Two-way goods taking RGV based on intelligent storage and goods taking method of two-way goods taking RGV

Abstract

The invention discloses a two-way goods taking RGV trolley based on intelligent storage. The two-way goods taking RGV trolley comprises an RGV frame connected to a goods shelf in a sliding mode. The RGV frame is provided with a carrying structure used for carrying goods. The loading structure is movably connected to the RGV frame; the loading structure comprises a first-stage stroke loading frame, a second-stage stroke loading frame and a mounting base, the first-stage stroke loading frame can extend to the bottom of goods, the mounting base is arranged on the RGV frame in a lifting mode, and the first-stage stroke loading frame is movably connected to the top of the second-stage stroke loading frame and can move leftwards or rightwards; the second-stage stroke carrier is connected to the top of the mounting base in a sliding mode and can move leftwards or rightwards. The invention further provides a goods taking method of the RGV trolley, the first-stage stroke carrier and the second-stage stroke carrier are combined in an overlapping mode, the thickness of the carrying structure is increased, the bearing capacity of the RGV trolley is improved, meanwhile, the second-stage stroke carrier is additionally arranged, the moving distance of the first-stage stroke carrier is prolonged, and the use flexibility of the RGV trolley can be improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing, and in particular to a two-way picking-up RGV trolley based on intelligent warehousing and a picking-up method thereof. Background Art

[0002] Smart warehousing is an important part of the logistics process. RGV handling robots can replace manual handling of goods and play an important role in smart warehousing logistics.

[0003] However, in the related art, when the RGV transport robot is transporting goods, the RGV transport robot mostly uses a telescopic fork structure to achieve one-way picking up by insertion or clamping. This picking up method, whether it is insertion or clamping, has the problem of poor load-bearing capacity and can only carry lighter goods. Especially for the clamping picking method, the goods are easy to slide directly from the clamping mechanism of the RGV transport robot, affecting the operating efficiency and flexibility of the RGV transport robot.

[0004] Therefore, it is necessary to propose further solutions to solve the above technical problems. Summary of the invention

[0005] The present invention provides a two-way picking-up RGV trolley based on intelligent warehousing and a picking-up method thereof to solve the above-mentioned technical problems.

[0006] The objective of the present invention is achieved through the following technical solutions: a two-way picking RGV trolley based on intelligent warehousing, comprising an RGV frame slidably connected to a shelf; wherein the RGV frame is provided with a carrying structure for picking up goods; the carrying structure is movably connected to the RGV frame; the carrying structure comprises a first-stroke carrying rack, a second-stroke carrying rack and a mounting base which can extend to the bottom of the goods, the mounting base is lifted and lowered on the RGV frame, the first-stroke carrying rack is movably connected to the top of the second-stroke carrying rack and can move left or right relative to the second-stroke carrying rack; the second-stroke carrying rack is slidably connected to the top of the mounting base and can move left or right relative to the mounting base.

[0007] Furthermore, the loading structure also includes a first driving structure for driving the first-stage loading rack to move, the first driving structure includes a synchronous pulley, a first synchronous belt and a first driving motor, movable grooves are opened on both sides of the top of the second-stage loading rack along its length, a first synchronous belt is placed in the movable groove, and synchronous pulleys are rotatably arranged at both ends of the movable groove; the first synchronous belt is tensioned on the two synchronous pulleys; a driving block is fixedly connected to the first synchronous belt, the top of the driving block extends out of the movable groove and is fixedly connected to the bottom of the first-stage loading rack; the power end of the first driving motor is fixedly connected to the synchronous pulley for driving the synchronous pulley to rotate.

[0008] Furthermore, first mounting side plates are vertically provided on both sides of the bottom of the first-stage cargo carrier, and a plurality of first plastic-coated bearings are rotatably connected to the first mounting side plates; first slide grooves corresponding to the first plastic-coated bearings are provided on both sides of the second-stage cargo carrier, and the first plastic-coated bearings are located in the first slide grooves and are rollingly connected to the first slide grooves.

