RGV trolley and control method thereof

Abstract

The invention provides an RGV trolley and a control method thereof, and relates to the technical field of transportation tools. The RGV trolley comprises a trolley body, a walking driving mechanism, a rotating platform and a rotating driving mechanism, walking wheels are arranged on the trolley body, and the walking wheels are used for moving on a track; the walking driving mechanism is arranged on the vehicle body and connected with the walking wheels so as to drive the walking wheels to move on the track. The rotating platform is rotatably arranged on the vehicle body, and a roller conveying mechanism used for bearing and conveying materials is arranged on the rotating platform; the rotating driving mechanism is connected with the rotating platform so as to drive the rotating platform to rotate, and the RGV trolley can flexibly change the material conveying direction.

Description

Technical Field

[0001] The present application relates to the technical field of transportation tools, and more particularly, to an RGV cart and its control method. Background Art

[0002] An RGV (Rail Guided Vehicle) cart, that is, a rail-guided transport vehicle, is an automated transport device running on a fixed track and is widely used in scenarios such as warehousing logistics and production lines.

[0003] Traditional RGV carts can usually only run straight along the track. When the material needs to change the transportation direction, especially in the field of automated warehousing logistics, when docking with equipment such as inbound platforms, various buffer stations, conveyors, elevators, and robots, the docking method is single. When the material transportation direction changes, a turntable or other auxiliary equipment needs to be added for direction change, which increases additional equipment, generates additional costs, reduces the material transportation efficiency, and increases the complexity and cost of the logistics system. Summary of the Invention

[0004] The objectives of the present application include, for example, providing an RGV cart and its control method that can flexibly change the material transportation direction.

[0005] Embodiments of the present application can be implemented as follows: In a first aspect, an embodiment of the present application provides an RGV cart, which includes: A vehicle body, on which traveling wheels are provided, and the traveling wheels are used for moving on the track; A traveling driving mechanism, which is provided on the vehicle body and is connected to the traveling wheels to drive the traveling wheels to move on the track; A rotating platform, which is rotatably provided on the vehicle body, and a roller conveying mechanism for carrying and conveying materials is provided on the rotating platform; A rotation driving mechanism, which is connected to the rotating platform to drive the rotating platform to rotate.

[0006] Optionally, a crossed roller slewing bearing is provided between the vehicle body and the rotating platform. The inner ring of the crossed roller slewing bearing is fixedly connected to the vehicle body, the outer ring of the crossed roller slewing bearing is fixedly connected to the rotating platform, a meshing tooth portion is provided on the outer ring of the crossed roller slewing bearing, and the rotation driving mechanism is in meshing transmission with the meshing tooth portion through a driving gear.

[0007] Optionally, the roller conveying mechanism includes two relatively arranged supports and two groups of rollers respectively arranged on the two supports, each group of rollers includes a plurality of first rollers, and the plurality of first rollers in each group of rollers can be rotatably arranged on the corresponding supports, and among any two adjacent first rollers in each group of rollers, one of the first rollers is driven by a motor.

[0008] Optionally, in the conveying direction of the roller conveying mechanism, an electric cylinder is provided at the same end of the two supports, and a third roller higher than the first roller is provided at the other end of the support; or, electric cylinders are provided at both ends of the two supports; Wherein, the output end of each electric cylinder extends in a direction away from the rotating platform and is connected to a second roller.

[0009] Optionally, the travel wheel includes a driving wheel and a driven wheel, and the travel drive mechanism is transmission-connected to the driving wheel.

[0010] Optionally, a controller is provided on the vehicle body, and the travel drive mechanism, the rotation drive mechanism and the roller conveying mechanism are all electrically connected to the controller.

[0011] Optionally, a positioning sensor is provided on the roller conveying mechanism, the positioning sensor is electrically connected to the controller, and the positioning sensor is used to detect the position of the material.

[0012] Optionally, a wireless communication module electrically connected to the controller is provided on the vehicle body, and the wireless communication module is used to communicate with a host computer to receive transportation instructions and upload operation status information.

