Rail type RGV special for feeding and discharging of steel coils

Abstract

The invention provides a rail-mounted special RGV for feeding and discharging of steel coils, which solves the problems of butt joint precision of steel coil discharging and the like, and comprises a flat car moving on a ground rail, a portal frame is arranged at the upper end of the flat car through a transverse moving rail, and the portal frame is connected with an electric coil laying assembly through a hydraulic lifting assembly. A damping buffering assembly is arranged between the electric coil laying assembly and the hydraulic lifting assembly, the flat car is provided with a coil unloading assembly, and a feedback adjusting assembly is arranged between the damping buffering assembly and the coil unloading assembly. The device has the advantages of good structural stability, high butt joint precision and the like.

Description

Technical Field

[0001] This invention belongs to the field of RGV technology, specifically relating to a track-type RGV trolley for loading and unloading steel coils. Background Technology

[0002] RGV (Remotely Guided Vehicle) trolleys, due to their high track guidance accuracy and strong load-bearing capacity, have become core equipment for steel coil transfer in industries such as steel and non-ferrous metals. In steel coil scenarios, they must meet requirements for high load capacity, size adaptability, and precise docking. Domestic steel mills generally use customized RGVs, but in actual use, the small wheel diameter and narrow wheelbase design can easily lead to excessive overturning moments on curves, increasing the risk of overturning. Furthermore, their adaptability to steel coils is poor; during steel coil transfer, there is often swaying, making it impossible to guarantee docking accuracy, thus causing external damage to both the steel coil and the RGV.

[0003] To address the shortcomings of existing technologies, people have conducted long-term explorations and proposed various solutions. For example, Chinese patent literature discloses a heavy-duty anti-tipping RGV trolley [201821599340.0], which includes a track, a trolley body spanning the track, and a gantry frame symmetrically arranged along the center of the trolley body. Pressure sensors are installed in the track, and an anti-tipping device is provided on the gantry frame. The anti-tipping device includes a counterweight block slidably arranged on the gantry frame and a drive assembly that drives the counterweight block to slide towards both sides of the trolley body to balance the pressure between the sides of the trolley body and the track.

[0004] The above solution has solved the safety issues of existing RGVs to some extent, but it still has many shortcomings, such as the inability to guarantee the accuracy of steel coil docking and the presence of shaking and offset during transfer. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing a reasonably designed RGV trolley for loading and unloading steel coils that effectively improves docking accuracy.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a rail-mounted RGV trolley for loading and unloading steel coils, comprising a flatbed trolley that moves on a ground track, a gantry frame mounted on the upper end of the flatbed trolley via a transverse track, an electric coiling assembly connected to the gantry frame via a hydraulic lifting assembly, a damping buffer assembly between the electric coiling assembly and the hydraulic lifting assembly, a coil unloading assembly on the flatbed trolley, and a feedback adjustment assembly between the damping buffer assembly and the coil unloading assembly.

[0007] In the aforementioned rail-mounted RGV trolley for loading and unloading steel coils, the electric horizontal coil assembly includes a horizontal coil base. Inside the horizontal coil base, a pair of parallel drive screws are installed. The drive screws are connected to a drive motor via a speed-changing gear set. The drive screws are threadedly connected to a drive sleeve, and the drive sleeve is movably connected to a downwardly extending horizontal coil clamp.

[0008] In the aforementioned RGV trolley for loading and unloading steel coils, the damping buffer assembly includes a magnetorheological damper connected between the upper end of the coil base and the hydraulic lifting assembly. The magnetorheological damper is centrally symmetrically arranged relative to the central axis of the connection between the coil base and the hydraulic lifting assembly. A suspension assembly is connected between the coil base and the hydraulic lifting assembly. The suspension assembly includes a hanger fixed to the upper end of the coil base. The hanger is engaged with a hook in the hydraulic lifting assembly, and the hanger can swing left and right relative to the hook. The hook is fixed to the hanger, and the hanger can swing back and forth relative to the hydraulic lifting assembly.

