RGV transportation device and traditional Chinese medicine decoction RGV transportation system

Abstract

The utility model discloses an RGV conveying device which comprises a carrying platform, a taking and placing mechanism, a lifting mechanism and a walking mechanism. The object carrying platform is used for storing a to-be-moved object; the taking and placing mechanism is arranged on the object carrying platform and can drive an object to be moved to move between the object carrying platform and a target position. The action end of the lifting mechanism is connected with the object carrying platform and used for adjusting the height of the object carrying platform so that the taking and placing mechanism can drive the object to be moved to move between the object carrying platform and the target position through the pushing or pulling action. The walking mechanism is used for moving the object carrying platform to the position below one side of the inlet of the target position. The utility model further discloses a traditional Chinese medicine decoction RGV conveying system which comprises the RGV conveying device used for conveying the cookware to the medicine decocting station and taking the cookware out of the medicine decocting station. The two sides of the track are each provided with a medicine decocting area, each medicine decocting area is composed of a plurality of layers of medicine decocting stations distributed parallel to the track, and two-way multi-layer pot taking and placing can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic food and medicine processing, in particular to an RGV transportation device and a traditional Chinese medicine decocting RGV transportation system. Background Art

[0002] In the traditional automatic production line for decocting traditional Chinese medicine, a 6-axis industrial robot is used to pick and place cookware. The robot is installed on a ground rail and driven by a servo motor to drive a rack and pinion mechanism to realize the displacement of the robot.

[0003] In this transportation method, the 6-axis industrial robot has 6 degrees of freedom. Therefore, a relatively large working space needs to be provided for the 6-axis industrial robot. At the same time, the weight of the cookware and the traditional Chinese medicine decoction in the cookware is relatively large, and the industrial robot cannot effectively pick and place the cookware from a high place, resulting in the problem that the cookware in multiple decocting workstations cannot be picked and placed. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an RGV transportation device and a traditional Chinese medicine decocting RGV transportation system, which reduce the degrees of freedom required to realize the picking and placing of cookware, require a smaller working space, and can also pick and place the cookware in the high decocting workstations, so as to solve the technical problems existing in the prior art.

[0005] To solve the above technical problems, the utility model specifically provides the following technical solutions:

[0006] An RGV transportation device includes: a load platform for storing objects to be moved; a picking and placing mechanism disposed on the load platform; the picking and placing mechanism is capable of driving the object to be moved to move between the load platform and a target position; a lifting mechanism, whose moving end is connected to the load platform; the lifting mechanism is used to adjust the height of the load platform according to the height of the target position; and the lifting mechanism is further used to drive the load platform to move to a position at the same height as the target position, so that the picking and placing mechanism can drive the object to be moved to move between the load platform and the target position through pushing or pulling actions; a traveling mechanism having a moving platform, and the lifting mechanism is disposed on the moving platform; the traveling mechanism drives the moving platform to move along the ground, and is used to move the load platform to a position below the entrance side of the target position.

[0007] Furthermore, the pick-and-place mechanism includes two parallel push rods, a push-pull block arranged at the end of the push rod, and a driving device capable of driving the push rod to perform linear reciprocating motion along its own length direction; wherein, the push rod is arranged on a plane of the loading platform for storing the object to be moved along a path along which the object to be moved moves between the loading platform and the target position; the push-pull block can apply external force to the object to be moved during the movement of the push rod to drive the object to be moved to move between the loading platform and the target position.

[0008] Furthermore, the driving device includes a first motor, a driving gear and a gear group arranged at the output end of the first motor; a rack is arranged at the bottom of the push rod, and the gear group is arranged in two groups, and the input gears in the two groups of the gear groups are respectively meshed with the two racks; the driving gear is meshed with the input gear of one group of the gear groups, and the input gears of the two groups of the gear groups are synchronously driven through the first transmission shaft.

[0009] Furthermore, first guide rails are respectively provided on the outer sides of the two groups of push rods on the plane of the loading platform for storing the objects to be moved, and the push rods are provided with first sliders that can slide along the guide rails; the two groups of the first guide rails are arranged along the path for the objects to be moved to move between the loading platform and the target position, so as to avoid interference between the push-pull block and the objects to be moved.

[0010] Furthermore, the push-pull block can rotate in a plane perpendicular to the push rod to prevent the push-pull block from contacting the object to be moved and restricting the movement of the push rod before the push-pull block moves to the force application position of the object to be moved and during the resetting process of the push rod.

[0011] Furthermore, the push-pull blocks are arranged at both ends of the push rod and are rotatably connected to the push rod, and the push-pull blocks located at both ends of the same push rod are connected by a connecting rod; a second motor is provided on the side of the loading platform parallel to the connecting rod, and the output shaft of the second motor is arranged parallel to the connecting rod, and a hinged double-link mechanism is vertically provided between the output shaft and the connecting rod, and the two ends of the double-link mechanism are rotatably connected to the output shaft and the connecting rod respectively.

