Steerable heavy-load RGV for automatic workshop and implementation method

Abstract

The invention relates to the field of workshop transportation, in particular to a steerable heavy-load RGV for an automatic workshop and an implementation method. The frame steel structure II and the frame steel structure III are arranged on the two sides of the middle of the frame steel structure I. The four fixing plates are arranged on the upper portions of the two sides of the frame steel structure I correspondingly and are in front-back symmetry and left-right symmetry, the four installation guides are arranged on the four fixing plates correspondingly, and the power supply system is arranged in the equipment space III of the rack. The hydraulic system is arranged in the rack equipment space II, and the electric control system is arranged in the rack equipment space I; the two sets of same rotary advancing modules are respectively arranged in peripheral spaces of a group of opposite angles of the rack; transportation of automatic transportation workshop equipment is achieved through the four steps of preparation, operation, steering preparation and steering. The RGV is simple in structure, the boundary dimension of the RGV is far smaller than that of an RGV with the same bearing capacity in the market, and the RGV can bear goods in four different directions.

Description

Technical Field

[0001] The present invention relates to the field of workshop transportation, and particularly relates to a steerable heavy-duty RGV carrier for an automated workshop and an implementation method thereof. Background Art

[0002] An RGV rail shuttle car, also known as an RGV rail-powered collector carrier or an RGV rail automated carrier, is a rail-powered collector carrier used in factories and is widely applied to industrial automatic production lines and logistics systems. It features high speed and high reliability. With the widespread rise of intelligent manufacturing worldwide, the intelligent manufacturing industry has achieved rapid development. As one of the core devices of intelligent logistics, the RGV rail automated carrier is an essential part of the automatic production line. However, the RGV carriers on the market use body lifting for load-bearing, have a complex steering mechanism, large body size, small load-bearing capacity, occupy a large amount of space during the walking process, and waste workshop construction resources. Summary of the Invention

[0003] In view of the problems of the existing RGV carriers for automated workshops, such as large overall dimensions and small load-bearing capacity, the present invention provides a steerable heavy-duty RGV carrier for an automated workshop and an implementation method thereof. The rotary traveling module, power supply system, hydraulic system, and electric control system are arranged in a gantry with a cross-shaped bottom surface, effectively controlling the overall dimensions. By using a rotary motor and controlling through proximity switches and revolutions, the steering is completed when the transverse rail and the longitudinal rail form a 90° angle.

[0004] To achieve the above object, the technical solution adopted by the present invention is: a steerable heavy-duty RGV carrier for an automated workshop, comprising a gantry, four rotary traveling modules, a power supply system, a hydraulic system, and an electric control system. The power supply system is arranged in equipment space III of the gantry, the hydraulic system is arranged in equipment space II of the gantry, and the electric control system is arranged in equipment space I of the gantry; the four sets of rotary traveling modules are of a symmetrical structure, and two identical rotary traveling modules are respectively arranged in the peripheral spaces at a set of diagonals of the gantry.

[0005] In the above technical solution, the gantry includes a frame steel structure I, a frame steel structure II, a frame steel structure III, fixing plates, installation guides, equipment space I, equipment space II, and equipment space III. The frame steel structure II and the frame steel structure III are arranged on both sides of the middle part of the frame steel structure I. Two fixing plates are respectively arranged on the upper parts of both sides of the frame steel structure I. The four fixing plates are symmetrically arranged front and back and left and right. The four installation guides are respectively arranged on the four fixing plates; the space inside the frame steel structure I is equipment space II; the space inside the frame steel structure II is equipment space I; the frame inside the frame steel structure III is equipment space III.

