RGV shuttle vehicle and control method thereof

Abstract

The invention belongs to the field of storage automation, and relates to an RGV shuttle vehicle and a control method thereof. According to the RGV shuttle vehicle, a child vehicle track and a compensation track mechanism are arranged on a mother vehicle platform, an upper fork is slidably installed on a lower fork, a moving trolley is slidably installed on the upper fork, and a plug pin ejection mechanism is installed on the lower surface of a moving trolley body and comprises a plug pin lifting electric cylinder; the compensation rail mechanism comprises a compensation rail, a first compensation rail base and a second compensation rail base, and the second compensation rail base is rotationally installed above the first compensation rail base. The control method of the RGV shuttle vehicle comprises the steps that a mother vehicle reaches a target station, if a near-end station compensation track is kept in a vertical state, if a far-end station compensation track rotates to be in a horizontal state, a moving trolley moves to the end, close to a first station, of an upper fork and clamps a child vehicle, and after the moving trolley pulls the child vehicle to be in place, a plug pin is retracted to be in an initial state; and resetting the moving trolley. According to the invention, reliable clamping of the sub-vehicle is ensured, and the adaptability and reliability of the RGV shuttle vehicle are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment, and in particular relates to an RGV shuttle vehicle and a control method thereof, which can be used for material transportation in a transformer coil casting and curing process. Background Art

[0002] In the transformer production process, when the transformer coil is undergoing the pouring and curing process, it needs to be transported over long distances between different workstations. This process usually requires the help of an RGV (Rail Guided Vehicle) shuttle. The RGV shuttle adopts a mother-and-child structure. The child and the mother are two independent devices. The child consists of a pallet and a child track wheel installed under the pallet. The material or equipment to be transported is placed on the pallet. The upper surface of the mother car is equipped with a child track and a compensation track that match the child track wheel. The child is usually parked on the child track at the starting position. During transportation, after the mother car runs to the transfer end at the docking station, the compensation track on the mother car docks with the child track and the station track at the end position. The telescopic fork on the mother car extends to grab and push and pull the unpowered child car, and push and pull the child car along the child track, compensation track and station track from the starting position to the end position to complete the transfer of the transformer coil.

[0003] The forks of the existing RGV shuttle vehicles have the following technical problems: Due to the fully automated operation requirements of the RGV shuttle vehicles, the forks and the sub-trolleys need to be automatically locked and released. Therefore, the grabbing mechanism at the end of the existing forks usually adopts a complex hook or claw mechanism, which has high equipment cost and complex grabbing action. Once there is an error in the positioning or distance measurement of the sub-trolley body, it is easy to have a grabbing deviation or fail to grab the sub-trolley correctly; and because the sub-trolley usually needs to carry a heavier load, the fork also needs to withstand a large push-pull stress. The fork mechanism with a complex structure is usually difficult to withstand large stress, resulting in a high failure rate of the existing forks. In addition, the telescopic action of the existing forks is usually achieved by dragging with a chain drive. This transmission method has the disadvantage of poor transmission stability and is prone to jamming during operation. Moreover, after long-term use, the chain will have failures such as chain decoupling due to wear and fatigue, which not only increases the equipment maintenance cost, but also seriously reduces production efficiency, restricting the automation process of transformer production and transportation.

[0004] In addition, there is a large gap between the existing compensating rail and the sub-vehicle rail, and the sub-vehicle will get stuck when passing through the connection part, and the wheels of the sub-vehicle will be strongly impacted, which not only affects the smooth operation of the sub-vehicle, but also accelerates the wear of the sub-vehicle wheels and reduces the service life of the sub-vehicle; the existing compensating rail does not have a track gauge adjustment function, and has extremely high requirements for installation accuracy. The installation process of the compensating rail is complicated and it is difficult to ensure the installation quality. Once the installation of the compensating rail deviates, it will affect the normal operation of the sub-vehicle and increase the installation and maintenance costs. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention designs an RGV shuttle car and its control method. The technical solutions adopted by the present invention are as follows: An RGV shuttle car includes a mother car, a child car and a forklift. On the mother car platform, a child car track and a compensation track mechanism are arranged on the same straight line. The forklift includes a lower fork and an upper fork. The upper fork is slidably connected and installed on the lower fork, and a moving trolley is slidably connected and installed on the upper fork. The moving trolley includes a moving trolley body in the form of a plate structure. On both sides of the lower surface of the moving trolley body, two pin ejection mechanisms are installed. The pin ejection mechanism includes a pin lifting electric cylinder installed on the lower surface of the moving trolley body. The push rod of the pin lifting electric cylinder is fixedly connected to one end of the upper surface of the lifting plate. The other end of the upper surface of the lifting plate is fixedly connected to the bottom end of the pin. The pin fixing block is fixedly installed on the lower surface of the moving trolley body. A through hole one matching the pin is opened at the central position of the pin fixing block. The middle and lower part of the pin is slidably connected with the through hole one. A through hole two matching the pin is opened on the moving trolley body. The upper part of the pin is slidably connected with the through hole two. The compensation track mechanism includes a compensation track, a first compensation track seat and a second compensation track seat. A pair of first compensation track seats are fixedly installed above one end of the mother car platform. The second compensation track seat is rotatably installed above the first compensation track seat. A long circular hole two is opened on the second compensation track seat. The end of the compensation track is fixedly installed on the second compensation track seat through a bolt two passing through the long circular hole two and matching with a nut two. A long circular hole one is opened at the lower part of the child car track. The child car track is fixedly installed on the mother car platform through a bolt one passing through the long circular hole one and matching with a nut one. The position of the compensation track matches the position of the child car track. A fixing component is arranged outside one of the child car tracks.

[0006] Preferably, the moving trolley traveling motor is fixedly installed on the lower surface of the moving trolley body. The moving trolley traveling motor is internally provided with a third absolute encoder. A helical gear is fixedly installed on the output shaft of the moving trolley traveling motor. The helical gear meshes with a helical rack located on the upper fork. An outer shell of the pin ejection mechanism is arranged on the outer periphery of the pin ejection mechanism. A sensor for the lower cross beam at the end of the child car is arranged at a position on the side of the outer shell of the pin ejection mechanism corresponding to the pin. A limit detection piece one and a limit detection piece two are respectively arranged at the front and rear ends of the moving trolley body.