[0009] In the aforementioned RGV trolley for loading and unloading steel coils, the unloading assembly includes a fixed unloading base. A pair of horizontally arranged unloading drums with parallel central axes are mounted on the unloading base. Adjusting rods are rotatably mounted inside each unloading drum. A secondary drum body, rotatably connected to the unloading drum, is fixed at both ends of each adjusting rod. A pair of support rods are drive-connected between the secondary drum bodies at both ends of the unloading drum. Support sleeves are rotatably mounted on each support rod. Each secondary drum body has a first support seat fixedly connected to it. One support rod is rotatably mounted between the first support seats. A support ring is rotatably mounted on the secondary drum body, and the support ring has a second support seat. The other support rod is rotatably mounted between the second support seats. A first speed-changing gear set is installed between the adjusting rod and the unloading drum. A second speed-changing gear set, meshing with the first speed-changing gear set, is installed between the support ring and the unloading drum. The first and second speed-changing gear sets mesh with a feedback regulating motor. The two support rods oscillate synchronously around the central axis of the unloading drum.

[0010] In the aforementioned rail-type RGV trolley for loading and unloading steel coils, the feedback adjustment component includes a pressure sensor located within the damping buffer assembly and between the magnetorheological damper and the coil base or hydraulic lifting assembly. The pressure sensor is connected to a PLC unit, which is connected to a feedback adjustment motor. The feedback adjustment motor is connected to the unloading assembly via a drive connection.

[0011] In the aforementioned rail-mounted RGV trolley for loading and unloading steel coils, the gantry includes two vertically arranged columns. The lower ends of the columns are driven to the transverse rail via steel wheels. A crossbeam connects the upper ends of the columns, and the columns have limit slots for assembling hydraulic lifting components.

[0012] In the aforementioned rail-mounted RGV trolley for loading and unloading steel coils, the hydraulic lifting assembly includes a lifting base slidably installed in a limiting groove, a lifting beam connected between the lifting bases, an electric horizontal coil assembly connected to the lifting beam, a hydraulic push rod installed between the lifting base and the column, and the hydraulic push rod connected to a PLC unit.

[0013] In the aforementioned RGV trolley for loading and unloading steel coils, a pair of hooks are movably installed in the middle of the lifting beam. The hooks are arc-shaped and their central axes coincide. An opening and closing gear set is engaged on the outer side of the hooks. The opening and closing gear set is engaged with the opening and closing motor, which is connected to the PLC unit.

[0014] In the aforementioned rail-mounted RGV trolley for loading and unloading steel coils, an electromagnetic locking pin is provided between the lifting base and the limiting groove, and the electromagnetic locking pin is connected to the PLC unit.

[0015] In the aforementioned RGV trolley for loading and unloading steel coils, the steel wheel transmission is driven by a hydraulic motor or a geared motor between the flatbed trolley and the ground track, and between the gantry and the transverse track. The ground track and the transverse track are made of I-beams.

[0016] Compared with existing technologies, the advantages of this invention are as follows: the damping buffer assembly adopts a centrally symmetrically arranged magnetorheological damper with active precision adjustment, combined with a multi-degree-of-freedom suspension structure, which greatly improves the stability of the steel coil during movement and lifting, preventing the steel coil from being damaged or falling off due to violent shaking, while protecting the equipment itself; the unloading assembly allows the angle of the V-shaped support surface formed by the two support rods to be adjusted as needed, which can better adapt to the support requirements of steel coils of different diameters and provide a more stable bearing surface during docking; the hook design in the middle of the lifting beam, combined with the opening and closing gear set and the opening and closing motor, realizes the synchronous opening and closing of the hook, ensuring balanced force during steel coil hoisting. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention;

[0018] Figure 2 This is a structural schematic diagram from another perspective of the present invention;

[0019] Figure 3 This is a structural schematic diagram from another perspective of the present invention;

[0020] Figure 4 This is a cross-sectional view of the damping buffer assembly of the present invention;

[0021] Figure 5 This is a structural cross-sectional view of the electric horizontal winding assembly of the present invention;

[0022] Figure 6 This is a schematic diagram of the structure of the unwinding assembly of the present invention;

[0023] Figure 7 This is a partial cross-sectional view of the unwinding assembly of the present invention;