[0006] In the above technical solution, the rotating and traveling module includes a hydraulic lifting device and a rotating and traveling device, and the rotating and traveling device is arranged inside the hydraulic lifting device; the hydraulic lifting device includes a mounting platform, a load-bearing frame, support leg guide sleeves, support legs, a bottom plate, hydraulic cylinders, suspension fixing plates and guide grooves. Four support leg guide sleeves are respectively arranged at the four corners of the mounting platform, and four support legs respectively pass through the corresponding support leg guide sleeves and are arranged at the four corners of the mounting platform, and the four support legs pass upward through the bottom plate of the load-bearing frame; an installation hole Ⅰ for the rotating and traveling device is arranged at the middle position of the mounting platform, and the push rods of the two sets of hydraulic cylinders are respectively arranged on the left and right sides of the installation hole Ⅰ; the cylinder bodies are arranged on the bottom plate of the load-bearing frame; the four suspension fixing plates are respectively arranged on the four fixing plates of the bench and are respectively located outside one side of the bottom plate; the guide grooves are respectively arranged on each suspension fixing plate, and the four guide grooves correspond to the installation guides on the four fixing plates one by one; The rotating and traveling device includes a rotating motor, a rotating driving gear, a rotating shaft, a rotating driven gear, a bushing, a gear box, a traveling motor, a traveling rotating shaft, a traveling driving gear, a fixed shaft, a traveling driven gear, a traveling wheel, a brake disc assembly, a brake caliper, a pressure thrust bearing, and a snap ring assembly. The base of the rotating shaft is arranged inside the top cover of the gear box; the bushing of the rotating shaft is arranged in the installation hole Ⅰ of the mounting platform of the hydraulic lifting device; the pressure thrust bearing is arranged on the rotating shaft above the bushing, the lower surface of the pressure thrust bearing contacts the upper surface of the bushing, and the snap ring assembly is arranged on the rotating shaft above the pressure thrust bearing, and the lower surface of the snap ring assembly does not contact the upper surface of the pressure thrust bearing and there is a gap; The rotating driven gear is arranged at the upper end of the rotating shaft, the rotating driving gear is meshed with the rotating driven gear and arranged beside the rotating driven gear, the rotating driving gear is arranged on the output shaft of the rotating motor, the rotating motor is arranged on the mounting platform of the hydraulic lifting device, the traveling motor is arranged below the top cover of the gear box and outside the gear box, the traveling driving gear is arranged on the traveling rotating shaft of the traveling motor, the traveling rotating shaft passes through one end of the gear box and is erected inside the side wall Ⅰ of the gear box, and the other end is erected inside the side wall Ⅲ of the gear box; the fixed shaft is arranged beside the traveling rotating shaft, the fixed shaft passes through one end of the gear box and is arranged inside the side wall Ⅰ of the gear box, and the other end is arranged inside the side wall Ⅱ of the gear box; the traveling driven gear is arranged on the fixed shaft, the traveling driven gear is meshed with the traveling driving gear, a traveling wheel and a brake disc assembly are sequentially arranged on the side of the traveling driven gear away from the traveling motor, and the brake caliper is arranged above the brake disc assembly; a rolling section is arranged on the traveling wheel, and a rib is arranged at the connection of the rolling section and the driven gear.

[0007] A method for realizing a steerable heavy-duty RGV carrier for an automated workshop is realized according to the following method: First step, preparation: When the steerable heavy-duty RGV carrier is in a stopped state, when the height of the upper oil chamber of the hydraulic cylinder of the rotating traveling module is zero and a forward travel command is obtained, the electronic control system controls the hydraulic system to inject high-pressure hydraulic oil into the upper oil chamber of the hydraulic cylinder. The oil pressure pushes the piston downward, forcing the oil in the lower oil chamber to be discharged back into the hydraulic system. Then, the push rod pushes the mounting platform to move downward along the four support legs through the support leg guide sleeves. The oil pressure pushes the piston to continue moving downward until the four support legs of the hydraulic lifting frame are separated from the ground by a specified distance. At this time, the traveling wheel flanges of the rotating traveling device of the rotating traveling module ensure that the heavy-duty RGV carrier does not deviate from the track during travel, meeting the condition for forward travel; Second step, operation: After meeting the condition for forward travel, the traveling rotating shaft of the traveling motor drives the traveling driving gear to rotate, and the traveling driving gear drives the traveling driven gear to rotate, thereby driving the traveling wheels to move forward on the track; When the heavy-duty RGV carrier approaches a turn, the electronic control system reduces the speed of the traveling motor to decelerate the heavy-duty RGV carrier. When the speed drops to the set value and is close to the turning point, the electric control system controls the brake calipers to act on the brake disc assembly, forcing the heavy-duty RGV carrier to stop; Third step, steering preparation: When the heavy-duty RGV carrier stops, the electronic control system controls the hydraulic system to inject high-pressure hydraulic oil into the lower oil chamber of the hydraulic cylinder, causing the piston to move upward, forcing the oil in the upper oil chamber to be discharged back into the hydraulic system. When the height of the upper oil chamber of the hydraulic cylinder of the hydraulic lifting device reaches the set value, the four support legs of the hydraulic lifting device are in close contact with the ground, and the lowest point of the traveling wheel flanges of the rotating traveling device is higher than the track height. At this time, the heavy-duty RGV carrier meets the steering condition; Fourth step, steering: The rotating motor drives the rotating driving gear on the output shaft to rotate, and the rotating driving gear drives the gearbox fixed to the base of the rotating shaft to rotate. The corner accuracy is controlled by proximity switches and the number of motor revolutions, enabling the heavy-duty RGV carrier to complete a 90° turn; When the heavy-duty RGV carrier continues to travel, the traveling operation can be repeated.