[0007] Preferably, the upper fork includes an upper fork base frame in a rectangular frame structure. A number of upper fork traveling rollers are provided at the lower parts on both sides of the upper fork base frame. A straight rack is provided at the bottom of the upper fork base frame. The straight rack meshes with a straight gear located on the lower fork. Four upper fork limit blocks are respectively installed on both sides at the front and rear ends of the straight rack. On both sides in the length direction of the upper part of the upper fork base frame, parallel moving trolley channel steel rails are installed. End covers are installed at both ends in the length direction of the upper fork. Both ends of a pair of upper covers are fixedly installed on the adjacent inner surfaces of a pair of end covers. The pair of upper covers are located on both sides in the width direction of the upper fork. An inclined rack is provided on the upper surface of the upper fork base frame. The inclined rack meshes with an inclined gear located on the moving trolley body. A moving trolley limit sensor is provided on the inner side wall of each of the two end covers.

[0008] Preferably, the lower fork includes a lower fork fixed seat. Parallel lower fork channel steel rails are installed on both sides in the length direction of the upper part of the lower fork fixed seat. Two bearing seats are respectively fixedly installed on both ends of the lower fork fixed seat. Both ends of the straight gear rotating shaft are rotatably connected to the bearing seats through bearings. A straight gear and a straight gear rotating shaft sprocket are fixedly installed on the straight gear rotating shaft. An upper fork traveling motor is fixedly installed below the lower fork fixed seat. The upper fork traveling motor is internally provided with a first absolute encoder. An upper fork traveling motor sprocket is provided on the output shaft of the upper fork traveling motor. The upper fork traveling motor sprocket is connected to the straight gear rotating shaft sprocket through a chain drive. A pair of upper fork limit sensors are provided on both sides of the straight gear.

[0009] Preferably, an induction mechanism is provided on the outer side of the first compensation track seat at one end. The induction mechanism includes a detection sensor base, a detection sensor, and a detection reference piece. The lower end of the detection sensor base is fixedly installed on the mother vehicle platform. The upper part of the detection sensor base is a sector plate. Two downwardly curved arc grooves are opened on the sector plate. Detection sensors are respectively fixedly provided at both ends of the arc grooves. The detection reference piece is fixedly installed on the outer side of the first compensation track seat and can rotate synchronously with the second compensation track seat.

[0010] Preferably, the first compensation track seat includes a pair of parallel blocks. The outer sides of the pair of blocks are fixedly installed on the upper part of a U-shaped mounting plate. The lower part of the mounting plate is fixedly installed on the outer side of the mother vehicle platform. Both ends of the transmission shaft are respectively rotatably connected to the first bearings in a pair of first compensation track seats. The transmission shaft is rotatably connected to the first compensation track seat through the first bearings.

[0011] Preferably, an adjustment motor is fixedly arranged on the outer side of the first compensation track seat at the other end. The output rotating shaft of the adjustment motor is in transmission connection with the transmission shaft through a chain transmission assembly. Both ends of the connecting rotating shaft are rotatably connected to the second bearings in a pair of blocks of the first compensation track seat. The second compensation track seat is fixedly installed on the connecting rotating shaft. The second compensation track seat is rotatably connected to the first compensation track seat through the connecting rotating shaft. The connecting rotating shaft is in transmission connection with the transmission shaft through a gear transmission assembly on the outer side of the first compensation track seat. The driven wheel in the gear transmission assembly is an incomplete gear.

[0012] Preferably, the mother vehicle traveling mechanism includes a mother vehicle traveling motor fixedly installed below the mother vehicle platform. A universal coupling is connected to the rotating shaft of the mother vehicle traveling motor. Both ends of the universal coupling are rotatably connected to the mother vehicle traveling wheels. A second absolute encoder is arranged on the mother vehicle traveling motor. A set of power taking modules is arranged at one end of the mother vehicle platform corresponding to the electric control cabinet. A support column is arranged in the electric control cabinet. The storage batteries electrically connected to the power taking modules are arranged in a vertical layered manner on the column.

[0013] Preferably, a position sensor is fixedly installed on the outer side of the mother vehicle platform below the upper fork. A plurality of position sensors are arranged on the outer side of the lower fork. A distance measuring assembly one and a distance measuring assembly two are respectively arranged at both ends above the mother vehicle platform. The distance measuring assembly one and the distance measuring assembly two are located on the same straight line and outside the sub-vehicle track.

[0014] The foregoing control method of an RGV shuttle vehicle, which is used to transfer the coil on the sub-vehicle from the first station to the second station. The first station is a long-distance station, and the second station is a short-distance station, includes the following steps: Issuing a coil transfer task, and the mother vehicle stops after reaching the first station according to the preset path; one end of the mother vehicle platform equipped with the compensation track mechanism approaches the first station, and the compensation track rotates from the vertical state to the horizontal state, and the compensation track realizes the docking of the station track of the first station and the sub-vehicle track. The moving trolley moves to the end of the upper fork close to the first station, and the upper fork extends towards the station track. When the moving trolley reaches below the end of the sub-vehicle close to the mother vehicle, the plug lifting electric cylinder of the plug ejection mechanism acts, and the paired plugs clamp the end of the sub-vehicle close to the mother vehicle from both front and back; after the upper fork completely retracts and sends a signal, the moving trolley acts to pull the sub-vehicle back to the set position on the mother vehicle, and the fixing component fixes the sub-vehicle. The plug lifting electric cylinder acts to retract the plugs to the initial state, and the compensation track rotates from the horizontal state to the vertical state; Bring one end of the mother vehicle platform without the compensation track mechanism close to the second working station; during the movement of the mother vehicle towards the second working station, the moving trolley moves below one end of the sub-vehicle far from the second working station, and the pin lifting electric cylinder of the pin ejection mechanism operates. The paired pins clamp one end of the sub-vehicle far from the second working station bidirectionally from the front and back, and the fixing component releases the sub-vehicle; after the mother vehicle reaches the set position of the second working station, the working station track of the second working station is docked with the sub-vehicle track. The moving trolley moves to the end of the upper fork close to the second working station, extends the upper fork towards the second working station, transports the sub-vehicle to the designated position of the second working station, then the pin lifting electric cylinder operates to retract the pins to the initial state, retracts the upper fork, and the moving trolley resets.