[0009] Furthermore, the loading structure also includes a second driving structure for driving the secondary stroke loading rack to move, the second driving structure includes a synchronous rack and a second driving motor arranged along the length of the secondary stroke loading rack, the synchronous rack is fixedly connected to the bottom of the secondary stroke loading rack; the second driving motor is installed on the mounting base, and its power end is fixedly connected to a transmission gear, and the transmission gear is meshingly connected to the synchronous rack.

[0010] Furthermore, two second mounting side plates are vertically arranged on the top of the mounting base, and a plurality of second plastic-coated bearings are rotatably connected to the second mounting side plates; second slide grooves corresponding to the second plastic-coated bearings are arranged on both sides of the bottom of the secondary travel carrier, and the first plastic-coated bearing is located in the second slide groove and is rollingly connected to the second slide groove.

[0011] Furthermore, the RGV frame is also provided with a lifting drive mechanism capable of driving the mounting base to perform lifting and lowering movements relative to the RGV frame, the lifting drive mechanism comprising a transmission screw, a transmission belt, a transmission wheel and a lifting motor, four transmission screws are provided, the four transmission screws are distributed on the four corners of the mounting base, and a screw nut is provided on the transmission screw, the screw nut is fixedly connected to the mounting base, so as to drive the mounting base to perform lifting or lowering movements along the transmission screw; the transmission wheel is located below the screw nut and is fixedly connected to the transmission screw; the transmission belt is tensioned on the four transmission screws; the lifting motor is installed on the RGV frame, and its power end is fixedly connected to an output wheel; the output wheel is connected to the input wheel fixedly connected to the lower part of any transmission screw through a second synchronous belt transmission, so as to drive the transmission screw to rotate.

[0012] Furthermore, the RGV frame also includes an unloading mechanism respectively arranged on both sides of the loading structure, the unloading mechanism includes a plurality of pulleys, a conveyor belt and a fixed plate, the fixed plate is vertically fixedly connected to the RGV frame, a motor is installed on the fixed plate, a support plate is radially provided on the top of the fixed plate; a wear-resistant strip is fixedly connected to the top of the support plate along its length, and a slide groove corresponding to the conveyor belt is opened on the wear-resistant strip; the conveyor belt is tensioned on a plurality of pulleys, a horizontal section of which is slidably connected to the slide groove and protrudes from the slide groove and the top of the first-stage load carrier; the power end of the motor is fixedly connected to any pulley to drive the plurality of pulleys to rotate.

[0013] Furthermore, at least four pulleys are provided, and the four pulleys are evenly arranged at both ends of the fixing plate.

[0014] The present invention also provides a method for picking up goods by an RGV trolley using the above RGV trolley, the method comprising the following steps:

[0015] S01: Issue a pickup instruction, and the control system controls the RGV to locate at the designated shelf position;

[0016] S02: The distance between the RGV and the cargo is sensed by the distance sensor, and the distance between the RGV and the cargo is obtained as D.

[0017] And generate distance information and send it to the control system;

[0018] S03: Based on the distance information, if D is less than the preset value, the control system drives the first-stage cargo carrier to move to the bottom of the cargo, and then controls the mounting base to rise, so that the first-stage cargo carrier lifts the cargo and returns to the RGV frame along the way; if D is greater than the preset value, the control system drives the second-stage cargo carrier to move a certain distance, then controls the first-stage cargo carrier to move to the bottom of the cargo, and finally controls the mounting base to rise, so that the first-stage cargo carrier lifts the cargo.

[0019] Lift it up and return along the road to the RGV frame;

[0020] S04: After the RGV frame transports the goods to the designated location, the goods are unloaded through the unloading mechanisms on both sides.

[0021] The beneficial technical effects achieved by the present invention are:

[0022] 1. The RGV trolley of the present application adopts a first-stage load carrier, a second-stage load carrier and a mounting base to cooperate with each other to complete the cargo picking. While improving the load-bearing capacity, the second-stage load carrier extends the moving distance of the first-stage load carrier, which can also improve the flexibility of the use of the RGV trolley.

[0023] 2. Both the first-stage load carrier and the second-stage load carrier are plate-like structures, designed in a stacked combination, which increases the thickness of the load carrier structure and improves the load-bearing capacity of the RGV trolley when picking up goods.