[0008] The beneficial effects of the present invention are as follows: In the RGV transporter of the present invention, the rotating traveling module, power supply system, hydraulic system, and electronic control system are arranged in a cross-shaped gantry. The structure is simple, and the occupied area is 2500mm x 2500mm, which is much smaller than the RGV carriers with the same load capacity on the market; Since the load of the present invention is borne by four modules, the load capacity is guaranteed, and it can carry 100T; By using the rotating motor and controlling through proximity switches and the number of revolutions, the steering is completed when the transverse guide rail and the longitudinal guide rail form a 90° angle. Moreover, the RGV transporter in the present invention has a square symmetrical structure and can receive goods from four different directions. Description of the Drawings

[0009] Figure 1 It is the front view of the present invention; Figure 2 is the top view of Figure 1 ; Figure 3 is the A-A cross-sectional view of Figure 2 ; Figure 4 is the front view of the bench of the present invention; Figure 5 is the side view of Figure 4 ; Figure 6 is the top view of Figure 4 ; Figure 7 is the F-F view of Figure 4 ; Figure 8 is the D-D view of Figure 6 ; Figure 9 is the E-E view of Figure 6 ; Figure 10 is the front view of the hydraulic lifting frame of the present invention; Figure 11 is the top view of Figure 10 ; Figure 12 is the B-B cross-sectional view of Figure 11 ; Figure 13 Front view of the hydraulic lifting device Figure 14 is the top view of Figure 13 ; Figure 15 is the side view of Figure 14 ; Figure 16 is the N-N cross-sectional view of Figure 14 ; Figure 17 is the P-P cross-sectional view of Figure 14 ; Figure 18 is the M-M cross-sectional view of Figure 14 ; Figure 19 is the top view of the rotating traveling device of the present invention; Figure 20 is the S-S cross-sectional view of Figure 19 ; Figure 21 is the T-T cross-sectional view of Figure 20 ; Figure 22 is the schematic diagram of the state when the hydraulic lifting device of the RGV carrier satisfies traveling; Figure 23 is the schematic diagram of the RGV carrier installed on the track.

[0010] In the figure: 1. Bench; 1-1. Frame steel structure I; 1-2. Frame steel structure II; 1-3. Frame steel structure III; 1-4. Fixed plate; 1-5. Installation guide; 1-6. Equipment space I; 1-7. Equipment space II; 1-8. Equipment space III; 2. Rotary traveling module; 2-1. Hydraulic lifting device; 2-1-1. Installation platform; 2-1-2. Load-bearing frame; 2-1-3. Support leg guide sleeve; 2-1-4. Support leg; 2-1-6. Bottom plate; 2-1-7. Installation hole I; 2-1-8. Hydraulic cylinder; 2-1-9. Push rod; 2-1-10. Cylinder block; 2-1-11. Suspension fixed plate; 2-1-12. Guide groove; 2-1-13. Piston; 2-1-14. Upper oil chamber; 2-1-15. Lower oil chamber; 2-2. Rotary traveling device; 2-2-1. Rotary motor; 2-2-2. Rotary driving gear; 2-2-3. Rotary shaft; 2-2-4. Base; 2-2-6. Rotary driven gear; 2-2-7. Bush; 2-2-8. Gear box; 2-2-9. Top cover; 2-2-10. Traveling motor; 2-2-11. Traveling rotary shaft; 2-2-12. Traveling driving gear; 2-2-13. Fixed shaft; 2-2-14. Traveling driven gear; 2-2-15. Traveling wheel; 2-2-16. Rib; 2-2-17. Rolling section; 2-2-18. Brake disc assembly; 2-2-19. Brake caliper; 2-2-20. Gear box side wall I; 2-2-21. Gear box side wall II; 2-2-22. Gear box side wall III; 2-2-23. Pressure thrust bearing; 2-2-24. Snap ring assembly; 3. Power supply system; 4. Hydraulic system; 5. Electric control system. Detailed implementation mode