[0013] Optionally, an edge sensor electrically connected to the controller is provided on the vehicle body, and the edge sensor is used to trigger sensing when the movement of the vehicle body is obstructed.

[0014] Optionally, a barcode reader electrically connected to the controller is provided on the vehicle body, and the barcode reader is used to read the position barcode on the track to obtain the position information of the vehicle body.

[0015] Optionally, a power supply and a wireless power supply mechanism for supplying power to the power supply are provided on the vehicle body.

[0016] In a second aspect, the present application further provides a control method for an RGV vehicle, which is applied to the RGV vehicle, and the control method includes: Obtaining a start signal sent by the wireless communication module; Controlling the running of the travel drive mechanism to drive the travel wheel to move from the initial position to the preset position on the track; Controlling the operation of the rotary drive mechanism to drive the rotary platform to rotate to a preset angle; Control the operation of the roller conveyor mechanism to convey materials. Control the walking drive mechanism to operate again to drive the walking wheels to return from the preset position to the initial position on the track.

[0017] The beneficial effects of the RGV vehicle and its control method provided by the embodiments of the present application include, for example: In order to flexibly change the material transportation direction, an RGV vehicle is designed. The RGV vehicle includes a vehicle body, a walking drive mechanism, a rotating platform, and a rotating drive mechanism. Walking wheels are provided on the vehicle body and are used to move on the track; the walking drive mechanism is provided on the vehicle body and is connected to the walking wheels to drive the walking wheels to move on the track; the rotating platform is rotatably provided on the vehicle body, and a roller conveyor mechanism for carrying and conveying materials is provided on the rotating platform; the rotating drive mechanism is connected to the rotating platform to drive the rotating platform to rotate.

[0018] During the operation of the RGV vehicle, the walking drive mechanism is used to drive the walking wheels to move on the track until the vehicle body moves from the initial position to the preset position. Subsequently, the rotating drive mechanism is used to drive the rotating platform to rotate to the preset angle. Then, the roller conveyor mechanism is used to convey the materials to the designated area. After the material conveyance is completed, the walking drive mechanism is used to drive the walking wheels to return from the preset position to the initial position on the track. The RGV vehicle can flexibly change the material transportation direction. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 It is a schematic diagram showing the overall structure of the RGV vehicle in the embodiments of the present application; Figure 2 It is a schematic diagram showing the partial structure of the RGV vehicle in the embodiments of the present application; Figure 3 It is a schematic diagram showing the connection relationship between the roller conveyor mechanism and the rotating platform in the embodiments of the present application.

[0021] Icons: 10 - RGV vehicle; 100 - vehicle body; 110 - crossed roller slewing bearing; 120 - traveling wheels; 121 - driving wheel; 122 - driven wheel; 130 - controller; 140 - wireless communication module; 150 - edge sensor; 160 - barcode reader; 170 - wireless power supply mechanism; 200 - traveling drive mechanism; 300 - rotating platform; 400 - rotating drive mechanism; 410 - drive gear; 500 - roller conveyor mechanism; 510 - support; 511 - electric cylinder; 512 - second roller; 513 - third roller; 520 - first roller; 530 - positioning sensor; 20 - track. Detailed implementation manners

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. The components of the embodiments of the present application described and illustrated herein generally may be arranged and designed in a variety of different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but is merely representative of selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0024] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0025] In the description of the present application, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the inventive product is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0026] In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0027] It should be noted that the features in the embodiments of the present application may be combined with each other without conflict.

[0028] As disclosed in the background art section, traditional RGV vehicles can usually only run linearly along the track. When the material needs to change the transportation direction, especially in the field of automated warehousing logistics, when docking with equipment such as the inbound platform, various buffer stations, conveyors, elevators, and robots, the docking method is single. When the material transportation direction changes, a turntable or other auxiliary equipment needs to be added for direction change, which increases additional equipment, generates additional costs, reduces the material transportation efficiency, and increases the complexity and cost of the logistics system. Embodiments of the present application provide an RGV vehicle, which is at least used to solve the above technical problems.