[0015] The beneficial effects of the present invention are as follows: A moving trolley is arranged on the forklift, and a pin ejection mechanism is arranged on the moving trolley. The pin ejection mechanism ensures reliable clamping of the sub-vehicle; the pin ejection mechanism of the moving trolley adopts an independent electric push rod control method for each, changing the original mode of simultaneous lifting and lowering of the front and rear pins. This design can effectively avoid the overload problem caused by the pins hitting the tray due to positioning errors. Even when there is a certain error in the positioning of the photoelectric sensor, it can ensure that the pins accurately clamp the sub-vehicle, improving the adaptability and reliability of the forklift in practical applications. In the present invention, the first compensation track seat and the second compensation track seat are arranged in a stepped shape, increasing the rotation center of the compensation track. When the compensation track rotates to the horizontal state, the gap between the compensation track and the sub-vehicle track can be reduced, enabling the sub-vehicle to smoothly transition when passing through the track connection, avoiding jamming and impact phenomena, improving the smoothness and reliability of the sub-vehicle operation, and extending the service life of the sub-vehicle and related components; the second compensation track seat is connected to the compensation track through the second oblong hole, and the mother vehicle platform is connected to the sub-vehicle track through the first oblong hole, which can quickly adjust the distance between the compensation track and the sub-vehicle track, enabling the compensation track and the sub-vehicle track to adapt to different working station tracks. The present invention shortens the material transfer time and improves the production efficiency. Description of the Drawings

[0016] In the drawings: Figure 1 is the three-dimensional structure schematic diagram of the RGV shuttle vehicle in the first embodiment of the present invention; Figure 2 is the three-dimensional structure schematic diagram of the forklift in the first embodiment of the present invention; Figure 3 is the three-dimensional structure schematic diagram of the lower fork in the first embodiment of the present invention; Figure 4 is the partial three-dimensional structure schematic diagram of the lower fork in the first embodiment of the present invention; Figure 5 is the three-dimensional structure schematic diagram of the upper fork in the first embodiment of the present invention; Figure 6It is a partial three-dimensional structure schematic diagram of the upper fork in the first embodiment of the present invention; Figure 7 It is a partial three-dimensional structure schematic diagram of the upper fork in the first embodiment of the present invention; Figure 8 It is a three-dimensional structure schematic diagram of the mobile trolley in the first embodiment of the present invention from a top view angle; Figure 9 It is a three-dimensional structure schematic diagram of the mobile trolley in the first embodiment of the present invention from a bottom view angle; Figure 10 It is a three-dimensional structure schematic diagram of the pin ejection mechanism in the first embodiment of the present invention; Figure 11 It is a three-dimensional structure schematic diagram of the sub-car in the first embodiment of the present invention from a bottom view angle; Figure 12 It is a three-dimensional schematic diagram of the compensation track mechanism in the first embodiment of the present invention; Figure 13 It is a front view of the compensation track mechanism in the first embodiment of the present invention; Figure 14 It is a top view of the compensation track mechanism installed on the mother vehicle platform in the first embodiment of the present invention; Figure 15 It is a left view of the compensation track mechanism installed on the mother vehicle platform in the first embodiment of the invention; Figure 16 It is a schematic diagram of the first compensation track seat installation induction mechanism in the first embodiment of the invention; Figure 17 For Figure 16 The enlarged schematic diagram of the induction mechanism in; Figure 18 It is a structural schematic diagram of the mother vehicle traveling mechanism in the first embodiment of the invention; In the figure, 1 is the lower fork, 101 is the lower fork fixing seat, 102 is the lower fork channel steel track, 103 is the upper fork traveling motor, 104 is the spur gear, 105 is the spur gear rotating shaft, 106 is the bearing seat, 107 is the upper fork traveling motor sprocket, 108 is the spur gear rotating shaft sprocket, 109 is the upper fork limit sensor; 2 is the upper fork, 201 is the upper fork base frame, 202 is the upper fork traveling roller, 203 is the straight rack, 204 is the moving trolley channel steel track, 205 is the upper cover plate, 206 is the inclined rack, 207 is the upper fork limit block, 208 is the end face baffle, 209 is the moving trolley limit sensor; 3 is the moving trolley, 301 is the moving trolley body, 302 is the moving trolley traveling wheel, 303 is the side clamping wheel, 304 is the moving trolley traveling motor, 305 is the sub - vehicle end lower crossbeam sensor, 306 is the bolt, 307 is the bolt lifting electric cylinder, 308 is the lifting plate, 309 is the bolt fixing block, 310 is the bolt ejection mechanism housing, 311 is the helical gear, 312 is the limit detection piece one, 313 is the limit detection piece two; 4 is the mother vehicle platform, 5 is the sub - vehicle track, 6 is the tray, 7 is the sub - vehicle end lower crossbeam, 8 is the sub - vehicle track wheel, 9 is the compensation track mechanism, 901 is the compensation track, 902 is the extrusion bolt, 903 is the second compensation track seat, 904 is the gear transmission component, 905 is the adjustment motor, 906 is the chain transmission component, 907 is the mounting plate, 908 is the transmission shaft, 909 is the first compensation track seat, 910 is the induction mechanism, 911 is the detection sensor base, 912 is the detection sensor, 913 is the detection reference piece; 10 is the electric control cabinet, 11 is the in - place sensor, 12 is the distance measurement component one, 13 is the distance measurement component two, 14 is the fixing component, 15 is the position sensor, 16 is the second absolute encoder, 17 is the mother vehicle traveling motor mounting plate, 18 is the mother vehicle traveling motor, 19 is the mother vehicle traveling wheel, 20 is the universal coupling. Detailed implementation mode Embodiment 1