[0011] As Figures 1 to 23 shown, a steerable heavy-duty RGV carrier for an automated workshop includes a bench 1, four rotary traveling modules 2, a power supply system 3, a hydraulic system 4, and an electric control system 5. The power supply system 3 is arranged in the equipment space III 1-8 of the bench 1, the hydraulic system 4 is arranged in the equipment space II 1-7 of the bench 1, and the electric control system 5 is arranged in the equipment space I 1-6 of the bench 1; the four sets of rotary traveling modules 2 are symmetric in pairs, and two identical rotary traveling modules 2 are respectively arranged in the peripheral spaces at a set of diagonals of the bench 1.

[0012] The bench 1 includes a frame steel structure Ⅰ 1-1, a frame steel structure Ⅱ 1-2, a frame steel structure Ⅲ 1-3, a fixing plate 1-4, an installation guide 1-5, an equipment space Ⅰ 1-6, an equipment space Ⅱ 1-7, and an equipment space Ⅲ 1-8. The frame steel structure Ⅰ 1-1, the frame steel structure Ⅱ 1-2, and the frame steel structure Ⅲ 1-3 are all rectangular frames. The frame steel structure Ⅱ 1-2 and the frame steel structure Ⅲ 1-3 are respectively fixed on both sides of the middle part of the frame steel structure Ⅰ 1-1. The frame steel structure Ⅱ 1-2 and the frame steel structure Ⅲ 1-3 form a cross-shaped bench 1. Two fixing plates 1-4 are respectively arranged on the upper parts of both sides of the frame steel structure Ⅰ 1-1. The four fixing plates 1-4 are symmetrically arranged front and back and left and right. Installation guides 1-5 are respectively installed on the four fixing plates 1-4. The space inside the frame steel structure Ⅰ 1-1 is the equipment space Ⅱ 1-7. The space inside the frame steel structure Ⅱ 1-2 is the equipment space Ⅰ 1-6. The space inside the frame steel structure Ⅲ 1-3 is the equipment space Ⅲ 1-8.