[0029] Please refer to Figures 1 - 3 , the RGV vehicle 10 provided by the embodiments of the present application includes a vehicle body 100, a traveling drive mechanism 200, a rotating platform 300, and a rotation drive mechanism 400. Traveling wheels 120 are provided on the vehicle body 100, and the traveling wheels 120 are used to move on the track 20; the traveling drive mechanism 200 is provided on the vehicle body 100 and is connected to the traveling wheels 120 to drive the traveling wheels 120 to move on the track 20; the rotating platform 300 is rotatably provided on the vehicle body 100, and a roller conveying mechanism 500 for carrying and conveying materials is provided on the rotating platform 300; the rotation drive mechanism 400 is connected to the rotating platform 300 to drive the rotating platform 300 to rotate.

[0030] The traveling drive mechanism 200 is in transmission connection with the traveling wheels 120 to drive the traveling wheels 120 to rotate, so as to realize the movement of the vehicle body 100 along the track 20; optionally, the traveling drive mechanism 200 includes a traveling drive motor, and the traveling drive motor is in transmission connection with the traveling wheels 120 through a speed reducer. When the traveling drive motor is started, the vehicle body 100 can move along the track 20.

[0031] The rotation drive mechanism 400 is in transmission connection with the rotating platform 300 to drive the rotating platform 300 to rotate, so as to be able to adjust the angle of the roller conveying mechanism 500 and convey materials in different directions; optionally, the rotation drive mechanism 400 includes a rotation drive motor, and the rotation drive motor is in transmission connection with the rotating platform 300 through a speed reducer. When the rotation drive motor is started, the rotating platform 300 can rotate to different angles.

[0032] During the process of transporting materials, the materials can be transported to the roller conveying mechanism 500 through external transportation equipment. The roller conveying mechanism 500 can play a role in carrying and outwardly conveying the materials. Among them, the materials can be transported to the roller conveying mechanism 500 when the vehicle body 100 is in the initial position, or when the vehicle body 100 moves from the initial position to the preset position.

[0033] Exemplarily, when the vehicle body 100 is in the initial position, the conveying direction of the roller conveying mechanism 500 is consistent with the moving direction of the vehicle body 100. At this time, the initial angle of the rotary platform 300 is 0°. When the vehicle body 100 moves from the initial position to the preset position, the rotary platform 300 is rotated to the preset angle, and the preset angle can be selected as 30°, 60°, 90°, 120° or 150°.

[0034] During the operation of the RGV cart 10, first, the traveling drive motor drives the traveling wheels 120 to move on the track 20 through the speed reducer until the vehicle body 100 moves from the initial position to the preset position. Subsequently, the rotary drive motor drives the rotary platform 300 to rotate to the preset angle through the speed reducer. Then, the roller conveying mechanism 500 is used to convey the material to the designated area. After the material conveying is completed, the traveling drive motor drives the traveling wheels 120 to return from the preset position to the initial position on the track 20 through the speed reducer.

[0035] In this embodiment, an crossed roller slewing bearing 110 is provided between the vehicle body 100 and the rotary platform 300. The inner ring of the crossed roller slewing bearing 110 is fixedly connected to the vehicle body 100, the outer ring of the crossed roller slewing bearing 110 is fixedly connected to the rotary platform 300, a meshing tooth portion is provided on the outer ring of the crossed roller slewing bearing 110, and the rotary drive mechanism 400 is in meshing transmission with the meshing tooth portion through the drive gear 410.

[0036] The crossed roller slewing bearing 110 is a mechanical component for realizing rotary motion. The crossed roller slewing bearing 110 has an inner ring and an outer ring, and the inner ring and the outer ring are connected by rollers, and the outer ring can rotate relative to the inner ring.

[0037] The rotary drive motor is in transmission connection with the drive gear 410 through the speed reducer. When the rotary drive motor starts, it drives the drive gear 410 to rotate. Since the drive gear 410 meshes with the meshing tooth portion of the outer ring of the crossed roller slewing bearing 110, when the drive gear 410 rotates, it can drive the outer ring of the crossed roller slewing bearing 110 to rotate, thereby driving the rotary platform 300 to rotate.