[0017] As Figure 1 、 Figure 2As shown, the present invention discloses an RGV shuttle vehicle, including a mother vehicle, a sub-vehicle and a fork, wherein the mother vehicle includes a mother vehicle platform 4, the sub-vehicle includes a sub-vehicle track 5, and the fork includes a lower fork 1, an upper fork 2 and a moving trolley 3. A pair of sub-vehicle tracks 5 arranged in parallel are fixedly installed on the mother vehicle platform 4, the sub-vehicle is slidably connected to the pair of sub-vehicle tracks 5, the lower fork 1 is fixedly installed on the mother vehicle platform 4 between the pair of sub-vehicle tracks 5, the upper fork 2 is slidably installed on the lower fork 1, and the upper fork 2 can slide horizontally along the lower fork 1, and the moving trolley 3 is slidably installed on the upper fork 2, and the moving trolley 3 can slide horizontally along the upper fork 2. An electric control cabinet 10 is fixedly installed at one end of the mother vehicle platform 4, and a control component is placed in the electric control cabinet 10. An in-position sensor 11 is fixedly installed on the outer side of the mother vehicle platform 4 below the upper fork 2, and the in-position sensor 11 is used to detect whether the upper fork 2 is in an extended state or a fully retracted state. Several position sensors 15 are arranged on the outside of the lower fork fixing seat 101 of the lower fork 1. The position sensors 15 are used to detect and determine the position of the mobile trolley 3, and control the mobile trolley 3 to slow down and stop before reaching the set position. Because the docking station may be located on both sides of the mother vehicle platform 4 in different directions, a distance measuring component 1 12 and a distance measuring component 2 13 are respectively arranged at both ends above the mother vehicle platform 4. The distance measuring component 1 12 and the distance measuring component 2 13 are located on the same straight line and located on the outside of the sub-trolley track 5. The distance measuring component 1 12 and the distance measuring component 2 13 both include a distance measuring column and a photoelectric sensor installed on the upper part of the distance measuring column, which is used to detect whether the sub-trolley is in place. The photoelectric sensors are respectively tilted toward the docking station, and the position of the sub-trolley is determined by the preset parameters. For example, the preset distance parameter is 100, and then the sub-trolley is detected to determine whether the distance parameter between the sub-trolley and the photoelectric sensor is 100. If it does not match the set parameter, the sub-trolley is controlled to move forward or backward for adjustment. A fixing assembly 14 is also provided outside the sub-trolley track 5. The fixing assembly 14 has the same structure as the latch ejection mechanism in the fork and is used to fix the sub-trolley after it is moved into position to prevent the sub-trolley from slipping. A compensation track mechanism 9 is provided on the mother vehicle platform 4 and is located in the same straight line as the sub-trolley track 5.

[0018] like Figure 3 , Figure 4 As shown, the lower fork 1 includes a lower fork fixing seat 101, which is fixedly mounted on the mother vehicle platform 4. Lower fork channel steel rails 102 parallel to each other are installed on both sides of the upper length direction of the lower fork fixing seat 101, and the upper fork walking rollers 202 on both sides of the upper fork 2 can be embedded in the groove structure of a pair of lower fork channel steel rails 102 and roll back and forth.

[0019] Two bearing seats 106 are respectively fixedly mounted on both sides of the end of the lower fork fixing seat 101, and the two ends of the spur gear shaft 105 are rotatably connected to a bearing seat 106 through a third bearing. A spur gear 104 and a spur gear shaft sprocket 108 are fixedly mounted on the spur gear shaft 105. An upper fork travel motor 103 is fixedly mounted below the lower fork fixing seat 101, and an upper fork travel motor sprocket 107 is provided on the output shaft of the upper fork travel motor 103, and the upper fork travel motor sprocket 107 is connected to the spur gear shaft sprocket 108 through a chain transmission.

[0020] The upper fork travel motor 103 drives the spur gear shaft 105 and the spur gear 104 to rotate through the sprocket chain transmission; the spur gear 104 is meshed and connected with the spur rack 203 at the bottom of the upper fork 2, thereby driving the upper fork 2 to move forward and backward. The upper fork travel motor 103 is built with a first absolute encoder, which can achieve high-precision positioning and has a power-off memory function, ensuring that the equipment can quickly and accurately resume operation under various working conditions, reducing downtime, and further improving the automation level and production efficiency of the entire RGV shuttle vehicle.

[0021] A pair of upper fork limit sensors 109 are arranged on both sides of the spur gear 104 to detect whether the upper fork 2 has reached the limit position. The upper fork limit sensor 109 can be a travel switch or a Hall sensor, and is used in conjunction with the upper fork limit block 207 of the upper fork 2.

[0022] like Figure 5 , Figure 6 As shown, the upper fork 2 includes an upper fork base frame 201 of a rectangular frame structure, and a plurality of upper fork walking rollers 202 are arranged at the lower part of both sides of the upper fork base frame 201. A spur rack 203 is arranged at the bottom of the upper fork base frame 201, and the spur rack 203 is meshed with the spur gear 104. Four upper fork limit blocks 207 are arranged on the spur rack 203, and the upper fork limit blocks 207 are respectively installed on both sides of the front and rear ends of the spur rack 203. When the upper fork limit sensor 109 detects that the upper fork limit block 207 passes, it is determined that the upper fork 2 has moved to the limit position. A moving trolley channel steel rail 204 parallel to each other is installed on both sides of the upper length direction of the upper fork base frame 201, and the moving trolley walking wheel 302 can be embedded in the groove structure of the moving trolley channel steel rail 204 and roll forward and backward. An end cover plate 208 is installed at each end of the length direction of the upper fork 2, and the front and rear ends of the upper cover plate 205 are fixedly installed on the adjacent inner surfaces of the two end covers 208. The end cover plate 208 and the upper cover plate 205 are used to protect and dustproof the internal gear rack structure of the upper fork 2. The upper surface of the upper fork base frame 201 is also provided with a bevel rack 206, which is meshed and transmission-connected with the bevel gear 311.

[0023] like Figure 7As shown, a moving trolley limit sensor 209 is provided on each inner side wall of the two end cover plates 208, for detecting whether the moving trolley 3 has reached the limit position. In this embodiment, the moving trolley limit sensor 209 uses a U-shaped photoelectric switch, and is used in conjunction with the limit detection piece (limit detection piece 1 312 and limit detection piece 2 313).