[0013] The rotary traveling module 2 includes a hydraulic lifting device 2-1 and a rotary traveling device 2-2. The hydraulic lifting device 2-1 includes an installation platform 2-1-1, a load-bearing frame 2-1-2, a support leg guide sleeve 2-1-3, support legs 2-1-4, a bottom plate 2-1-6, a hydraulic cylinder 2-1-8, a suspension fixing plate 2-1-11, and a guide groove 2-1-12. Support leg guide sleeves 2-1-3 are respectively installed at the four corners of the installation platform 2-1-1. The four support legs 2-1-4 respectively pass through the corresponding support leg guide sleeves 2-1-3 and continue to pass upward through the bottom plate 2-1-6 of the load-bearing frame 2-1-2 and are fixed by screws. An installation hole Ⅰ 2-1-7 for the rotary traveling device 2-2 is machined at the middle position of the installation platform 2-1-1. The cylinder bodies 2-1-10 of the two sets of hydraulic cylinders 2-1-8 are respectively arranged on both sides of the bottom plate 2-1-6 of the load-bearing frame 2-1-2. The push rods 2-1-9 of the hydraulic cylinders 2-1-8 are located on the left and right sides of the installation hole Ⅰ 2-1-7. Four suspension fixing plates 2-1-11 are respectively screwed and installed on the four fixing plates 1-4 of the bench 1. The four fixing plates 1-4 are respectively located outside the four sides of the bottom plate 2-1-6. Guide grooves 2-1-12 are respectively installed on each suspension fixing plate 2-1-11. The four guide grooves 2-1-12 correspond one-to-one to the installation guides 1-5 on the four fixing plates 1-4. The rotary traveling device 2-2 includes a rotary motor 2-2-1, a rotary driving gear 2-2-2, a rotary shaft 2-2-3, a rotary driven gear 2-2-6, a bushing 2-2-7, a wheel box 2-2-8, a traveling motor 2-2-10, a traveling rotary shaft 2-2-11, a traveling driving gear 2-2-12, a fixed shaft 2-2-13, a traveling driven gear 2-2-14, a traveling wheel 2-2-15, a brake disc assembly 2-2-18, a brake caliper 2-2-19, a pressure thrust bearing 2-2-23, and a snap ring assembly 2-2-24. The base 2-2-4 of the rotary shaft 2-2-3 is arranged inside the top cover 2-2-9 of the wheel box 2-2-8. The bushing 2-2-7 is fixed to the mounting platform 2-1-1 with bolts. The pressure thrust bearing 2-2-23 is installed on the rotary shaft 2-2-3 above the bushing 2-2-7. The lower surface of the pressure thrust bearing 2-2-23 contacts the upper surface of the bushing 2-2-7. A snap ring assembly 2-2-24 is installed on the rotary shaft 2-2-3 above the pressure thrust bearing 2-2-23, and there is a gap between the lower surface of the snap ring assembly 2-2-24 and the pressure thrust bearing 2-2-23. A rotary driven gear 2-2-6 is installed at the upper end of the rotary shaft 2-2-3. The rotary driving gear 2-2-2 is arranged beside the rotary driven gear 2-2-6 and meshes with the rotary driven gear 2-2-6. The rotary driving gear 2-2-2 is installed on the output shaft of the rotary motor 2-2-1. The rotary motor 2-2-1 is installed on the mounting platform 2-1-1 of the hydraulic lifting device 2-1. The traveling motor 2-2-10 is installed below the top cover 2-2-9 of the wheel box 2-2-8 and outside the wheel box 2-2-8. The traveling driving gear 2-2-12 is installed on the traveling rotary shaft 2-2-11 of the traveling motor 2-2-10. The traveling rotary shaft 2-2-11 passes through one end of the wheel box 2-2-8 and is supported inside the side wall Ⅰ 2-2-20 of the gear box, and the other end is supported inside the side wall Ⅲ 2-2-22 of the gear box. The fixed shaft 2-2-13 is installed beside the traveling rotary shaft 2-2-11. The fixed shaft 2-2-13 passes through the wheel box 2-2-8, with one end fixed inside the side wall Ⅰ 2-2-20 of the gear box and the other end fixed inside the side wall Ⅱ 2-2-21 of the gear box. The traveling driven gear 2-2-14 meshes with the traveling driving gear 2-2-12, and the traveling driven gear 2-2-14 is installed on the fixed shaft 2-2-13. The traveling wheel 2-2-15 and the brake disc assembly 2-2-18 are sequentially arranged on the traveling driven gear 2-2-14 on the side away from the traveling motor 2-2-10. The brake caliper 2-2-19 is fixed above the brake disc assembly 2-2-18. The rolling section 2-2-17 is arranged on the traveling wheel 2-2-15, and a rib 2-2-16 is arranged at the connection between the rolling section 2-2-17 and the traveling driven gear 2-2-14.