[0038] In the case where the inner ring of the crossed roller slewing bearing 110 is fixedly connected to the vehicle body 100 and the outer ring is fixedly connected to the rotary platform 300, the rotary platform 300 can rotate relative to the vehicle body 100, and the roller conveying mechanism 500 rotates following the rotary platform 300. When it is necessary to adjust the angle of the roller conveying mechanism 500, the rotary drive motor is used to drive the drive gear 410 to rotate. When the drive gear 410 rotates, it drives the outer ring of the crossed roller slewing bearing 110 to rotate, thereby driving the rotary platform 300 and the roller conveying mechanism 500 to rotate to the preset angle.

[0039] In this embodiment, the roller conveying mechanism 500 includes two relatively arranged supports 510 and two groups of rollers respectively arranged on the two supports 510. Each group of rollers includes a plurality of first rollers 520. The plurality of first rollers 520 in each group of rollers are rotatably arranged on the corresponding support 510. Among any two adjacent first rollers 520 in each group of rollers, one of the first rollers 520 is driven by a motor.

[0040] The rotating platform 300 is a rectangular platform, and the supports 510 are generally strip-shaped. The two supports 510 are relatively arranged on the rotating platform 300 along the length direction of the rotating platform 300, and the extending direction of the supports 510 is the width direction of the rotating platform 300. Or, the two supports 510 are relatively arranged on the rotating platform 300 along the width direction of the rotating platform 300, and the extending direction of the supports 510 is the length direction of the rotating platform 300.

[0041] The plurality of first rollers 520 on each support 510 are arranged at intervals along the extending direction of the support 510. Among any two adjacent first rollers 520, one of the first rollers 520 is driven by a motor, so that the two adjacent first rollers 520 are respectively a driving roller and a driven roller. On the basis of ensuring the normal transportation of materials, the number of motors can also be reduced and the structure can be simplified.

[0042] The two groups of rollers on the two supports 510 are simultaneously used to carry materials. When it is necessary to convey materials to a specified area, the driving rollers are driven to rotate by the motors, and the driving rollers cooperate with the driven rollers to drive the materials to move to the specified area to complete the transportation of the materials.

[0043] In this embodiment, in the conveying direction of the roller conveying mechanism 500, electric cylinders 511 are arranged at the same end of the two supports 510, and third rollers 513 higher than the first rollers 520 are arranged at the other end of the supports 510; or, electric cylinders 511 are arranged at both ends of the two supports 510; wherein, the output end of each electric cylinder 511 extends in the direction away from the rotating platform 300 and is connected with a second roller 512.

[0044] It should be noted that the conveying direction of the roller conveying mechanism 500 is the arrangement direction of the plurality of first rollers 520 in each group of rollers. Starting the electric cylinder 511 can drive the corresponding second roller 512 to rise or fall.

[0045] In the case where electric cylinders 511 are arranged at the same end of the two supports 510 and third rollers 513 are arranged at the other end of the two supports 510, when the second roller 512 rises to be higher than the first roller 520, the second roller 512 can cooperate with the third roller 513 at the other end of the support 510 to limit the materials, so as to ensure that the materials are not easily detached from the roller conveying mechanism 500 when the rotating platform 300 rotates.

[0046] When the electric cylinder 511 is provided at both ends of the two supports 510, when all the second rollers 512 rise to be higher than the first roller 520, the second rollers 512 located at both ends of the two supports 510 can limit the material, thereby ensuring that the material is not easy to fall off the roller conveying mechanism 500 when the rotating platform 300 rotates.

[0047] When the rotating platform 300 rotates to a preset angle, the two electric cylinders 511 at the same end of the two supports 510 are started to lower the corresponding second rollers 512 to the same height as the first rollers 520 . At this time, the materials can be transported to the designated area via the second rollers 512 .

[0048] In this embodiment, the travel wheel 120 includes a driving wheel 121 and a driven wheel 122 , and the travel drive mechanism 200 is transmission-connected to the driving wheel 121 .

