driven to rotate, and then the rack 5 is driven to rotate. The setting of the annular block 25, the guide wheel 26 and the guide wheel seat 27 plays a role in assisting the rotation, and at the same time greatly improves the stability of the rack 5 during the rotation process.

[0036] Support frames 28 are provided on both sides of the base frame 1, wherein the support frames 28 serve to assist in loading goods. When the rotary lifting RGV carrying goods travels between the two support frames 28, the rigid chain lifting platform 3 will descend until the goods are placed on the support frames 28, and then the AGV trolley will fork the goods on the support frames 28 and put them on the shelves.

[0037] Four limiting mechanisms 6 are arranged on the rack 5, and the four limiting mechanisms 6 are respectively arranged at the four corners of the top surface of the rack 5. The limiting mechanism 6 includes a fixing block 29 fixed at the corner of the top surface of the rack 5, a supporting block 30 is fixed on the top surface of the fixing block 29, a V-shaped wheel supporting block 31 is fixed on the top surface of the supporting block 30, and a clamping block 32 is fixed on both sides of one end of the V-shaped wheel supporting block 31 away from the corner of the top surface of the rack 5. In actual operation, some goods are placed on a pallet or a trolley with rollers at the bottom for transportation, and the RGV trolley in the background technology cannot transport the pallet or trolley with rollers at the bottom at all, so the transportation of the pallet or trolley with rollers at the bottom is achieved by setting four limiting mechanisms 6. The bottom surface of the pallet or trolley with rollers is provided with V-shaped wheels matching the V-shaped wheel support blocks 31. When the AGV trolley puts the pallet or trolley with rollers at the bottom carrying goods on the storage rack 5, the four V-shaped wheels on the bottom surface of the pallet or trolley with rollers are just stuck on the four V-shaped wheel support blocks 31, so that it cannot move left and right. The clamping blocks 32 clamp the V-shaped wheels so that the V-shaped wheels cannot move forward and backward. In this way, the pallet or trolley with rollers is fully limited so that it cannot move at all. The limiting and fixing effect is good, thereby ensuring the stability and safety of the cargo transportation process.