[0014] An implementation method of a steerable heavy-duty RGV carrier for an automated workshop, where the transported goods are placed on the load-bearing frame 2-1-2 of the rotating traveling module 2, and is implemented according to the following steps: First step, start-up: After the electric control system 5 of the steerable heavy-duty RGV carrier issues a start command, the hydraulic system 4 starts to inject high-pressure hydraulic oil into the upper oil chamber 2-1-14 of the hydraulic cylinder 2-1-8. The oil pressure pushes the piston 2-1-13 downward. The oil in the lower oil chamber 2-1-15 is pushed back into the hydraulic system 4 by the piston 2-1-13. During the downward movement of the piston, the push rod 2-1-9 is driven to push the mounting platform 2-1-1 to move downward along the four support legs 2-1-4 through the support leg guide sleeve 2-1-3 until the rolling section 2-2-17 is in close contact with the track 6. During this process, as Figure 16 , Figure 22 shown, the height of the upper oil chamber 2-1-14 of the hydraulic cylinder 2-1-8 of the steerable heavy-duty RGV carrier gradually increases from zero height to the specified height. The height value of the upper oil chamber 2-1-14 needs to meet the requirement of separating the four support legs 2-1-4 of the hydraulic lifting frame 2-1 from the ground. The edge 2-2-16 on the traveling wheel 2-2-15 of the rotating traveling module 2 ensures that the heavy-duty RGV carrier does not deviate from the track 6 during traveling. At this time, the steerable heavy-duty RGV carrier has the condition to move forward; Second step, traveling: When the electric control system 5 detects through the displacement sensor that the height of the upper oil chamber 2-1-14 reaches the specified value and meets the requirement of moving forward, the electric control system 5 issues a traveling command to the traveling motor 2-2-10. The traveling motor 2-2-10 drives the traveling driving gear 2-2-12 to rotate through the traveling rotating shaft 2-2-11. The traveling driving gear 2-2-12 meshes with the traveling driven gear 2-2-14 arranged on the fixed shaft 2-2-13, and then drives the traveling wheel 2-2-15 fixed together with the traveling driven gear 2-2-14 to travel on the track 6. When the steerable heavy-duty RGV carrier travels near a turn, the electric control system 5 gradually reduces the rotation speed of the traveling motor 2-2-10 through the control program, so as to decelerate the heavy-duty RGV carrier. When the deceleration reaches the set value and the in-place signal of the position sensor is obtained, the electric control system 5 controls the brake caliper 2-2-19 to act on the brake disc assembly 2-2-18 to stop the heavy-duty RGV carrier; Step 3, Steering Preparation: After the electric control system 5 receives the stop signal of the heavy-duty RGV carrier, it sends an action instruction to the hydraulic system through the control program. After the upper oil chamber 2-1-14 is depressurized, the hydraulic system 4 injects high-pressure hydraulic oil into the lower oil chamber 2-1-15 of the hydraulic cylinder 2-1-8. The piston 2-1-13 moves upward, gradually reducing the height of the upper oil chamber 2-1-14 to zero. The oil in the upper oil chamber 2-1-14 is drained back into the hydraulic system 4. When the height of the lower oil chamber 2-1-15 reaches the set value, during the upward movement of the piston 2-1-13, the push rod 2-1-9 drives the mounting platform 2-1-1 to move upward along the four support legs 2-1-4 through the support leg guide sleeve 2-1-3. During this process, the four support legs 2-1-4 gradually come into contact with and land on the ground. The push rod 2-1-9 drives the mounting platform 2-1-1 to continue moving upward until the rolling section 2-2-17 disengages from the track 6, and the lowest point of the edge 2-2-16 of the traveling wheel 2-2-15 is higher than the height of the track. At this time, the steering condition is met.

[0015] Step 4, Completing Steering: After the electric control system 5 receives the signal indicating that the steering condition is met, it controls the rotation motor 2-2-1 to drive the rotation driving gear 2-2-2 on the output shaft to rotate. The rotation driven gear 2-2-6 meshing with the rotation driving gear 2-2-2 drives the rotation shaft 2-2-3 to rotate, and then drives the gear box 2-2-8 fixed to the base 2-2-4 of the rotation shaft 2-2-3 to complete the rotation. The rotation angle accuracy is controlled by the proximity switch and the motor rotation speed, enabling the heavy-duty RGV carrier to complete a 90° turn.

[0016] When the heavy-duty RGV carrier continues to travel, the traveling action can be repeated.

Claims

1. A steerable heavy-load RGV transporter for an automated workshop, characterized in that: The invention comprises a platform (1), four rotating and traveling modules (2), a power supply system (3), a hydraulic system (4), and an electric control system (5), wherein the power supply system (3) is arranged in the equipment space III (1-8) of the platform (1), the hydraulic system (4) is arranged in the equipment space II (1-7) of the platform (1), and the electric control system (5) is arranged in the equipment space I (1-6) of the platform (1); the four sets of rotating and traveling modules (2) are symmetrical in pairs, and two identical sets of rotating and traveling modules (2) are respectively arranged in a set of diagonal peripheral spaces of the platform (1).

2. The steerable heavy-load RGV transporter for an automated workshop according to claim 1, characterized in that: The stand (1) comprises a frame steel structure I (1-1), a frame steel structure II (1-2), a frame steel structure III (1-3), a fixing plate (1-4), an installation guide (1-5), an equipment space I (1-6), an equipment space II (1-7) and an equipment space III (1-8); the frame steel structure II (1-2) and the frame steel structure III (1-3) are arranged on both sides of the middle of the frame steel structure I (1-1); two fixing plates (1-4) are respectively arranged on the upper parts of both sides of the frame steel structure I (1-1); the four fixing plates (1-4) are symmetrical in front and back and left and right directions; the four installation guides (1-5) are respectively arranged on the four fixing plates (1-4); the space inside the frame steel structure I (1-1) is the equipment space II (1-7); the space inside the frame steel structure II (1-2) is the equipment space I (1-6); and the frame inside the frame steel structure III (1-3) is the equipment space III (1-8).