[0049] The travel drive motor is arranged in the middle of the vehicle body 100 , and is connected to two drive wheels 121 through a reducer and a transmission shaft. Accordingly, two driven wheels 122 are arranged on the vehicle body 100 , and the two drive wheels 121 and the two driven wheels 122 move along two tracks 20 respectively.

[0050] In this embodiment, a controller 130 is disposed on the vehicle body 100 , and the travel drive mechanism 200 , the rotation drive mechanism 400 and the roller conveying mechanism 500 are all electrically connected to the controller 130 .

[0051] The controller 130 may be a PLC controller 130. The travel drive motor in the travel drive mechanism 200, the rotation drive motor in the rotation drive mechanism 400 and the motor in the roller conveying mechanism 500 are all electrically connected to the controller 130. The controller 130 may control the operation of each motor to realize the movement of the vehicle body 100, the rotation of the rotating platform 300 and the translational conveyance of the material on the roller conveying mechanism 500.

[0052] In this embodiment, a positioning sensor 530 is disposed on the vehicle body 100 . The positioning sensor 530 is electrically connected to the controller 130 . The positioning sensor 530 is used to detect the position of the material.

[0053] The positioning sensor 530 can be optionally a reflective photoelectric sensor. The positioning sensor 530 can detect whether the material is at the center of the rotating platform 300. When the positioning sensor 530 detects that the material is at the center of the rotating platform 300, the controller 130 will receive the corresponding signal and control the motor in the roller conveying mechanism 500 to start and convey the material, so as to ensure the balance of the material during transportation, without the need for additional support wheels to support the material.

[0054] In this embodiment, a wireless communication module 140 electrically connected to a controller 130 is provided on a vehicle body 100. The wireless communication module 140 is used to communicate with a host computer to receive transportation instructions and upload operation status information.

[0055] After receiving a transportation instruction from the host computer, the wireless communication module 140 can send a start signal to the controller 130, and the controller 130 starts to control the operation of a traveling drive motor so that the vehicle body 100 moves from an initial position along a track 20 to a preset position; during the process of the vehicle body 100 moving along the track 20, the wireless communication module 140 can also upload operation status information to the host computer in real time so as to monitor the operation status of the vehicle body 100.

[0056] In this embodiment, a touch edge sensor 150 electrically connected to the controller 130 is provided on the vehicle body 100. The touch edge sensor 150 is used to trigger induction when the movement of the vehicle body 100 is blocked.

[0057] It should be noted that during the process of the vehicle body 100 moving along the track 20, there may be foreign objects on the track 20. When the touch edge sensor 150 touches or approaches a foreign object, the touch edge sensor 150 will send a signal to the controller 130, and the controller 130 controls the traveling drive motor to stop operating to perform an emergency brake on the vehicle body 100 to avoid damage to the vehicle body 100. Among them, the touch edge sensor 150 can be selected as an induction device such as a proximity switch or a distance sensor.

[0058] In this embodiment, a barcode reader 160 electrically connected to the controller 130 is provided on the vehicle body 100. The barcode reader 160 is used to read a position barcode on the track 20 to obtain the position information of the vehicle body 100.

[0059] It should be noted that different position barcodes are provided at different positions on the track 20. When the barcode reader 160 passes by each position barcode along with the vehicle body 100, it will read the position barcode to obtain the position information of the vehicle body 100 and send it to the controller 130. For example, when the position information of the vehicle body 100 obtained by the barcode reader 160 after reading the position barcode exactly corresponds to the preset position, the controller 130 will control the traveling drive motor to stop operating so that the vehicle body 100 stays at the preset position.

[0060] In this embodiment, a power supply and a wireless power supply mechanism 170 for supplying power to the power supply are provided on the vehicle body 100.

[0061] It should be noted that the power supply is used to supply power to all electrical devices on the RGV cart 10. The wireless power supply mechanism 170 includes a current collector and a linear voltage regulator. The current collector and the linear voltage regulator are electrically connected. The current collector obtains an induced voltage through an excitation wire and transmits the obtained voltage to the linear voltage regulator through a cable, and the linear voltage regulator outputs a stable voltage to the power supply.