[0038] The rack 5 is configured as a rectangular block with a hollow interior. A slot 33 matching the fixed block 29 is provided on the rack 5. A plurality of springs 34 are fixed between the bottom surface of the fixed block 29 and the bottom surface of the slot 33. A first L-shaped rigid chain 35 and a second L-shaped rigid chain 36 are fixed on the bottom surface of the fixed block 29. A first counterweight 37 is fixed at the end of the horizontal section of the first L-shaped rigid chain 35, and a second counterweight 38 is fixed at the end of the horizontal section of the second L-shaped rigid chain 36. The second counterweight 38 and the first counterweight 37 are both slidably connected to the inner bottom surface of the rack 5, wherein the horizontal section of the first L-shaped rigid chain 35 and the horizontal section of the second L-shaped rigid chain 36 are vertical. The first counterweights 37 and the second counterweights 38 that are opposite to each other are arranged in an interlaced manner, that is, the first counterweights 37 and the second counterweights 38 that are opposite to each other will not contact or collide during the process of running in opposite directions. When there is no cargo on the rack 5, the end face of the first counterweight 37 away from the first L-shaped rigid chain 35 is aligned with the center line of the inner bottom surface of the rack 5 (the center line is the center line perpendicular to the horizontal section of the first L-shaped rigid chain 35), and the end face of the second counterweight 38 away from the second L-shaped rigid chain 36 is aligned with the center line of the inner bottom surface of the rack 5 (the center line is the center line perpendicular to the horizontal section of the second L-shaped rigid chain 36). Since the toothed disc 24 is fixed at the bottom center of the rack 5, the limiting mechanism 6 is set at the four corners of the rack 5, so that the force points of the rack 5 are at its four corners, avoiding the impact of the cargo on the toothed disc 24, and protecting the toothed disc well. However, at the moment when the AGV trolley forks the goods onto the rack 5, there will be a large impact force on the rack 5, especially when the goods are heavy, which can easily cause damage to the rack 5. In addition, when the center of gravity of the goods is uneven, since there is no support at the bottom edge of the rack 5, it is easy for the rack 5 to tilt toward the center of gravity of the goods. This is not only unsafe but also causes great damage to the rack 5 and the gear plate 24, causing the connection between the two to loosen or break. Therefore, this configuration is used to solve the above problems.The specific principle is as follows: when the AGV trolley forks the pallet or trolley with rollers carrying goods onto the limiting mechanism 6, the V-wheel support block 31 will be pressed downward. Due to the setting of the spring 34, a good buffering effect is played. The downward movement of the V-wheel support block 31 will drive the fixed block 29 downward, thereby squeezing the first L-shaped rigid chain 35 and the second L-shaped rigid chain 36 downward, and then pushing the first counterweight block 37 and the second counterweight block 38 across the center line of the inner bottom surface of their respective corresponding racks 5. If the goods are homogeneous and the center of gravity of the goods corresponds exactly to the center of the rack 5, the force on the four limiting mechanisms 6 will be uniform, and the first counterweight blocks 37 (or the second counterweight blocks 38) opposite to each other will cross the same length of the center line of the inner bottom surface of the rack 5, which can still ensure the balance of the rack 5. In this case, the structure plays a good buffering role, which is equivalent to a double buffering effect. The first is the buffering effect of the spring 34, and the second is the buffering effect of the first L-shaped rigid chain 35 pushing the first counterweight 37 (or the second L-shaped rigid chain 36 pushing the second counterweight 38), which greatly improves the buffering effect, and this double buffering effect combines flexible buffering and rigid buffering, and the two are used in combination to achieve a complementary effect. The setting of the spring 34 can avoid the direct impact of the goods on the first L-shaped rigid chain 35 and the second L-shaped rigid chain 36, and has a good protective effect on the first L-shaped rigid chain 35 and the second L-shaped rigid chain 36. The setting of the first L-shaped rigid chain 35 and the second L-shaped rigid chain 36 can avoid the spring 34 from being squeezed to a large extent at once, and can avoid the tilting of the goods when the center of gravity is relatively biased. The spring 34 has a certain elasticity, which helps the first L-shaped rigid chain 35 to push the first counterweight 37 (or the second L-shaped rigid chain 36 to push the second counterweight 38) to a certain extent. In addition, since the load on the rack 5 is at the four corners, the four first counterweights 37 and the four second counterweights 38 play a good balancing role. If the center of gravity of the goods is obviously biased to one side, the V-shaped wheel support block 31 with a larger load pushes the first counterweight 37 and (or) the second counterweight 38 through the center line of the inner bottom surface of the rack 5 by a greater length than the V-shaped wheel support block 31 with a smaller load on the opposite side (there are two adjacent opposite sides) pushes the first counterweight 37 and (or) the second counterweight 38 through the center line of the inner bottom surface of the rack 5, thereby increasing the weight of the side with a lighter load, thereby shifting the center of gravity of the entire rack 5 to the side with a lighter load, ensuring the uniformity of the load on the rack 5, thereby providing good protection for the rack 5 and the toothed disc 24 fixed thereunder. In this case, the arrangement can not only play a good buffering role, but also play a good role in adjusting the center of gravity of the rack 5 carrying goods. A process of dynamically adjusting the center of gravity is performed according to the specific circumstances of the loading and transportation process of the goods. Moreover, the arrangement can make timely adjustments regardless of which side or even which corner of the rack 5 the center of gravity of the goods is biased towards.

[0039] A slide groove 39 matching the first counterweight 37 is provided on the inner bottom surface of the storage rack 5, a first magnet layer 40 is fixed on the bottom surface of the first counterweight 37, a second magnet layer 41 that repels the first magnet layer 40 is fixed on the bottom surface of the slide groove 39, and the surfaces opposite to each other of the first magnet layer 40 and the second magnet layer 41 are both set to be smooth. The setting of the slide groove 39 plays a good limiting role on the first counterweight 37, so that the first counterweight 37 can move straight forward and backward when pushed by the first L-shaped rigid chain 35. The setting of the first magnet layer 40 and the second magnet layer 41 makes the resistance of the first counterweight 37 smaller during the sliding process along the slide groove 39, making it easier to push the first counterweight 37. The surfaces opposite to each other of the first magnet layer 40 and the second magnet layer 41 are both set to be smooth, which further reduces the resistance. The inner bottom surface of the storage rack 5 is also provided with a slide groove 39 matching the second counterweight block 38, and the bottom surface of the second counterweight block 38 is also fixed with a first magnet layer 40, and the bottom surface of the slide groove 39 is fixed with a second magnet layer 41 that repels the first magnet layer 40, and the opposing surfaces of the first magnet layer 40 and the second magnet layer 41 are both set to be smooth.