[0024] like Figure 8 , Figure 9 As shown, the mobile trolley 3 includes a mobile trolley body 301 of a plate-like structure, and four mobile trolley running wheels 302 are installed on the lower surface of the mobile trolley body 301. The four mobile trolley running wheels 302 are arranged in pairs at both ends of the mobile trolley body 301. The mobile trolley running wheels 302 can be embedded in the groove structure of the mobile trolley channel steel track 204 and roll forward and backward. Four side clamping wheels 303 are also installed on the lower surface of the mobile trolley body 301 near the position of the mobile trolley running wheels 302. The side clamping wheels 303 are attached to the inner side of the mobile trolley channel steel track 204 to reduce the shaking of the mobile trolley 3 in the left and right directions. The mobile trolley running motor 304 is fixedly installed in the middle position of the lower surface of the mobile trolley body 301. The mobile trolley running motor 304 is built with a third absolute encoder. The output shaft of the mobile trolley running motor 304 is fixedly installed with a bevel gear 311, and the bevel gear 311 is meshed with the bevel rack 206. The combination of helical gears and helical racks can effectively reduce vibration and noise during operation, avoid jamming of the mobile trolley 3, and improve transmission capacity for transporting larger loads, compared with traditional chain drives. It has significant advantages such as high load-bearing capacity, stable transmission, high precision, and good reliability. It can extend the service life of the equipment, reduce maintenance costs, and ensure efficient and stable operation of the transformer coil transport process.

[0025] like Figure 10As shown in the figure, two pin ejection mechanisms are installed on each of the left and right sides of the lower surface of the moving trolley body 301. The pin ejection mechanism includes: a pin lifting electric cylinder 307 installed on the lower surface of the moving trolley body 301, and the push rod of the pin lifting electric cylinder 307 is fixedly connected to one side of the upper surface of the lifting plate 308. The other side of the upper surface of the lifting plate 308 is fixedly connected to the bottom of the pin 306. The pin fixing block 309 is a block-shaped component with a circular through hole in the middle. The pin fixing block 309 is installed on the lower surface of the moving trolley body 301. The pin 306 is a cylinder and is slidably matched with the circular through hole of the pin fixing block 309. Circular holes are opened at the positions corresponding to the four pins 306 on the moving trolley body 301, and the pin 306 can extend upward through the circular holes on the moving trolley body 301 under the drive of the pin lifting electric cylinder 307. An outer shell 310 of the pin ejection mechanism is arranged on the outer periphery of the pin ejection mechanism, and the outer shell 310 of the pin ejection mechanism is used to protect the internal structure of the pin ejection mechanism and prevent dust. A sub-car end lower crossbeam sensor 305 is provided at each position on the side of the outer shell 310 of the pin ejection mechanism corresponding to the pin 306, for detecting whether the moving trolley 3 has reached the position below the sub-car end lower crossbeam 7.

[0026] Limit detection pieces one 312 and limit detection pieces two 313 are respectively arranged on the front and rear sides of the moving trolley body 301. The limit detection piece one 312 is used in cooperation with the moving trolley limit sensor 209 at one end of the upper fork 2, and the limit detection piece two 313 is used in cooperation with the moving trolley limit sensor 209 at the other end of the upper fork 2. When the moving trolley 3 moves forward or backward to the limit position, the limit sensor at the corresponding position will send a signal indicating that the limit position has been reached. The extension lengths of the limit detection pieces one 312 and limit detection pieces two 313 can be designed according to space requirements.

[0027] As Figure 11 shown in the figure, the sub-car includes a tray 6. Sub-car end lower crossbeams 7 are respectively installed at both ends in the width direction of the lower surface of the tray 6. A plurality of sub-car track wheels 8 are arranged on both sides in the length direction below the tray 6. The sub-car track wheels 8 are matched with the sub-car track 5. A number of middle lower crossbeams are also arranged between the two sub-car end lower crossbeams 7 to improve the mechanical strength of the sub-car.

[0028] Considering that positioning errors may cause the bolt 306 to fail to pop out at the correct position, resulting in the bolt 306 failing to grip the lower crossbeam 7 of the end of the sub-vehicle or the bolt 306 hitting the tray 6, the bolt 306 can take the following gripping actions: First, move the trolley 3 to the end of the upper fork 2 and then stop. The upper fork 2 moves horizontally along the lower fork 1 and extends under the sub-vehicle. The two front sub-vehicle end lower crossbeam sensors 305 will first detect the passing of the proximal sub-vehicle end lower crossbeam 7. At this time, move the trolley 3 forward until the two front sub-vehicle end lower crossbeam sensors 305 can no longer detect the sub-vehicle end lower crossbeam 7, and the two rear sub-vehicle end lower crossbeam sensors 305 can detect the sub-vehicle end lower crossbeam 7. At this time, pop out the two front bolts 306. Then move the trolley 3 slowly back, and the sub-vehicle end lower crossbeam 7 will fit with the two front bolts 306. At this time, the two rear sub-vehicle end lower crossbeam sensors 305 will no longer detect the sub-vehicle end lower crossbeam 7. At this time, pop out the two rear bolts 306, thus completing the front and rear bidirectional gripping of the sub-vehicle by the bolts 306. This action process effectively avoids the bolt 306 hitting the tray 6 due to positioning errors, and improves the adaptability and reliability of the forklift in practical applications.

[0029] As Figures 12 - 17 Shown, the compensation track mechanism 9 includes a compensation track 901, a mounting plate 907, a first compensation track seat 909 and a second compensation track seat 903. There are two symmetrically arranged first compensation track seats 909. Each first compensation track seat 909 includes a pair of L-shaped blocks arranged in parallel. The outer end faces of the pair of L-shaped blocks are fixedly installed on the upper part of the mounting plate 907 by bolts. The mounting plate 907 is a U-shaped steel plate, and the lower part of the mounting plate 907 is fixedly installed on the outer surface of the mother vehicle platform 4 by bolts. A transmission shaft 908 is rotatably arranged between the pair of first compensation track seats 909. The two ends of the transmission shaft 908 respectively pass through the first bearings in the two first compensation track seats 909, and the transmission shaft 908 is rotatably connected to the first compensation track seat 909 through the first bearings.

[0030] A second compensating rail seat 903 is rotatably arranged above the first compensating rail seat 909. The second compensating rail seat 903 is rotatably connected to the first compensating rail seat 909 via a connecting shaft. The second compensating rail seat 903 is located in the middle of a pair of L-shaped blocks of the first compensating rail seat 909. Both ends of the connecting shaft pass through the second bearings in the two L-shaped blocks respectively. The connecting shaft is rotatably connected to the pair of L-shaped blocks via the second bearings. The second compensating rail seat 903 is fixedly mounted on the connecting shaft. An adjustment motor 905 is fixedly arranged on the outer side of the first compensating rail seat 909 on the left side. The output shaft of the adjustment motor 905 is connected to the transmission shaft 908 via a chain transmission assembly 906. Starting the adjustment motor 905 can control the rotation of the transmission shaft 908. The second compensation rail seat 903 includes a left side plate, a right side plate and a rear side plate which are fixed together by bolts. The rear side plate is located on the outside. The left side plate and the right side plate are arranged parallel to each other on both sides of the rear side plate. The left side plate and the right side plate are rectangular plates with cut corners on the upper part. The upper cut corners of the left side plate and the right side plate are away from the work station rail.