[0024] 3. Both the first-stage and second-stage load racks can be moved left and right, so that the RGV can pick up goods in both directions, greatly improving the efficiency of picking up goods and meeting the requirements of high-density storage space utilization in intelligent three-dimensional warehousing. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a schematic diagram of the overall structure of a two-way pickup RGV trolley based on intelligent warehousing of the present invention;

[0027] Figure 2 It is one of the overall structural schematic diagrams of the carrier structure in the present invention;

[0028] Figure 3 This is the second schematic diagram of the overall structure of the carrier structure in the present invention;

[0029] Figure 4 This is one of the schematic diagrams of the connection structure between the load-carrying structure and the lifting drive mechanism in the present invention;

[0030] Figure 5 This is the second schematic diagram of the connection structure between the load-carrying structure and the lifting drive mechanism in the present invention;

[0031] Figure 6 This is the third schematic diagram of the connection structure between the load-bearing structure and the lifting drive mechanism in the present invention;

[0032] Figure 7 It is a schematic diagram of the connection structure between the loading structure and the unloading mechanism in the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] See also Figure 1-7As shown in the figure, the present invention applies for a bidirectional RGV trolley based on intelligent warehousing, including an RGV frame 1 slidably connected to a shelf; wherein, a carrying structure 2 for picking up goods is provided on the RGV frame 1; the carrying structure 2 is movably connected to the RGV frame 1; the carrying structure 2 includes a primary travel carrier 21, a secondary travel carrier 22 and a mounting base 23 that can extend to the bottom of the goods, and the mounting base 23 is lifted and arranged on the RGV frame 1, the primary travel carrier 21 is movably connected to the top of the secondary travel carrier 22 and can move left or right relative to the secondary travel carrier 22; the secondary travel carrier 22 is slidably connected to the top of the mounting base 23 and can move left or right relative to the mounting base 23.

[0035] Furthermore, in order to improve the stability of the movement of the first-stage travel carrier, as Figure 2 As shown, the loading structure 2 also includes a first driving structure for driving the first-stage loading rack 21 to move, the first driving structure includes a synchronous pulley 2201, a first synchronous belt 2202 and a first driving motor (not shown in the figure) for driving the synchronous pulley 2201 to rotate, moving grooves are opened on both sides of the top of the second-stage loading rack 21 along its length, the first synchronous belt 2202 is placed in the moving groove, and synchronous pulleys 2201 are rotatably arranged at both ends of the moving groove, the first synchronous belt 2202 is tensioned on the two synchronous pulleys 2201, and a driving block is fixedly connected to the first synchronous belt 2202; the moving groove extends from the top of the driving block and is fixedly connected to the bottom of the first-stage loading rack 21; the power end of the first driving motor (not shown in the figure) is fixedly connected to the synchronous pulley 2201, so as to drive the synchronous pulley 2201 to rotate, thereby driving the first synchronous belt 2202 to move in the moving groove. In the present technical solution, the number and installation positions of the first drive motors (not shown in the figure) are prior art, and those skilled in the art can set them based on experience and actual conditions, which will not be described in detail here.

[0036] As another embodiment of the present invention, Figure 3 As shown, in the present design, any two symmetrical synchronous pulleys 2201 on the two sides of the top of the secondary travel object carrier 21 are connected by a synchronous shaft, and the first drive motor (not shown in the figure) is fixedly connected to a synchronous pulley 2201 on either side, which can directly drive the synchronous pulleys 2201 on both sides of the top of the secondary travel object carrier 21 to rotate synchronously, thereby driving the first synchronous belt 2202 on both sides of the top of the secondary travel object carrier 21 to rotate synchronously.

[0037] Furthermore, in order to extend the service life of the primary travel carrier 21 and the secondary travel carrier 22 and eliminate the noise generated when the two travel carriers move, as Figure 3As shown, first mounting side plates 2101 are vertically provided on both sides of the bottom of the first-stage travel carrier 21, and a plurality of first plastic-coated bearings 2102 are rotatably connected to the mounting side plates 2101; first slide grooves 2103 corresponding to the first plastic-coated bearings 2102 are provided on both sides of the second-stage travel carrier 22, and the first plastic-coated bearings 2102 are located in the first slide grooves 2103 and are rollingly connected to the first slide grooves 2103.

