Automatic rail switching RGV (Rail Guided Vehicle)

Abstract

The invention discloses an automatic rail changing RGV which comprises an upper mounting frame, a lower mounting frame and a bearing plate, and the bearing plate is arranged on the upper mounting frame and used for placing goods. The walking direction changing mechanism is arranged on the lower mounting frame and is used for running and reversing of the trolley; the driving mechanism is arranged on the lower mounting frame and is used for driving the running of the walking steering mechanism; and the surrounding plate is arranged on the lower mounting frame and is used for blocking the walking direction changing mechanism and the driving mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of automated conveying, and particularly to an automatically rail-changing RGV vehicle. Background Art

[0002] RGV is the abbreviation of Rail Guided Vehicle, which can move along the inherent track in a straight line or curve. Its route is relatively fixed, with strong anti-interference ability to the external environment, simple operation, strong running stability, low failure rate, and relatively low overall maintenance cost. It can be easily and automatically connected to other logistics systems, such as inbound and outbound platforms, buffer stations, conveyors, elevators, and robots. However, currently, the RGV vehicle can only move longitudinally in a straight line along the track and cannot move laterally, which is inconvenient to use. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatically rail-changing RGV vehicle.

[0004] The above technical purpose of the present invention is achieved through the following technical solutions:

[0005] An automatically rail-changing RGV vehicle includes an upper mounting frame and a lower mounting frame, and

[0006] a bearing plate, which is arranged on the upper mounting frame and is used for placing goods;

[0007] a traveling and steering mechanism, which is arranged on the lower mounting frame and is used for the operation and steering of the vehicle;

[0008] a driving mechanism, which is arranged on the lower mounting frame and is used for driving the operation of the traveling and steering mechanism;

[0009] a guard plate, which is arranged on the lower mounting frame and is used to block the traveling and steering mechanism and the driving mechanism.

[0010] Preferably, the traveling and steering mechanism includes two sets of transverse wheels and two sets of longitudinal wheels, and each transverse wheel is respectively arranged on the lower mounting frame;

[0011] Four oil cylinders are arranged on the lower mounting frame. A connecting frame is arranged on the hydraulic rod of the oil cylinder, and a mounting plate is arranged on the connecting frame. Each longitudinal wheel is respectively arranged on the mounting plate.

[0012] Preferably, the driving mechanism includes a driving motor, which is arranged on the lower mounting frame. The main shaft of the driving motor is connected to the transverse wheels and the longitudinal wheels and is used for driving them to rotate.

[0013] Preferably, a displacement sensor is arranged on the lower mounting frame.

[0014] Preferably, a lidar is provided on the enclosure panel.

[0015] Preferably, a control panel is provided on the enclosure panel.

[0016] In summary, the beneficial technical effects of the present invention are as follows:

[0017] When the trolley is running, the walking direction-changing mechanism can realize the switching of the trolley from longitudinal movement to lateral movement, thereby achieving the purpose of increasing the running area of the trolley. It is more convenient during the process of transporting materials and reduces the floor area in the factory building at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is an axonometric schematic diagram of the overall structure of the present invention;

[0019] Figure 2 is an axonometric schematic diagram of the overall structure of the present invention showing the lower mounting frame;

[0020] Figure 3 is an axonometric schematic diagram of the overall structure of the present invention showing the oil cylinder.

[0021] Reference numerals: 1, upper mounting frame; 2, lower mounting frame; 3, bearing plate; 4, enclosure panel; 5, transverse wheel; 6, longitudinal wheel; 7, oil cylinder; 8, connecting frame; 9, mounting plate; 10, drive motor; 11, displacement sensor; 12, lidar; 13, control panel. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention will be clearly and completely described below in conjunction with the embodiments.

[0023] As Figures 1-3 shown, an automatic rail-changing RGV vehicle includes an upper mounting frame 1, a lower mounting frame 2, and a bearing plate 3. The bearing plate 3 is arranged on the upper mounting frame 1 for placing goods; a walking direction-changing mechanism is arranged on the lower mounting frame 2 for the running and direction-changing of the trolley; a driving mechanism is arranged on the lower mounting frame 2 for driving the running of the walking direction-changing mechanism; an enclosure panel 4 is arranged on the lower mounting frame 2 for blocking the walking direction-changing mechanism and the driving mechanism.