[0031] The connecting shaft of the second compensation rail seat 903 and the first compensation rail seat 909 is connected to the transmission shaft 908 through the gear transmission assembly 904 at the outside of each first compensation rail seat 909. When the adjustment motor 905 controls the transmission shaft 908 to rotate, the rotating transmission shaft 908 can control the second compensation rail seat 903 to rotate through the gear transmission assembly 904. The driven wheel in the gear transmission assembly 904 adopts an incomplete gear. When the compensation rail 901 rotates to a horizontal position, the incomplete gear can avoid obstruction to the sub-car moving along the track.

[0032] The compensation rail 901 is fixedly installed on the second compensation rail seat 903 by bolts, and the structure of the compensation rail 901 is the same as that of the sub-car rail 5. The transmission shaft 908 passes through the end of the compensation rail 901, and the end of the compensation rail 901 is fixedly installed on the inner surface of the rear side plate of the second compensation rail seat 903 by bolts, and the compensation rail 901 can rotate with the second compensation rail seat 903. A group of oblong holes 2 are opened on the rear side plate of the second compensation rail seat 903 at the connection with the compensation rail 901, and the distance between a pair of compensation rails 901 can be conveniently adjusted by installing bolts in the oblong holes 2. Extrusion bolts 902 are respectively provided on the outer sides of the pair of second compensation rail seats 903, and the extrusion bolts 902 can serve as a reference when adjusting the distance between the two compensation rails 901. When the compensation rail 901 is in use (horizontally), it is adjacent to the sub-trolley rail 5, forming a compensation transition structure for the sub-trolley to move smoothly to the work station rail; when the compensation rail 901 is not in use (vertically), a certain gap is left between the compensation rail 901 and the end of the sub-trolley rail 5. This gap is a redundant distance reserved for the rotation of the compensation rail 901.

[0033] On the right side of the first compensation track base 909 at the right end, there is an induction mechanism 910, which is used to confirm whether the compensation track 901 is in a vertical state or a horizontal state. The induction mechanism 910 includes a detection sensor base 911, a detection sensor 912, and a detection reference piece 913. The lower end of the detection sensor base 911 is fixedly installed on the mother vehicle platform 4 by bolts. The upper part of the detection sensor base 911 is a sector plate, and two downward-bending arc-shaped grooves are provided on the sector plate. Detection sensors 912 are fixedly arranged at both ends of the arc-shaped grooves. On the right side of the first compensation track base 909, there is a detection reference piece 913 fixedly connected to the right end of the connecting rotating shaft. The detection reference piece 913 is a thin plate with an L-shaped structure, and the detection reference piece 913 can rotate following the compensation track 901. When the compensation track 901 is in the use state (horizontal direction), the position of the detection reference piece 913 corresponds to a group of detection sensors 912 away from the station track. The detection sensor 912 is used to judge the position of the detection reference piece 913, and judge the state of the compensation track 901 according to the position of the detection reference piece 913: when a group of detection sensors 912 close to the station track scan the detection reference piece 913, the compensation track 901 is in a vertical state; when a group of detection sensors 912 away from the station track scan the detection reference piece 913, the compensation track 901 is in a horizontal state.

[0034] The initial state of the compensation track 901 is in the vertical direction. During use, the adjustment motor 905 is started. The adjustment motor 905 controls the rotation of the transmission shaft 908 through the chain drive assembly 906. The rotating transmission shaft 908 drives the compensation track 901 to rotate through the gear drive assembly 904. During the rotation of the compensation track 901, when a group of detection sensors 912 away from the station track scan the detection reference piece 913, it is judged that the compensation track 901 is in a horizontal state, and the adjustment motor 905 is controlled to stop. Subsequently, the mother vehicle pushes the sub-vehicle along the compensation track 901 from the sub-vehicle track 5 to the station track through the forklift, and finally transports materials such as transformer coils to the connection station smoothly.

[0035] As Figure 18 shown, the mother vehicle realizes mobile connection through the mother vehicle traveling mechanism arranged below the mother vehicle platform 4. The mother vehicle traveling mechanism includes a mother vehicle traveling motor 18. The mother vehicle traveling motor 18 is fixedly installed below the mother vehicle platform 4 through the mother vehicle traveling motor mounting plate 17 and bolts. A universal coupling 20 is connected to the rotating shaft of the mother vehicle traveling motor 18. Both ends of the universal coupling 20 are rotatably connected to the mother vehicle traveling wheels 19, and the rotation of the mother vehicle traveling wheels 19 can be controlled through the mother vehicle traveling motor 18. A second absolute encoder 16 is provided on the mother vehicle traveling motor 18. The second absolute encoder 16 can judge the moving distance of the mother vehicle by sensing the number of rotations of the rotating shaft of the mother vehicle traveling motor 18.

[0036] One end of the mother vehicle platform 4 corresponding to the electric control cabinet 10 is provided with a set of power-taking modules. A support pillar is arranged in the electric control cabinet 10, and the capacitors electrically connected to the power-taking modules are arranged in a vertical layered manner on the pillar, saving the floor area occupied by the RGV shuttle vehicle. A cable is buried on the moving path of the mother vehicle. When the power-taking module on the mother vehicle passes by the cable, current is generated by moving in a magnetic field to achieve contactless power supply; this contactless power supply solution adopts the existing technology and will not be elaborated here. Embodiment 2

[0037] A control method for an RGV shuttle vehicle as described in Embodiment 1 includes the following steps: Issue a transfer task and start the mother vehicle traveling motor 18. The mother vehicle travels along the ground track according to a preset path. During the traveling process, the traveling distance of the mother vehicle is monitored through the second absolute encoder 16. After reaching the docking position at the first station, the second absolute encoder 16 sends a mother vehicle in-place signal to control the mother vehicle traveling motor 18 to stop. The first station is a long-distance station (assumed to be located behind the mother vehicle), and the compensation track mechanism 9 needs to be used.