3. The steerable heavy-load RGV transporter for automated workshops according to claim 1 is characterized in that: The bottom surface of the stand (1) is 2500 mm×2500 mm.

4. The steerable heavy-load RGV transporter for an automated workshop according to claim 1, characterized in that: The rotating travel module (2) comprises a hydraulic lifting device (2-1) and a rotating travel device (2-2), wherein the rotating travel device (2-2) is arranged in the hydraulic lifting device (2-1); The hydraulic lifting device (2-1) comprises a mounting platform (2-1-1), a load-bearing frame (2-1-2), a support leg guide sleeve (2-1-3), a support leg (2-1-4), a bottom plate (2-1-6), a hydraulic cylinder (2-1-8), a suspension fixing plate (2-1-11) and a guide groove (2-1-12); four support leg guide sleeves (2-1-3) are respectively arranged at four corners of the mounting platform (2-1-1); four support legs (2-1-4) respectively pass through corresponding support leg guide sleeves (2-1-3) and are arranged at four corners of the mounting platform (2-1-1); and the four support legs (2-1-4) pass upward through the bottom plate (2-1-6) of the load-bearing frame (2-1-2); on the mounting platform (2-1-1), a support leg guide sleeve (2-1-3) is arranged at four corners of the mounting platform (2-1-1); and the four support legs (2-1-4) pass upward through the bottom plate (2-1-6) of the load-bearing frame (2-1-2); A mounting hole I (2-1-7) of the rotating travel device (2-2) is arranged in the middle position of the frame (1-1), and push rods (2-1-9) of the two sets of hydraulic cylinders (2-1-8) are arranged on the left and right sides of the mounting hole I (2-1-7) respectively; the cylinder body (2-1-10) is arranged on the bottom plate (2-1-6) of the load-bearing frame (2-1-2); the four suspension fixing plates (2-1-11) are respectively arranged on the four fixing plates (1-4) of the platform (1), and are respectively located on the outside of one side of the bottom plate (2-1-6); the guide grooves (2-1-12) are respectively arranged on each suspension fixing plate (2-1-11), and the four guide grooves (2-1-12) correspond one by one to the mounting guides (1-5) on the four fixing plates (1-4); The rotating travel device (2-2) comprises a rotating motor (2-2-1), a rotating driving gear (2-2-2), a rotating shaft (2-2-3), a rotating driven gear (2-2-6), a shaft sleeve (2-2-7), a wheel box (2-2-8), a travel motor (2-2-10), a travel rotating shaft (2-2-11), a travel driving gear (2-2-12), a fixed shaft (2-2-13), a travel driven gear (2-2-14), a travel wheel (2-2-15), a brake disc assembly (2-2-18), a brake caliper (2-2-19), a pressure thrust bearing (2-2-23), and a snap ring assembly (2-2-24). The base (2-2-4) of the rotating shaft (2-2-3) is arranged on the wheel box. (2-2-8) in the top cover (2-2-9); the shaft sleeve (2-2-7) of the rotating shaft (2-2-3) is arranged in the mounting hole I (2-1-7) of the mounting platform (2-1-1) of the hydraulic lifting device (2-1); the pressure thrust bearing (2-2-23) is arranged on the rotating shaft (2-2-3) above the shaft sleeve (2-2-7), the lower surface of the pressure thrust bearing (2-2-23 is in contact with the upper surface of the shaft sleeve (2-2-7), the retaining ring assembly (2-2-24) is arranged on the rotating shaft (2-2-3) above the pressure thrust bearing (2-2-23), the lower surface of the retaining ring assembly (2-2-24) is not in contact with the upper surface of the pressure thrust bearing (2-2-23), and a gap is left; The rotating driven gear (2-2-6) is arranged at the upper end of the rotating shaft (2-2-3), the rotating driving gear (2-2-2) is meshed with the rotating driven gear (2-2-6) and is arranged beside the rotating driven gear (2-2-6), the rotating driving gear (2-2-2) is arranged on the output shaft of the rotating motor (2-2-1), the rotating motor (2-2-1) is arranged on the mounting platform (2-1-1) of the hydraulic lifting device (2-1), and the traveling motor (2- 2-10) is arranged below the top cover (2-2-9) of the wheel box (2-2-8) and outside the wheel box (2-2-8), the travel driving gear (2-2-12) is arranged on the travel rotating shaft (2-2-11) of the travel motor (2-2-10), the travel rotating shaft (2-2-11) passes through the wheel box (2-2-8) and one end is mounted in the gear box side wall I (2-2-20), and the other end is mounted in the gear box side wall III (2-2-22); the fixed shaft (2-2-13) is arranged beside the travel rotating shaft (2-2-11), the fixed shaft (2-2-13) passes through the wheel box (2-2-8), one end is arranged in the gear box side wall I (2-2-20), and the other end is arranged in the gear box side wall II (2-2-21); the travel driven gear (2-2-14) is arranged on the fixed shaft (2-2-13), the travel driven gear (2-2-14) is meshed with the travel driving gear (2-2-12), and the travel driven gear A traveling wheel (2-2-15) and a brake disc assembly (2-2-18) are sequentially arranged on the side of the traveling motor (2-2-10), and a brake caliper (2-2-19) is arranged above the brake disc assembly (2-2-18); a rolling section (2-2-17) is arranged on the traveling wheel (2-2-15), and a retaining edge (2-2-16) is arranged at the connection between the rolling section (2-2-17) and the traveling driven gear (2-2-14).