[0038] Furthermore, in order to improve the transmission accuracy and transmission load capacity of the load-bearing structure 2, as Figure 3 As shown, the loading structure 2 also includes a second driving structure for driving the secondary stroke loading rack 22 to move, and the second driving structure includes a synchronous rack 2205 and a second driving motor 2206 arranged along the length of the secondary stroke loading rack 22, and the synchronous rack 2205 is fixedly connected to the bottom of the secondary stroke loading rack 22; the second driving motor 2206 is installed on the mounting base 23, and its power end is fixedly connected to a transmission gear 2204, and the transmission gear 2204 is meshed with the synchronous rack 2205.

[0039] Furthermore, in order to extend the service life of the secondary travel carrier 22 and the mounting base 23 and eliminate the noise generated when the two move, as Figure 3 Shown and combined Figure 4 Two second mounting side plates 2301 are vertically arranged on the top of the mounting base 23, and a plurality of second plastic-coated bearings 2302 are rotatably connected to the second mounting side plates 2301; second slide grooves 2200 corresponding to the second plastic-coated bearings 2302 are arranged on both sides of the bottom of the secondary travel carrier 22, and the first plastic-coated bearing 2102 is located in the second slide groove 2200 and is rollingly connected to the second slide groove 2200.

[0040] Furthermore, in order to improve the load capacity of the carrying mechanism, Figure 4 and Figure 5 As shown, the RGV frame 1 is also provided with a lifting drive mechanism 4 that can drive the mounting base 23 to perform lifting and lowering movements relative to the RGV frame 1. The lifting drive mechanism 4 includes a transmission screw 41, a transmission belt 44, a transmission wheel 42 and a lifting motor 45. There are four transmission screws 41, which are distributed on the four corners of the mounting base 23, and a screw nut is provided on the transmission screw 41. The screw nut is fixedly connected to the mounting base 23 to drive the mounting base 23 to perform rising or falling movements along the transmission screw 41; the transmission wheel 42 is located below the screw nut and is fixedly connected to the transmission screw 41; the transmission belt 44 is tensioned on the four transmission screws 41; the lifting motor 45 is installed on the RGV frame 1, and its power end is fixedly connected to an output wheel 46, which is connected to an input wheel 48 fixedly connected to the lower part of any transmission screw 41 through a second synchronous belt 47 to drive the transmission screw 41 to rotate.

[0041] Furthermore, if Figure 7 As shown, in order to improve the automation degree of the RGV trolley and reduce the labor intensity of workers, the RGV frame 1 also includes an unloading mechanism 3 respectively arranged on both sides of the loading structure 2, the unloading mechanism 3 includes a plurality of pulleys 31, a conveyor belt 32 and a fixed plate 33, the fixed plate 33 is vertically fixedly connected to the RGV frame 1, a motor 332 is installed on the fixed plate 33, and a support plate 331 is radially provided on the top of the fixed plate 33; a wear-resistant strip 333 is fixedly connected to the top of the support plate 331 along its length, and a slide groove corresponding to the conveyor belt 32 is opened on the wear-resistant strip 333; the conveyor belt 32 is tensioned on a plurality of pulleys 31, and a horizontal section 321 thereof is slidably connected to the slide groove and protrudes from the slide groove and the top of the first-stage travel carrier 21; the power end of the motor 332 is fixedly connected to any pulley 31 to drive the plurality of pulleys 31 to rotate.

[0042] Furthermore, at least four pulleys 31 are provided, and the four pulleys 31 are evenly arranged at two ends of the fixing plate 33 .

[0043] The present invention also provides a method for picking up goods by an RGV trolley using the above RGV trolley, the method comprising the following steps:

[0044] S01: Issue a pickup instruction, and the control system controls the RGV to locate at the designated shelf position;

[0045] S02: The distance between the RGV and the cargo is sensed by the distance sensor, and the distance between the RGV and the cargo is obtained as D.