[0038] Start the adjustment motor 905. The compensation track 901 rotates from the vertical state to the horizontal state. The two ends of the compensation track 901 are respectively docked with the station track at the first station at the rear side and the sub-vehicle track 5 at the front side. Start the moving trolley traveling motor 304, and the moving trolley 3 moves to the rearmost end of the upper fork 2. During the moving process, the position sensor 15 will detect and judge the position of the moving trolley 3. When the moving trolley 3 is about to reach the set position at the rearmost end, control the moving trolley 3 to decelerate first and then stop.

[0039] After the moving trolley 3 is in place, start the upper fork traveling motor 103 to extend the upper fork 2 to one side of the first station. Before the upper fork 2 extends, the distance that the upper fork 2 extends backward will be calculated through the distance measuring component 12, and the extension distance will be accurately controlled through the first absolute encoder on the upper fork traveling motor 103. After the upper fork 2 extends backward in place, the moving trolley 3 is located under the sub-vehicle. When the sub-vehicle end lower beam sensor 305 at the front end detects the front sub-vehicle end lower beam 7, it sends a signal to control the two pin ejection mechanisms of the moving trolley 3 to act, and the front sub-vehicle end lower beam 7 is clamped bidirectionally front and back through the pins 306 of the pin ejection mechanism. Control the upper fork 2 to retract. After the in-place sensor 11 detects that the upper fork 2 is completely retracted, it sends a signal, and the moving trolley 3 acts and pulls the sub-vehicle back and conveys it to the set position on the mother vehicle. The third absolute encoder on the moving trolley traveling motor 304 sends a moving trolley 3 in-place signal to control the fixing component 14 to act to assist in fixing the sub-vehicle.

[0040] Adjust the motor 905 to rotate in the reverse direction to retract the compensation track 1. The mother vehicle moves along the track towards the second station, and the second station is a close-range station (assumed to be located at the front side of the mother vehicle), and the compensation track mechanism 9 is not required. Since the second station is at the front side of the mother vehicle, it is necessary to move the trolley 3 to grab the lower cross beam 7 at the end of the sub-vehicle at the rear end of the sub-vehicle to ensure that the sub-vehicle is completely pushed into the station. When the mother vehicle moves, the pin 306 of the moving trolley 3 is lowered, and the moving trolley 3 is controlled by the third absolute encoder to move to the set position at the rear end of the sub-vehicle. The pin 306 of the moving trolley 3 pops out to complete the front and rear bidirectional clamping of the lower cross beam 7 at the end of the rear sub-vehicle, and at the same time, the pin 306 of the fixing component 14 is retracted.

[0041] The mother vehicle reaches the set position of the second station along the track, starts the walking motor 304 of the moving trolley, and the moving trolley 3 moves to the front end of the upper fork 2, and the upper fork 2 extends forward. Before the upper fork 2 extends forward, the distance measuring component two 13 calculates the distance that the upper fork 2 extends forward, and the upper fork 2 conveys the sub-vehicle into the second station. The two pin ejection mechanisms of the moving trolley 3 act to retract the pins 306. Finally, the upper fork 2 is retracted and the moving trolley 3 is reset.

[0042] The coil placed on the sub-vehicle is processed in the second station. After the processing operation is completed, the mother vehicle is in place again, and the above process is repeated to pull the sub-vehicle back to the mother vehicle.

[0043] In the embodiments of the present invention, the technical features not described in detail are all prior arts or conventional technical means, and will not be elaborated here.

Claims

1. An RGV shuttle car, comprising a mother car, a child car and a forklift, characterized in that, The fork includes a lower fork and an upper fork. The upper fork is slidably connected and installed on the lower fork, and the moving trolley is slidably connected and installed on the upper fork. The moving trolley includes a moving trolley body in the form of a plate structure. On both sides of the lower surface of the moving trolley body, two pin ejection mechanisms are installed. The pin ejection mechanism includes a pin lifting electric cylinder installed on the lower surface of the moving trolley body. The push rod of the pin lifting electric cylinder is fixedly connected to one end of the upper surface of the lifting plate. The other end of the upper surface of the lifting plate is fixedly connected to the bottom end of the pin. The pin fixing block is fixedly installed on the lower surface of the moving trolley body. A through hole one matching the pin is opened at the center position of the pin fixing block. The middle and lower part of the pin is slidably connected with the through hole one. A through hole two matching the pin is opened on the moving trolley body. The upper part of the pin is slidably connected with the through hole two. The compensation track mechanism includes a compensation track, a first compensation track seat, and a second compensation track seat. A pair of first compensation track seats are fixedly installed above one end of the mother vehicle platform. The second compensation track seat is rotatably installed above the first compensation track seat. An oblong hole two is opened on the second compensation track seat. The end of the compensation track is fixedly installed on the second compensation track seat through a bolt two passing through the oblong hole two and cooperating with a nut two. An oblong hole one is opened at the lower part of the sub-vehicle track. The sub-vehicle track is fixedly installed on the mother vehicle platform through a bolt one passing through the oblong hole one and cooperating with a nut one. The position of the compensation track matches the position of the sub-vehicle track. A fixing component is arranged on the outside of one of the sub-vehicle tracks.

2. The RGV shuttle according to claim 1, characterized in that, The moving trolley traveling motor is fixedly installed on the lower surface of the moving trolley body. The moving trolley traveling motor is internally provided with a third absolute encoder. A helical gear is fixedly installed on the output shaft of the moving trolley traveling motor. The helical gear meshes with a helical rack located on the upper fork. An outer shell of the pin ejection mechanism is arranged on the outer periphery of the pin ejection mechanism. A sub-vehicle end lower crossbeam sensor is arranged at a position corresponding to the pin on the side surface of the outer shell of the pin ejection mechanism. A limit detection piece one and a limit detection piece two are respectively arranged at the front and rear ends of the moving trolley body.