[0012] Furthermore, the lifting mechanism includes a gantry vertically arranged on a mobile platform, and lifting devices arranged on both sides of the gantry; the loading platform is arranged inside the gantry, and the direction in which the push rod performs linear reciprocating motion passes through the door opening of the gantry; the action ends of the two groups of lifting devices are connected to the loading platform, and the action ends of the two groups of lifting devices are lifted and lowered synchronously.

[0013] Further, the lifting device includes a chain drive mechanism and a second motor; the two chain drive mechanisms are respectively vertically arranged on both sides of the gantry and are arranged at the same height; the sprockets on the same side in the two chain drive mechanisms are connected to the second transmission shaft, a driven gear is arranged on the second transmission shaft, a driving gear is arranged on the output shaft of the second motor, and the driving gear meshes with the driven gear; the second motor sets the top or bottom of the gantry according to the position of the second transmission shaft; the chains of the chain drive mechanisms on both sides of the load platform are connected to the edges of the load platform through connecting pieces.

[0014] Further, second guide rails are also vertically arranged on both sides of the gantry, and second sliders capable of sliding along the second guide rails are arranged at the edges of the load platform.

[0015] Further, the traveling mechanism further includes driving wheels arranged at the bottom of the moving platform and electric driving elements for driving the driving wheels to rotate.

[0016] Further, auxiliary wheels are respectively arranged at both ends of the bottom of the moving platform.

[0017] Further, two parallel tracks are arranged along the moving path of the moving platform, the moving platform is arranged between the two tracks, and there is a gap between the driving wheels and the tracks;

[0018] and guide wheels are respectively arranged at the four corners of the moving platform, and all the guide wheels are in rolling contact with the inner sides of the two tracks, or all the guide wheels are in rolling contact with the outer sides of the two tracks, so as to prevent the driving wheels from contacting the tracks during the movement of the driving wheels.

[0019] To solve the above technical problems, the present utility model further provides the following technical solutions:

[0020] A traditional Chinese medicine decocting RGV transportation system includes an RGV transportation device for transporting a cooking pot to a decocting station and taking out the cooking pot from the decocting station; one decocting area is arranged on one side of the track, or one decocting area is arranged on each of the two sides of the track; the decocting area is composed of multiple decocting stations distributed in parallel with the track; and the size of the load platform is set such that during the movement of the load platform, the edges of the load platform are close to the decocting stations and there is no interference between the load platform and the decocting stations.

[0021] Further, it further includes a base for carrying the cooking pot, and convex platforms are symmetrically arranged on two parallel side edges of the base, and the convex platforms are positions where the push-pull blocks apply external forces to the cooking pot.

[0022] The utility model has the following beneficial effects compared with the prior art:

[0023] The RGV transportation device provided by the utility model adopts a pushing and pulling action to realize the movement of the pot between the loading platform of the transportation device and the decocting station. The loading platform is moved to the same height as the decocting station through a lifting mechanism, and the entire transportation device is driven to move through a moving mechanism. Only three degrees of freedom in the X-axis, Y-axis, and Z-axis directions are required, and a smaller working space is needed.

[0024] The loading platform is used to carry the pot and support the vertical movement of the pot to realize the picking and placing of the pot at the high decocting station.

[0025] The utility model also provides a traditional Chinese medicine decocting RGV transportation system. The decocting stations are arranged on both sides of the RGV transportation device and are multi-layered. During the movement of the RGV transportation device, the pot can be picked and placed bidirectionally and multi-layerly, improving the production and processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can be obtained according to the provided drawings without creative efforts.

[0027] Figure 1 It is a schematic structural diagram of the RGV transportation device provided by the utility model;

[0028] Figure 2 It is a schematic structural diagram of the picking and placing mechanism in the utility model;

[0029] Figure 3 It is a schematic structural diagram of the rotation of the push-pull block in the utility model;

[0030] Figure 4 It is a schematic structural diagram of the gantry in the lifting mechanism in the utility model;

[0031] Figure 5 It is a schematic structural diagram of the transmission of the driving chain transmission mechanism in the utility model;

[0032] Figure 6 It is a schematic structural diagram of the loading platform in the utility model;

[0033] Figure 7 It is a schematic structural diagram of the traveling mechanism in the utility model;

[0034] Figure 8 For Figure 7Schematic diagram of the structure at the middle driving wheel;

[0035] Figure 9 Schematic diagram of the structure of the traditional Chinese medicine decocting RGV transportation system provided by the present utility model;

[0036] Figure 10 Top view of the traditional Chinese medicine decocting RGV transportation system;

[0037] Figure 11 Schematic diagram of the structure of the base supporting the cooking utensil;

[0038] Figure 12 Schematic diagram of the pick-and-place mechanism moving the cooking utensil.