[0040] The first counterweight 37 is set to be non-homogeneous, and its density gradually increases from one end fixed to the first counterweight 37 to the other end. This setting is for the situation where the center of gravity of the cargo is biased to one side, so that the center of gravity can be adjusted faster and the effect is better. The second counterweight 38 is also set to be non-homogeneous, and its density gradually increases from one end fixed to the second counterweight 38 to the other end.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rotary lifting RGV, characterized in that: It comprises a base frame (1), the base frame (1) is provided with a walking mechanism (2) and a rigid chain lifting platform (3), the rigid chain lifting platform (3) is provided with a rotating mechanism (4), the rotating mechanism (4) is connected to a storage rack (5), and the storage rack (5) is provided with a limiting mechanism (6); Four limiting mechanisms (6) are arranged on the storage rack (5), and the four limiting mechanisms (6) are respectively arranged at four corners of the top surface of the storage rack (5). The limiting mechanisms (6) include a fixing block (29) fixed at the corner of the top surface of the storage rack (5), a supporting block (30) is fixed on the top surface of the fixing block (29), a V-shaped wheel supporting block (31) is fixed on the top surface of the supporting block (30), and clamping blocks (32) are fixed on both sides of one end of the V-shaped wheel supporting block (31) away from the corner of the top surface of the storage rack (5); The storage rack (5) is configured to be a rectangular block with a hollow interior. A slot (33) matching the fixed block (29) is provided on the storage rack (5). A plurality of springs (34) are fixed between the bottom surface of the fixed block (29) and the bottom surface of the slot (33). A first L-shaped rigid chain (35) and a second L-shaped rigid chain (36) are fixed on the bottom surface of the fixed block (29). A first counterweight (37) is fixed at the end of the horizontal section of the first L-shaped rigid chain (35). A second counterweight (38) is fixed at the end of the horizontal section of the second L-shaped rigid chain (36). The second counterweight (38) and the first counterweight (37) are both slidably connected to the inner bottom surface of the storage rack (5).

2. A rotary lifting RGV according to claim 1, characterized in that: The walking mechanism (2) comprises a first motor (7) fixed to the bottom of the base frame (1); a first sprocket (8) is fixed to the rotating shaft of the first motor (7); the first sprocket (8) is connected to a second sprocket (10) via a chain (9); a transmission shaft (11) is fixed at the center of the second sprocket (10); both ends of the transmission shaft (11) are rotatably connected to the base frame (1); active walking wheels (12) are fixed near both ends of the transmission shaft (11); the active walking wheels (12) are provided with walking tracks (13) matching therewith; and a driven walking wheel (14) is provided on the bottom surface of the base frame (1).

3. A rotary lifting RGV according to claim 1, characterized in that: The rigid chain lifting platform (3) comprises a rigid chain driving structure (15) fixed on the base frame (1), the rigid chain driving structure (15) being connected to a rigid chain (16), a lifting platform (17) being fixed to the end of the rigid chain (16), and a scissor fork structure (18) being provided on both the left and right sides of the lifting platform (17).

4. A rotary lifting RGV according to claim 3, characterized in that: The scissor fork structure (18) comprises a first movable plate (19) and a second movable plate (20) which are arranged crosswise. The first movable plate (19) and the second movable plate (20) are hinged together at their central positions via a hinge shaft (21). The upper end of the first movable plate (19) is rotatably connected to the bottom surface of the lifting platform (17), and the lower end thereof is slidably connected to the base frame (1). The upper end of the second movable plate (20) is slidably connected to the bottom surface of the lifting platform (17), and the lower end thereof is rotatably connected to the base frame (1).

5. The rotary lifting RGV according to claim 3, characterized in that: The rotating mechanism (4) comprises a second motor (22) fixed on the lifting platform (17); the second motor (22) is connected to a gear (23) via a pair of bevel gears; the gear (23) is meshed with a toothed disc (24); the toothed disc (24) is fixed to the storage rack (5); an annular block (25) is fixed to the bottom surface of the storage rack (5); a plurality of guide wheels (26) are provided below the annular block (25); the guide wheels (26) are rotatably connected to a guide wheel seat (27); and the guide wheel seat (27) is fixed to the lifting platform (17).

6. The rotary lifting RGV according to claim 1, characterized in that: Support frames (28) are provided on both sides of the base frame (1).

7. The rotary lifting RGV according to claim 1, characterized in that: A slide groove (39) matching the first counterweight (37) is provided on the inner bottom surface of the storage rack (5); a first magnet layer (40) is fixed on the bottom surface of the first counterweight (37); a second magnet layer (41) repelling the first magnet layer (40) is fixed on the bottom surface of the slide groove (39); and the opposing surfaces of the first magnet layer (40) and the second magnet layer (41) are both smooth.

8. The rotary lifting RGV according to claim 1, characterized in that: The first counterweight block (37) is arranged to be non-homogeneous, and its density gradually increases from one end fixed to the first counterweight block (37) to the other end.

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