[0046] And generate distance information and send it to the control system;

[0047] S03: Based on the distance information, if D is less than a preset value, the control system drives the first-stage cargo carrier 21 to move to the bottom of the cargo, and then controls the mounting base 23 to rise, so that the first-stage cargo carrier 21 lifts the cargo and returns to the RGV frame 1 along the way; if D is greater than a preset value, the control system drives the second-stage cargo carrier 22 to move a certain distance, then controls the first-stage cargo carrier 21 to move to the bottom of the cargo, and finally controls the mounting base 23 to rise, so that the first-stage cargo carrier 21 lifts the cargo and returns to the RGV frame 1 along the way.

[0048] The level travel carrier 21 lifts the goods and returns to the RGV frame 1 along the way;

[0049] S04: After the RGV frame 1 transports the goods to the designated location, the goods are unloaded through the unloading mechanisms 3 on both sides.

[0050] From the above, it can be known that the RGV trolley of the present application adopts a first-stage cargo rack 21, a second-stage cargo rack 22 and a mounting base 23 to cooperate with each other to complete the picking up of goods. While improving its load-bearing capacity, the second-stage cargo rack 22 serves to extend the moving distance of the first-stage cargo rack 21 to meet the picking up of goods of different sizes, thereby improving the flexibility of the use of the RGV trolley; furthermore, the first-stage cargo rack 21 and the second-stage cargo rack 22 are both plate-like structures, which are designed in a stacked manner, increasing the thickness of the cargo-carrying structure 2 and improving the load-bearing capacity of the RGV trolley when picking up goods. In addition, the first-stage cargo rack 21 and the second-stage cargo rack 22 can both move left and right, so that the RGV trolley can pick up goods in both directions. Not only is the structure simple, but it can also greatly improve the efficiency of picking up goods, meeting the requirements of high-density storage space utilization of intelligent three-dimensional warehousing.

[0051] The above is a detailed introduction to a two-way pickup RGV trolley based on intelligent warehousing and a pickup method thereof provided in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the core idea of ​​the present invention; at the same time, for general technical personnel in this field, according to the ideas and methods of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0052] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A two-way picking RGV trolley based on intelligent warehousing, comprising an RGV frame slidably connected to a shelf; characterized in that: The RGV frame is provided with a carrying structure for carrying goods; the carrying structure is movably connected to the RGV frame; the carrying structure includes a primary-stroke carrying rack, a secondary-stroke carrying rack and a mounting base which can extend to the bottom of the goods, the mounting base is lifted and lowered on the RGV frame, the primary-stroke carrying rack is movably connected to the top of the secondary-stroke carrying rack and can move to the left or right relative to the secondary-stroke carrying rack; the secondary-stroke carrying rack is slidably connected to the top of the mounting base and can move to the left or right relative to the mounting base.

2. According to the intelligent warehousing-based two-way cargo pickup RGV trolley of claim 1, it is characterized in that: The loading structure also includes a first driving structure for driving the first-stage loading rack to move, the first driving structure includes a synchronous pulley, a first synchronous belt and a first driving motor, movable grooves are opened on both sides of the top of the second-stage loading rack along its length, a first synchronous belt is placed in the movable groove, and synchronous pulleys are rotatably arranged at both ends of the movable groove; the first synchronous belt is tensioned on the two synchronous pulleys; a driving block is fixedly connected to the first synchronous belt, the top of the driving block extends out of the movable groove and is fixedly connected to the bottom of the first-stage loading rack; the power end of the first driving motor is fixedly connected to the synchronous pulley to drive the synchronous pulley to rotate.

3. According to the intelligent warehousing-based two-way cargo pickup RGV trolley of claim 1, it is characterized in that: First mounting side plates are vertically arranged on both sides of the bottom of the first-stage cargo carrier, and a plurality of first plastic-coated bearings are rotatably connected to the first mounting side plates; first slide grooves corresponding to the first plastic-coated bearings are arranged on both sides of the second-stage cargo carrier, and the first plastic-coated bearings are located in the first slide grooves and are rollingly connected to the first slide grooves.