[0024] In the diagram, the components are: flatbed trolley 1, gantry frame 2, column 21, crossbeam 22, limiting groove 23, hydraulic lifting assembly 3, lifting base 31, lifting beam 32, hydraulic push rod 33, electric horizontal winding assembly 4, horizontal winding base 41, drive screw 42, drive motor 43, drive screw sleeve 44, horizontal winding clamp 45, damping buffer assembly 5, magnetorheological damper 51, hanging seat 52, hook 53, opening and closing motor 54, unloading assembly 6, unloading base 61, unloading drum 62, adjusting rod 63, secondary drum 64, support rod 65, support sleeve 66, first support seat 67, support ring 68, second support seat 69, feedback adjustment assembly 7, and feedback adjustment motor 71. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1-7 As shown, a rail-mounted RGV trolley for loading and unloading steel coils includes a flatbed trolley 1 that moves on a ground track. The flatbed trolley 1 serves as the mobile foundation of the entire system and is typically equipped with a high-power drive unit that drives high-load-bearing steel wheels to run on a sturdy ground track. It is equipped with a high-precision encoder and braking system to ensure smooth movement and accurate positioning under heavy loads. A gantry frame 2 is mounted on the upper part of the flatbed trolley 1 via parallel transverse tracks. The gantry frame 2 slides on the transverse tracks via a steel wheel system at its bottom, typically including drive wheels and driven wheels, and is equipped with guide wheels to prevent derailment, enabling lateral movement perpendicular to the ground track direction and expanding the working range. The gantry frame 2 is connected to an electric coil-laying assembly 4 via a hydraulic lifting assembly 3. A damping buffer assembly 5 is located between the electric coil-laying assembly 4 and the hydraulic lifting assembly 3. The flatbed trolley 1 is equipped with an unloading assembly 6, and a feedback adjustment assembly 7 is located between the damping buffer assembly 5 and the unloading assembly 6.

[0027] Specifically, the electric horizontal winding assembly 4 includes a horizontal winding base 41. Inside the horizontal winding base 41, a pair of parallel drive screws 42 are installed via a precision bearing housing. The drive screws 42 are connected to a drive motor 43 via a planetary reduction gear or a fixed-axis gear reduction mechanism. The drive motor 43 is often a servo motor or a variable frequency motor with a brake. The drive screws 42 are threadedly connected to a drive sleeve 44 with internal balls or trapezoidal threads that match the screws. The drive sleeve 44 is movably connected to a downwardly extending horizontal winding clamp 45.

[0028] Specifically, the damping buffer assembly 5 includes a magnetorheological damper 51 connected between the upper end of the roll base 41 and the hydraulic lifting assembly 3. The magnetorheological damper 51 is centrally symmetrically arranged relative to the central axis of the connection between the roll base 41 and the hydraulic lifting assembly 3, typically arranged at the four corners, to provide uniform damping force. A suspension assembly connects the roll base 41 and the hydraulic lifting assembly 3; the suspension assembly includes a suspension seat 52 fixed to the upper end of the roll base 41. The suspension seat 52 is a protruding structure, and it engages with a hook 53 inside the hydraulic lifting assembly 3. The suspension seat 52 can swing left and right relative to the hook 53, allowing small-angle swings during lateral movement or acceleration and deceleration of the flatbed trolley 1. The hook 53 is fixed to the suspension seat 53, and the suspension seat 53 can swing back and forth relative to the hydraulic lifting assembly 3, allowing small-angle pitches during lateral movement of the gantry 2 or swaying of the steel coil.

[0029] Furthermore, the unwinding assembly 6 includes a fixed unwinding base 61, on which a pair of horizontally arranged unwinding drums 62 with parallel central axes are mounted as the support frame for the entire assembly. Adjusting rods 63 are rotatably mounted inside the unwinding drums 62. At both ends of the adjusting rods 63 are fixed secondary drum bodies 64 rotatably connected to the unwinding drums 62. A pair of support rods 65 are connected between the secondary drum bodies 64 at both ends of the unwinding drum 62 via rigid connecting rods or synchronous shafts. Support sleeves 66 are rotatably mounted on the support rods 65 for directly supporting the steel coil. Each secondary drum body 64 has a first support seat 67 fixedly connected to it. The two ends of one support rod 65 are rotatably mounted between the first support seats 67. A support ring 68 is rotatably mounted on the secondary drum body 64 via bearings, and the support ring 68 has a second support seat 69. The other support rod 65 is rotatably mounted between the second support seats 69. A first speed-changing gear set, typically a worm gear or bevel gear pair, is installed between the adjusting rods 63 and the unwinding drums 62 to provide self-locking and speed reduction / torque increase. A second gear set, meshing with the first gear set, is installed between the support ring 68 and the unloading drum 62. This second gear set also has a self-locking function to ensure it moves in the opposite direction to the first gear set. Both the first and second gear sets mesh with a feedback regulating motor 71, which is typically a servo motor or a stepper motor with an encoder. Through this gear linkage mechanism, the two support rods 65 synchronously oscillate circumferentially relative to the central axis of the unloading drum 62, opening and closing the support sleeve 66 to accommodate steel coils of different diameters or to complete the unloading action.