[0062] An embodiment of the present application further provides a control method for an RGV vehicle, which is applied to the above-mentioned RGV vehicle 10. The control method includes: Step 1: Obtain the start signal sent by the wireless communication module 140.

[0063] Step 2: Control the running of the traveling drive mechanism 200 to drive the traveling wheels 120 to move from the initial position to the preset position on the track 20.

[0064] Step 3: Control the running of the rotation drive mechanism 400 to drive the rotating platform 300 to rotate to the preset angle.

[0065] Step 4: Control the running of the roller conveying mechanism 500 to convey the material.

[0066] Step 5: Control the running of the traveling drive mechanism 200 to drive the traveling wheels 120 to return from the preset position to the initial position on the track 20.

[0067] In the above steps, after receiving the transportation instruction from the host computer, the wireless communication module 140 sends a start signal to the controller 130. After obtaining the start signal, the controller 130 starts to control the operation of the traveling drive motor, so that the vehicle body 100 moves from the initial position along the track 20 to the preset position. Subsequently, the controller 130 controls the operation of the rotation drive motor to drive the rotating platform 300 and the roller conveying mechanism 500 to rotate to the preset angle. Subsequently, the controller 130 controls the operation of the electric cylinder 511 in the roller conveying mechanism 500 to drive the second roller 512 to descend to the same height as the first roller 520, releasing the limit on the material. Finally, the controller 130 controls the motor in the roller conveying mechanism 500 to drive the corresponding first roller 520 to rotate until the material is conveyed to the designated area. After completing a transportation task, the controller 130 controls the operation of the traveling drive motor to make the vehicle body 100 return from the preset position along the track 20 to the initial position, waiting for the next transportation task.

[0068] The technical effects provided by the embodiments of the present application for an RGV cart 10 and its control method at least include: driving the rotating platform 300 to rotate to a preset angle by using a rotating drive motor, and then using the roller conveying mechanism 500 to convey materials to a specified area, realizing the transportation of materials in different directions by the RGV cart 10 and improving the flexibility of the RGV cart 10; driving the corresponding second roller 512 to rise above the first roller 520 by using an electric cylinder 511, and the second roller 512 can cooperate with the third roller 513 or another second roller 512 to limit the materials, so as to ensure the stability of the materials when the rotating platform 300 rotates; the motors in the traveling drive motor, the rotating drive motor and the roller conveying mechanism 500 are all electrically connected to the controller 130, and the controller 130 can control the operation of each motor, so that the processes of the vehicle body 100 moving, the rotating platform 300 rotating and the materials being translated and conveyed on the roller conveying mechanism 500 are more precisely controllable; when the positioning sensor 530 detects that the materials are at the center of the rotating platform 300, the controller 130 will receive the corresponding signal and then control the motor in the roller conveying mechanism 500 to start to convey the materials, so as to ensure the balance and stability during the material transportation process; when the edge touch sensor 150 touches or approaches a foreign object, the edge touch sensor 150 will send a signal to the controller 130, and the controller 130 controls the traveling drive motor to stop running, so as to perform an emergency brake on the vehicle body 100 and avoid damage to the vehicle body 100.

[0069] In summary, the embodiments of the present application provide an RGV cart 10 and its control method. The operation process of the RGV cart 10 is controlled by the controller 130. During the operation of the RGV cart 10, the controller 130 controls the traveling drive motor to drive the traveling wheels 120 to move on the track 20 until the vehicle body 100 moves from the initial position to the preset position. Subsequently, the controller 130 controls the rotating drive motor to drive the rotating platform 300 to rotate to the preset angle. Subsequently, the controller 130 further controls the motor in the roller conveying mechanism 500 to operate to convey the materials to the specified area. The RGV cart 10 can transport materials in different directions, and the overall operation process of the RGV cart 10 is precisely controllable.