4. According to the intelligent warehousing-based two-way cargo pickup RGV trolley of claim 1, it is characterized in that: The loading structure also includes a second driving structure for driving the secondary stroke loading rack to move, the second driving structure includes a synchronous rack and a second driving motor arranged along the length of the secondary stroke loading rack, the synchronous rack is fixedly connected to the bottom of the secondary stroke loading rack; the second driving motor is installed on the mounting base, and its power end is fixedly connected to a transmission gear, and the transmission gear is meshed with the synchronous rack.

5. According to the intelligent warehousing-based two-way cargo pickup RGV trolley of claim 1, it is characterized in that: Two second mounting side plates are vertically arranged on the top of the mounting base, and a plurality of second plastic-coated bearings are rotatably connected to the second mounting side plates; second slide grooves corresponding to the second plastic-coated bearings are arranged on both sides of the bottom of the secondary travel carrier, and the first plastic-coated bearing is located in the second slide groove and is rollingly connected to the second slide groove.

6. According to the intelligent warehousing-based two-way cargo pickup RGV trolley of claim 1, it is characterized in that: The RGV frame is also provided with a lifting drive mechanism that can drive the mounting base to perform lifting and lowering movements relative to the RGV frame. The lifting drive mechanism includes a transmission screw, a transmission belt, a transmission wheel and a lifting motor. There are four transmission screws, which are distributed on the four corners of the mounting base, and a screw nut is provided on the transmission screw. The screw nut is fixedly connected to the mounting base to drive the mounting base to perform lifting or lowering movements along the transmission screw; the transmission wheel is located below the screw nut and is fixedly connected to the transmission screw; the transmission belt is tensioned on the four transmission screws; the lifting motor is installed on the RGV frame, and its power end is fixedly connected to an output wheel; the output wheel is connected to the input wheel fixedly connected to the lower part of any transmission screw through a second synchronous belt transmission to drive the transmission screw to rotate.

7. The two-way cargo pickup RGV based on intelligent warehousing according to claim 6 is characterized in that: The RGV frame also includes an unloading mechanism respectively arranged on both sides of the loading structure, the unloading mechanism includes a plurality of pulleys, a conveyor belt and a fixed plate, the fixed plate is vertically fixedly connected to the RGV frame, a motor is installed on the fixed plate, a support plate is radially provided on the top of the fixed plate; a wear-resistant strip is fixedly connected to the top of the support plate along its length, and a slide groove corresponding to the conveyor belt is opened on the wear-resistant strip; the conveyor belt is tensioned on a plurality of pulleys, a horizontal section of which is slidably connected to the slide groove and protrudes from the slide groove and the top of the first-stage travel carrier; the power end of the motor is fixedly connected to any pulley to drive the plurality of pulleys to rotate.

8. The two-way cargo pickup RGV based on intelligent warehousing according to claim 7 is characterized in that: At least four pulleys are provided, and the four pulleys are evenly arranged at two ends of the fixing plate.

9. A method for picking up goods by an RGV vehicle, characterized in that: The RGV trolley as described in any one of claims 1 to 7 is used to pick up goods, and the method comprises the following steps: S01: Issue a pickup instruction, and the control system controls the RGV to locate at the designated shelf position; S02: The distance between the RGV and the cargo is sensed by the distance sensor, and the distance between the RGV and the cargo is obtained as D. And generate distance information and send it to the control system; S03: Based on the distance information, if D is less than a preset value, the control system drives the first-stage load carrier to move to the bottom of the cargo, and then controls the mounting base to rise, so that the first-stage load carrier lifts up the cargo and returns to the RGV frame along the way; if D is greater than the preset value, the control system drives the second-stage load carrier to move a certain distance, and then controls the first-stage load carrier to move to the bottom of the cargo, and finally controls the mounting base to rise, so that the first-stage load carrier lifts up the cargo and returns to the RGV frame along the way; S04: After the RGV frame transports the goods to the designated location, the goods are unloaded through the unloading mechanisms on both sides.

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