3. The RGV shuttle car according to claim 1, wherein The upper fork includes an upper fork base frame in the form of a rectangular frame structure. A plurality of upper fork traveling rollers are arranged at the lower parts on both sides of the upper fork base frame. A straight rack is arranged at the bottom of the upper fork base frame. The straight rack meshes with a straight gear located on the lower fork. Four upper fork limit blocks are respectively installed on both sides of the front and rear ends of the straight rack. On both sides of the upper part of the upper fork base frame in the length direction, moving trolley channel steel tracks parallel to each other are installed. End covers are respectively installed at both ends of the upper fork in the length direction. Both ends of a pair of upper covers are fixedly installed on the adjacent inner surfaces of a pair of end covers. The pair of upper covers are located on both sides of the upper fork in the width direction. A helical rack is arranged on the upper surface of the upper fork base frame. The helical rack meshes with a helical gear located on the moving trolley body. A moving trolley limit sensor is arranged on the inner side wall of each of the two end covers.

4. A RGV shuttle vehicle according to claim 1, characterized in that, The lower fork includes a lower fork fixing base. On both sides of the upper part of the lower fork fixing base in the length direction, there are installed parallel lower fork channel steel rails. Two bearing seats are respectively fixedly installed on both sides of the ends of the lower fork fixing base. Both ends of the spur gear rotating shaft are rotationally connected to the bearing seats through bearings. A spur gear and a spur gear rotating shaft sprocket are fixedly installed on the spur gear rotating shaft. An upper fork traveling motor is fixedly installed below the lower fork fixing base. The upper fork traveling motor is internally provided with a first absolute encoder. An upper fork traveling motor sprocket is provided on the output shaft of the upper fork traveling motor. The upper fork traveling motor sprocket is connected to the spur gear rotating shaft sprocket through a chain drive. A pair of upper fork limit sensors are arranged on both sides of the spur gear.

5. A RGV shuttle according to claim 1, characterized in that An induction mechanism is arranged on the outer side of the first compensation track seat at one end. The induction mechanism includes a detection sensor base, a detection sensor, and a detection reference piece. The lower end of the detection sensor base is fixedly installed on the mother vehicle platform. The upper part of the detection sensor base is a sector plate. Two downwardly curved arc-shaped grooves are opened on the sector plate. Detection sensors are respectively fixedly arranged at both ends of the arc-shaped grooves. The detection reference piece is fixedly installed on the outer side of the first compensation track seat and can rotate synchronously with the second compensation track seat.

6. The RGV shuttle vehicle according to claim 5, wherein The first compensation track seat includes a pair of parallel blocks. The outer sides of the pair of blocks are fixedly installed on the upper part of the U-shaped mounting plate. The lower part of the mounting plate is fixedly installed on the outer side of the mother vehicle platform. Both ends of the transmission shaft are respectively rotationally connected to the first bearings in a pair of first compensation track seats.

7. The RGV shuttle car according to claim 6, characterized in that, An adjustment motor is fixedly arranged on the outer side of the first compensation track seat at the other end. The output rotating shaft of the adjustment motor is connected to the transmission shaft through a chain drive assembly. Both ends of the connecting rotating shaft are respectively rotationally connected to the second bearings in a pair of blocks of the first compensation track seat. The second compensation track seat is fixedly installed on the connecting rotating shaft. The second compensation track seat is rotationally connected to the first compensation track seat through the connecting rotating shaft. The connecting rotating shaft is connected to the transmission shaft through a gear drive assembly on the outer side of the first compensation track seat. The driven wheel in the gear drive assembly adopts an incomplete gear.

8. The RGV shuttle vehicle according to claim 1, wherein The mother vehicle traveling mechanism includes a mother vehicle traveling motor. The mother vehicle traveling motor is fixedly installed below the mother vehicle platform. A universal coupling is connected to the rotating shaft of the mother vehicle traveling motor. Both ends of the universal coupling are rotationally connected to the mother vehicle traveling wheels. A second absolute encoder is arranged on the mother vehicle traveling motor. A set of power-taking modules is arranged at one end of the mother vehicle platform corresponding to the electric control cabinet. A support column is arranged in the electric control cabinet. The capacitors electrically connected to the power-taking modules are arranged in a vertical layered manner on the support column.

9. The RGV shuttle vehicle according to claim 8, wherein A position sensor is fixedly installed on the outer side of the mother vehicle platform below the upper fork. A plurality of position sensors are arranged on the outer side of the lower fork. A distance measuring component one and a distance measuring component two are respectively arranged at both ends above the mother vehicle platform. The distance measuring component one and the distance measuring component two are located on the same straight line and outside the sub-vehicle track.

10. A control method of an RGV shuttle vehicle as claimed in claim 1, which is used to transfer the coil on the sub-vehicle from the first station to the second station. The first station is a long-distance station, and the second station is a short-distance station. It is characterized in that, It includes the following steps: The coil transfer task is issued, and the mother vehicle stops after reaching the first station according to the preset path; one end of the mother vehicle platform equipped with the compensation track mechanism approaches the first station, the compensation track rotates from the vertical state to the horizontal state, and the compensation track realizes the docking of the station track of the first station and the sub-vehicle track. The mobile trolley moves to the end of the upper fork close to the first station, the upper fork extends towards the station track. When the mobile trolley reaches below the end of the sub-vehicle close to the mother vehicle, the pin lifting electric cylinder of the pin ejection mechanism acts, and the paired pins clamp the end of the sub-vehicle close to the mother vehicle from both the front and the back; after the upper fork completely retracts and sends a signal, the mobile trolley acts to pull the sub-vehicle back to the set position on the mother vehicle, the fixing component fixes the sub-vehicle, the pin lifting electric cylinder acts to retract the pins to the initial state, and the compensation track rotates from the horizontal state to the vertical state; One end of the mother vehicle platform without the compensation track mechanism is brought close to the second station; during the movement of the mother vehicle towards the second station, the mobile trolley moves below the end of the sub-vehicle away from the second station, the pin lifting electric cylinder of the pin ejection mechanism acts, and the paired pins clamp the end of the sub-vehicle away from the second station from both the front and the back, and the fixing component releases the sub-vehicle; after the mother vehicle reaches the set position of the second station, the docking of the station track of the second station and the sub-vehicle track is realized, the mobile trolley moves to the end of the upper fork close to the second station, the upper fork extends towards the second station, after the sub-vehicle is transported to the designated position of the second station, the pin lifting electric cylinder acts to retract the pins to the initial state, the upper fork is retracted, and the mobile trolley returns to its original position.

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