[0030] Furthermore, the feedback adjustment component 7 includes a pressure sensor located within the damping buffer component 5 and between the magnetorheological damper 51 and the coil base 41 or the hydraulic lifting component 3. This sensor is used to monitor the impact load generated when clamping or placing the steel coil in real time. The pressure sensor is connected to a PLC unit as the core controller. The PLC unit is connected to the feedback adjustment motor 71, which is connected to the unloading component 6. The angle of the support rod 65 or the position of the support sleeve 66 is dynamically adjusted according to the impact load signal to optimize the stability of the steel coil placement.

[0031] In addition, the gantry frame 2 includes two vertically arranged columns 21. The lower end of the columns 21 is connected to the transverse rail via steel wheels, which also include drive wheels, driven wheels, and guide wheels. A crossbeam 22 is connected between the upper ends of the columns 21. The columns 21 have limiting grooves 23 for assembling the hydraulic lifting assembly 3. The limiting grooves 23 are usually rectangular or T-shaped grooves to precisely guide the lifting movement.

[0032] Meanwhile, the hydraulic lifting assembly 3 includes a lifting base 31 slidably installed within the limiting groove 23. The lifting base 31 is equipped with a slider or guide wheel to reduce friction. A lifting beam 32 is connected between the lifting bases 31, and the electric horizontal winding assembly 4 is connected to the lifting beam 32. A hydraulic push rod 33 is installed between the lifting base 31 and the column 21 to provide lifting power. The hydraulic push rod 33 is typically a double-acting cylinder. The hydraulic push rod 33 is connected to a PLC unit to receive lifting commands and provide position signals.

[0033] As can be seen, a pair of hooks 53 are movably installed in the middle of the lifting beam 32. The hooks 53 are arc-shaped and their central axes coincide, forming a pair of closed load-bearing rings. An opening and closing gear set is engaged on the outer side of the hooks 53, and the opening and closing gear set meshes with an opening and closing motor 54. The opening and closing motor 54 is a servo or low-power motor with a brake. The opening and closing motor 54 is connected to a PLC unit to control the opening and closing of the hooks 53, realizing automatic engagement and disengagement with the lifting base 52.

[0034] It is evident that an electromagnetic locking pin is installed between the lifting base 31 and the limiting groove 23. When the lifting position is reached or a fixed position is required, the pin is inserted into the limiting hole to achieve mechanical locking, and released when the power is cut off. The electromagnetic locking pin is connected to the PLC unit and operates according to instructions or safety logic.

[0035] Preferably, the steel wheel transmission between the flatbed trolley 1 and the ground track, and between the gantry 2 and the transverse track, is driven by a hydraulic motor or a geared motor. The drive system has overload protection and speed regulation functions. The ground track and the transverse track are made of I-beams to ensure load-bearing capacity and track straightness.

[0036] Example 1

[0037] This embodiment is used for standard steel coil transfer. When the flatbed trolley 1 travels along the ground track to the steel coil storage area, the hydraulic lifting assembly 3 drives the lifting beam 32 to descend to the preset height, and the opening and closing motor 54 controls the hook 53 to open. The gantry frame 2 makes a slight lateral adjustment so that the horizontal coil clamp 45 is aligned with the center axis of the steel coil. The drive motor 43 pushes the drive screw sleeve 44 through the drive screw 42 to drive the horizontal coil clamp 45 to close and clamp the steel coil. The magnetorheological damper 51 absorbs the longitudinal vibration during the lifting process in real time. When the pressure sensor detects that the impact load exceeds the limit, the PLC unit triggers the feedback adjustment motor 71, which is linked to the first / second speed change gear set in the unloading drum 62, so that the support rod 65 is adjusted to a 15° tilt angle in advance to match the curvature of the steel coil, and finally realizes the smooth gripping, lifting and transfer of the steel coil.