[0070] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An RGV cart, characterized in that, Comprising: A vehicle body (100) is provided with traveling wheels (120) thereon, and the traveling wheels (120) are used for moving on a track (20); A traveling drive mechanism (200) is disposed on the vehicle body (100) and is connected to the traveling wheels (120) to drive the traveling wheels (120) to move on the track (20); A rotating platform (300) is rotatably disposed on the vehicle body (100), and a roller conveying mechanism (500) for carrying and conveying materials is disposed on the rotating platform (300); A rotation drive mechanism (400) is connected to the rotating platform (300) to drive the rotating platform (300) to rotate.

2. The RGV trolley according to claim 1, characterized in that, A cross roller slewing bearing (110) is disposed between the vehicle body (100) and the rotating platform (300). The inner ring of the cross roller slewing bearing (110) is fixedly connected to the vehicle body (100), and the outer ring of the cross roller slewing bearing (110) is fixedly connected to the rotating platform (300). The outer ring of the cross roller slewing bearing (110) is provided with a meshing tooth portion, and the rotation drive mechanism (400) is in meshing transmission with the meshing tooth portion through a drive gear (410).

3. The RGV cart according to claim 1, characterized in that, The roller conveying mechanism (500) includes two relatively disposed supports (510) and two groups of rollers respectively disposed on the two supports (510). Each group of rollers includes a plurality of first rollers (520). The plurality of first rollers (520) in each group of rollers are rotatably disposed on the corresponding support (510). Among any two adjacent first rollers (520) in each group of rollers, one of the first rollers (520) is driven by a motor.

4. The RGV trolley according to claim 3, characterized in that, In the conveying direction of the roller conveying mechanism (500), electric cylinders (511) are disposed at the same end of the two supports (510), and a third roller (513) higher than the first rollers (520) is disposed at the other end of the support (510); or, electric cylinders (511) are disposed at both ends of the two supports (510); Wherein, the output end of each electric cylinder (511) extends in a direction away from the rotating platform (300) and is connected to a second roller (512).

5. The RGV cart according to claim 1, characterized in that, The traveling wheels (120) include a driving wheel (121) and a driven wheel (122), and the traveling drive mechanism (200) is in transmission connection with the driving wheel (121).

6. The RGV cart according to claim 1, characterized in that, A controller (130) is disposed on the vehicle body (100), and the traveling drive mechanism (200), the rotation drive mechanism (400), and the roller conveying mechanism (500) are all electrically connected to the controller (130).

7. The RGV trolley according to claim 6, wherein A positioning sensor (530) is disposed on the roller conveying mechanism (500), and the positioning sensor (530) is electrically connected to the controller (130). The positioning sensor (530) is used for detecting the position of the material.

8. The RGV trolley according to claim 6, characterized in that, A wireless communication module (140) electrically connected to the controller (130) is provided on the vehicle body (100). The wireless communication module (140) is used to communicate with a host computer to receive transportation instructions and upload operation status information.

9. The RGV cart according to claim 6, wherein A touch edge sensor (150) electrically connected to the controller (130) is provided on the vehicle body (100). The touch edge sensor (150) is used to trigger sensing when the movement of the vehicle body (100) is blocked.

10. The RGV trolley according to claim 6, characterized in that, A bar code reader (160) electrically connected to the controller (130) is provided on the vehicle body (100). The bar code reader (160) is used to read the position bar code on the track (20) to obtain the position information of the vehicle body (100).

11. The RGV trolley according to any one of claims 1-10, characterized in that, A power supply and a wireless power supply mechanism (170) for supplying power to the power supply are provided on the vehicle body (100).

12. A control method for an RGV vehicle, characterized in that, Applied to the RGV cart according to any one of claims 1-11, the control method includes: Obtain a start signal sent by the wireless communication module (140); Control the operation of the traveling drive mechanism (200) to drive the traveling wheels (120) to move from the initial position to a preset position on the track (20); Control the operation of the rotation drive mechanism (400) to drive the rotation platform (300) to rotate to a preset angle; Control the operation of the roller conveying mechanism (500) to convey materials; Control the traveling drive mechanism (200) to operate again to drive the traveling wheels (120) to return from the preset position to the initial position on the track (20).

Images