5. A method for implementing a steerable heavy-load RGV transporter for an automated workshop, characterized in that: Step 1, preparation: When the steerable heavy-duty RGV transporter is in a stopped state, the height of the upper oil chamber (2-1-14) of the hydraulic cylinder (2-1-8) of the rotating travel module (2) is zero. After receiving the command to move forward, the electronic control system (5) controls the hydraulic system (4) to inject high-pressure hydraulic oil into the upper oil chamber (2-1-14) of the hydraulic cylinder (2-1-8). The oil pressure pushes the piston (2-1-13) downward, forcing the oil in the lower oil chamber (2-1-15) to be discharged back into the hydraulic system (4), thereby causing the push rod (2-1-9) to push the installation platform (2-1- 1) Move downward along the four supporting legs (2-1-4) through the supporting leg guide sleeve (2-1-3) until the rolling section (2-2-17) is in close contact with the track (6), and the oil pressure pushes the piston (2-1-13) to continue to move downward until the four supporting legs (2-1-4) of the hydraulic lifting frame (2-1) are separated from the ground by a specified distance. At this time, the travel wheel (2-2-15) and the retaining edge (2-2-16) of the rotating travel device (2-2) of the rotating travel module (2) ensure that the heavy-loaded RGV trolley does not deviate from the track (6) during the travel process, and is ready to move forward; Step 2: Operation: After the conditions for forward movement are met, the travel rotating shaft (2-2-11) of the travel motor (2-2-10) drives the travel driving gear (2-2-12) to rotate, and the travel driving gear (2-2-12) drives the travel driven gear (2-2-14) to rotate, thereby driving the travel wheel (2-2-15) to move forward on the track (6); when the heavy-loaded RGV transporter moves to the vicinity of the target turn, the electric control system (5) reduces the speed of the travel motor (2-2-10) to decelerate the heavy-loaded RGV transporter, and when the speed is reduced to the set value and approaches the turn, the electric brake system (5) controls the brake caliper (2-2-19) to act on the brake disc assembly (2-2-18), forcing the heavy-loaded RGV transporter to stop; Step 3: Preparation for turning: When the heavy-load RGV transporter stops, the electronic control system (5) controls the hydraulic system (4) to inject high-pressure hydraulic oil into the lower oil chamber (2-1-15) of the hydraulic cylinder (2-1-8), so that the piston (2-1-13) moves upward, forcing the oil in the upper oil chamber (2-1-14) to be discharged back into the hydraulic system (4). When the height of the upper oil chamber (2-1-14) of the hydraulic lifting device (2-1) reaches the set value, the four supporting legs (2-1-4) of the hydraulic lifting device (2-1) are in close contact with the ground, and the lowest point of the retaining edge (2-2-16) of the traveling wheel (2-2-15) of the rotating traveling device (2-2) is higher than the track height. At this time, the heavy-load RGV transporter is ready for turning. The fourth step is steering: the rotating motor (2-2-1) drives the rotating driving gear (2-2-2) on the output shaft to rotate, and the rotating driving gear (2-2-2) drives the wheel box (2-2-8) fixed to the base (2-2-4) of the rotating shaft (2-2-3) to complete the rotation, and the angle accuracy is controlled by the proximity switch and the motor speed, so that the heavy-loaded RGV transporter completes a 90° turn; the heavy-loaded RGV transporter can repeat the moving action when it continues to move.

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