[0038] Example 2

[0039] This embodiment is used for adaptive unloading of ultra-wide steel coils. After the flatbed truck 1 carries the ultra-wide steel coil and positions it at the unloading station, the hydraulic lifting assembly 3 slowly lowers the steel coil to the designated height of the unloading drum 62. The magnetorheological damper 51 detects the asymmetric load caused by the swing of the steel coil. The PLC unit calculates the off-center load data and instructs the motor 71 to drive the adjusting rod 63 to rotate. Through the linkage between the secondary drum 64 and the support ring 68, the two support rods 65 are simultaneously extended to the limit angle of 32°. The support sleeve 66 forms a V-shaped support surface with a width of up to 3.8 meters. After the electromagnetic locking pin is released, the hydraulic push rod 33 is precisely lowered at a speed of 5 mm / s. The hook 53 is automatically disengaged under the control of the opening and closing gear set, and the steel coil is placed in the pre-adjusted support sleeve 66 with zero impact.

[0040] Example 3

[0041] This embodiment achieves dynamic anti-sway control. When transporting high-ratio steel coils in narrow channels, a sudden stop of the flatbed trolley 1 causes the steel coil to sway by 30°. The magnetorheological damper 51 instantly outputs a damping force of 2000 N·s / m to suppress the sway. The pressure sensor transmits the load fluctuation signal to the PLC unit, which simultaneously generates three sets of control commands: the feedback adjustment motor 71 fine-tunes the support rod 65 to increase the pre-tightening angle by 5° to improve the coil stabilization capability; the hydraulic push rod 33 lifts by 50mm to compensate for the steel coil's center of gravity shift; and the flatbed trolley 1 drive unit switches to a 0.2 m / s creep mode. Through multi-system collaboration, the sway amplitude is converged to ±2° within 2 seconds.

[0042] In summary, the principle of this embodiment is as follows: the RGV trolley constructs a two-dimensional workspace through the coordinated movement of the flatbed trolley 1 and the gantry 2 via dual tracks. It utilizes the multi-degree-of-freedom buffer of the magnetorheological damper 51 and the suspension assembly to absorb dynamic loads. Relying on the pressure sensor, PLC unit, and feedback adjustment motor 71 closed-loop system, it calculates impact data in real time and drives the dual-speed gear linkage mechanism of the unloading assembly 6 to adaptively adjust the tilt angle of the support rod 65. Combined with the precise positioning of the hydraulic lifting assembly 3 and the rigid fixation of the electromagnetic locking pin, it achieves anti-sway and vibration suppression, precise gripping, and smooth unloading of heavy-duty steel coils under complex working conditions.

[0043] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

[0044] Although this document frequently uses terms such as flatbed trolley 1, gantry frame 2, column 21, crossbeam 22, limiting groove 23, hydraulic lifting assembly 3, lifting base 31, lifting beam 32, hydraulic push rod 33, electric horizontal winding assembly 4, horizontal winding base 41, drive screw 42, drive motor 43, drive screw sleeve 44, horizontal winding clamp 45, damping buffer assembly 5, magnetorheological damper 51, hanging seat 52, hook 53, opening and closing motor 54, unwinding assembly 6, unwinding base 61, unwinding drum 62, adjusting rod 63, secondary drum 64, support rod 65, support sleeve 66, first support seat 67, support ring 68, second support seat 69, feedback adjustment assembly 7, and feedback adjustment motor 71, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would contradict the spirit of the invention.

Claims

1. A rail-mounted RGV trolley for loading and unloading steel coils, comprising a flatbed trolley (1) that moves on a ground track, wherein a gantry frame (2) is mounted on the upper end of the flatbed trolley (1) via a transverse track, and the gantry frame (2) is connected to an electric coil-laying assembly (4) via a hydraulic lifting assembly (3), characterized in that, The electric horizontal winding assembly (4) and the hydraulic lifting assembly (3) are provided with a damping buffer assembly (5), the flatbed truck (1) is equipped with a winding unloading assembly (6), and a feedback adjustment assembly (7) is provided between the damping buffer assembly (5) and the winding unloading assembly (6).

2. The RGV trolley for loading and unloading steel coils according to claim 1, characterized in that, The electric horizontal winding assembly (4) includes a horizontal winding base (41), and a pair of parallel drive screws (42) are installed inside the horizontal winding base (41). The drive screws (42) are connected to the drive motor (43) through a speed-changing gear set. The drive screws (42) are threadedly connected to a drive sleeve (44), and the drive sleeve (44) is movably connected to a downwardly extending horizontal winding clamp (45).