[0024] The walking direction-changing mechanism includes two groups of transverse wheels 5 and two groups of longitudinal wheels 6. Each transverse wheel 5 is respectively arranged on the lower mounting frame 2; four oil cylinders 7 are arranged on the lower mounting frame 2. A connecting frame 8 is arranged on the hydraulic rod of the oil cylinder 7, and a mounting plate 9 is arranged on the connecting frame 8. Each longitudinal wheel 6 is respectively arranged on the mounting plate 9.

[0025] The driving mechanism includes a driving motor 10, which is arranged on the lower mounting frame 2. The main shaft of the driving motor 10 is connected to the transverse wheel 5 and the longitudinal wheel 6 to drive them to rotate. A displacement sensor 11 is arranged on the lower mounting frame 2. A laser radar 12 is arranged on the enclosure 4. A control panel 13 is arranged on the enclosure 4.

[0026] The working principle of this embodiment is: when it is necessary to change direction, firstly, a magnetic navigation displacement sensor 11 is arranged at the front and rear of the body of the RGV vehicle in the longitudinal direction, and a long magnetic nail is arranged at both ends of the corresponding cross track, and the magnetic nail is N-level upward. When the RGV vehicle reaches the cross track position, after the front magnetic navigation displacement sensor 11 detects the magnetic nail, according to the magnetic induction intensity value, the PLC controller calculates, so that the middle of the front magnetic navigation displacement sensor 11 is aligned with the magnetic nail, and the error is less than ±2MM; after the rear magnetic navigation displacement sensor 11 detects the magnetic nail, according to the magnetic induction intensity value, the PLC controller calculates, so that the middle of the rear magnetic navigation displacement sensor 11 is aligned with the magnetic nail, and the error is less than ±2MM. At this time, the front and rear magnetic navigation sensors are aligned with the magnetic nail, and the oil cylinder 7 begins to descend, thereby driving the longitudinal wheel 6 downward until it contacts the track, and the transverse track changes to the longitudinal track. Similarly, the oil cylinder 7 rises and drives the longitudinal wheel 6 upward, so that the transverse wheel 5 contacts the track, and the longitudinal track changes to the transverse track.

[0027] RGV vehicle walking position positioning: Two FRID sensors are arranged on the chassis of the RGV vehicle, one for longitudinal walking detection of the RGV vehicle position, and the other for lateral walking detection of the RGV vehicle position. RFID tags are pre-buried at each workstation and cross-track position on the ground, and the RFID tags contain the current position coordinates. When the FRID sensor reaches above the tag, the FRID sensor reads the tag data, and the PLC controller calculates and gives corresponding actions to the drive motor 10, hydraulic pump, and solenoid valve to realize automatic walking, reversing and other functions. Laser radars 12 are set at the front and rear ends of the RGV body respectively. Each laser radar 12 can cover a range of 270 degrees and a coverage distance of 10 meters. Two laser radars 12 are arranged throughout the vehicle, which can effectively cover the 360-degree range of the entire vehicle.

Claims

1. An automatic track-changing RGV vehicle, characterized in that: It includes an upper mounting frame and a lower mounting frame, and A load-bearing plate, which is arranged on the upper mounting frame and is used for placing goods; A walking direction-changing mechanism, which is arranged on the lower mounting frame and is used for the operation and direction-changing of the trolley; A driving mechanism, which is arranged on the lower mounting frame and is used to drive the walking direction-changing mechanism to operate; A panel is provided on the lower mounting frame and is used for blocking the walking direction-changing mechanism and the driving mechanism.

2. The automatic track-changing RGV vehicle according to claim 1, characterized in that: The walking direction-changing mechanism comprises two sets of transverse wheels and two sets of longitudinal wheels, each of the transverse wheels is respectively arranged on the lower mounting frame; Four oil cylinders are arranged on the lower mounting frame, a connecting frame is arranged on the hydraulic rod of the oil cylinder, a mounting plate is arranged on the connecting frame, and each of the longitudinal wheels is arranged on the mounting plate respectively.

3. The automatic track-changing RGV vehicle according to claim 2, characterized in that: The driving mechanism comprises a driving motor, which is arranged on the lower mounting frame. The main shaft of the driving motor is connected to the transverse wheel and the longitudinal wheel for driving them to rotate.

4. The automatic track-changing RGV vehicle according to claim 1, characterized in that: A displacement sensor is arranged on the lower mounting frame.

5. The automatic track-changing RGV vehicle according to claim 1, characterized in that: A laser radar is arranged on the enclosure.

6. The automatic track-changing RGV vehicle according to claim 1, characterized in that: A control panel is arranged on the enclosure.

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