3. The RGV trolley for loading and unloading steel coils according to claim 2, characterized in that, The damping buffer assembly (5) includes a magnetorheological damper (51) connected between the upper end of the roll base (41) and the hydraulic lifting assembly (3). The magnetorheological damper (51) is centrally symmetrically arranged with respect to the central axis of the connection between the roll base (41) and the hydraulic lifting assembly (3). A suspension assembly is connected between the roll base (41) and the hydraulic lifting assembly (3). The suspension assembly includes a hanging seat (52) fixed to the upper end of the roll base (41). The hanging seat (52) is engaged with the hook (53) in the hydraulic lifting assembly (3), and the hanging seat (52) can swing left and right relative to the hook (53). The hook (53) is fixed to the hanging seat (53), and the hanging seat (53) can swing back and forth relative to the hydraulic lifting assembly (3).

4. The RGV trolley for loading and unloading steel coils according to claim 3, characterized in that, The unwinding assembly (6) includes a fixed unwinding base (61), on which a pair of horizontally arranged unwinding drums (62) with parallel central axes are mounted. Adjusting rods (63) are rotatably mounted inside each unwinding drum (62). A secondary drum body (64) rotatably connected to the unwinding drum (62) is fixed at both ends of each adjusting rod (63). A pair of support rods (65) are drive-connected between the secondary drum bodies (64) at both ends of the unwinding drum (62). Support sleeves (66) are rotatably mounted on each support rod (65). Each secondary drum body (64) has a first support seat (67) fixedly connected thereto, and one of the support rods (65) The auxiliary cylinder (64) is rotatably mounted between the first support base (67), and the support ring (68) is rotatably mounted on the auxiliary cylinder (64) with a second support base (69). Another support rod (65) is rotatably mounted between the second support base (69). The first speed-changing gear set is installed between the adjusting rod (63) and the unloading drum (62). The second speed-changing gear set is installed between the support ring (68) and the unloading drum (62) and meshes with the first speed-changing gear set. The first speed-changing gear set and the second speed-changing gear set mesh with the feedback regulating motor (71). The two support rods (65) swing synchronously circumferentially relative to the central axis of the unloading drum (62).

5. The RGV trolley for loading and unloading steel coils according to claim 4, characterized in that, The feedback adjustment component (7) includes a pressure sensor disposed within the damping buffer component (5) and located between the magnetorheological damper (51) and the roll base (41) or the hydraulic lifting component (3). The pressure sensor is connected to a PLC unit, which is connected to a feedback adjustment motor (71). The feedback adjustment motor (71) is connected to the unwinding component (6).

6. The RGV trolley for loading and unloading steel coils according to claim 1, characterized in that, The gantry (2) includes two vertically arranged columns (21). The lower end of the column (21) is connected to the transverse track via steel wheels. A crossbeam (22) is connected between the upper ends of the column (21). The column (21) has a limiting groove (23) for assembling the hydraulic lifting assembly (3).

7. The RGV trolley for loading and unloading steel coils according to claim 6, characterized in that, The hydraulic lifting assembly (3) includes a lifting base (31) slidably installed in a limiting groove (23), a lifting beam (32) connected between the lifting bases (31), an electric horizontal rolling assembly (4) connected to the lifting beam (32), a hydraulic push rod (33) installed between the lifting base (31) and the column (21), and the hydraulic push rod (33) connected to the PLC unit.

8. The RGV trolley for loading and unloading steel coils according to claim 7, characterized in that, A pair of hooks (53) are movably installed in the middle of the lifting beam (32). The hooks (53) are arc-shaped and their central axes coincide. An opening and closing gear set is engaged on the outside of the hooks (53). The opening and closing gear set is engaged with the opening and closing motor (54). The opening and closing motor (54) is connected to the PLC unit.

9. The RGV trolley for loading and unloading steel coils according to claim 7, characterized in that, An electromagnetic locking pin is provided between the lifting base (31) and the limiting groove (23), and the electromagnetic locking pin is connected to the PLC unit.

10. The RGV trolley for loading and unloading steel coils according to claim 1, characterized in that, The flatbed vehicle (1) and the ground track, as well as the gantry (2) and the transverse track, are driven by hydraulic motors or geared motors to drive steel wheel transmissions. The ground track and the transverse track are made of I-beams.

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