[0039] The reference numerals in the figure are respectively represented as follows:

[0040] 1 - load platform, 11 - roller conveyor line, 12 - guide strip;

[0041] 2 - pick-and-place mechanism, 21 - push rod, 22 - push-pull block, 23 - first motor, 24 - drive gear, 25 - gear set, 251 - input gear, 252 - output gear, 26 - rack, 27 - first transmission shaft, 28 - first guide rail, 29 - first slider, 20 - limit block, 200 - reducer;

[0042] 221 - second motor, 222 - double-link mechanism, 223 - rotating seat, 224 - connecting rod, 225 - linear bearing;

[0043] 3 - lifting mechanism, 31 - gantry, 32 - sprocket, 33 - second transmission shaft, 34 - driven gear, 35 - driving gear, 36 - second guide rail, 37 - second slider, 38 - third motor, 39 - bearing seat, 30 - connecting piece;

[0044] 4 - traveling mechanism, 41 - moving platform, 42 - driving wheel, 43 - fourth motor, 44 - auxiliary wheel, 45 - track, 46 - guide wheel, 47 - spring suspension system;

[0045] 5 - decocting station, 6 - cooking utensil, 7 - decocting area, 61 - base, 62 - boss, 8 - electric control cabinet. Specific embodiments

[0046] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0047] AsFigure 1 As shown in the figure, the present utility model provides a specific implementation of an RGV transportation device, including a load platform 1, a picking and placing mechanism 2, a lifting mechanism 3, and a traveling mechanism 4.

[0048] Among them, the load platform 1 is used to store objects to be moved; in this embodiment, it is used to store the pots for decocting medicine; in other application scenarios, it can also be used to store other objects.

[0049] The picking and placing mechanism 2 is arranged on the load platform 1; the picking and placing mechanism 2 can drive the object to be moved to move between the load platform 1 and the target position; in this embodiment, the RGV transportation device is used to pick and place the pot from the decocting station, that is, the picking and placing mechanism 2 can drive the pot to move between the load platform 1 and the decocting station; in other application scenarios, the RGV transportation device can be used to pick and place any object from any target position.

[0050] The action end of the lifting mechanism 3 is connected to the load platform 1; in this embodiment, the lifting mechanism 3 is used to adjust the height of the load platform 1 according to the height of the decocting station.

[0051] And the lifting mechanism 3 is also used to drive the load platform 1 to move to a position equal in height to the decocting station, so that the picking and placing mechanism 2 can drive the pot to move between the load platform 1 and the target position through pushing or pulling actions.

[0052] The traveling mechanism 4 has a moving platform 41, and the lifting mechanism 3 is arranged on the moving platform 41; the traveling mechanism 4 drives the moving platform 41 to move along the ground, and is used to move the load platform 1 to the lower side of the entrance of the decocting station, and then adjust the height of the load platform 1 through the lifting mechanism 3 to facilitate the picking and placing mechanism 2 to pick and place the pot from the decocting station.

[0053] In this embodiment, an embodiment of the picking and placing mechanism 2 is provided, specifically as Figure 2 shown:

[0054] The picking and placing mechanism 2 includes two parallel push rods 21, a pushing and pulling block 22 arranged at the end of the push rod 21, and a driving device capable of driving the push rod 21 to perform linear reciprocating motion along its own length direction.

[0055] Among them, the push rod 21 is arranged along the path of the pot moving between the load platform 1 and the decocting station, specifically arranged along the direction parallel to the central axis of the load platform 1, and arranged on the plane of the load platform 1 for storing the pot.

[0056] The pushing and pulling block 22 can contact the pot during the movement of the push rod 21 and apply an external force to the pot to drive the pot to move between the load platform 1 and the decocting station.

[0057] In this embodiment, the driving device includes a first motor 23, a driving gear 24 disposed at the output end of the first motor 23, and a gear set 25; racks 26 are provided at the bottoms of the two push rods 21, and two sets of gear sets 25 are provided. The input gears 251 in the two sets of gear sets 25 are respectively engaged with the two racks 26; the driving gear 24 is engaged with the input gear 251 of one set of gear sets 25, and the input gears 251 of the two sets of gear sets 25 are synchronously driven through a first transmission shaft 27.

[0058] Wherein, the output shaft of the first motor 23 drives the driving gear 24 to rotate through a speed reducer 200 to prevent the moving speed of the push rod 21 from being too fast.

[0059] In this embodiment, on the plane of the load platform 1 for storing cookware, first guide rails 28 are respectively provided inside or outside the two push rods 21, and first sliders 29 capable of sliding along the guide rails are provided on the push rods 21; the two first guide rails 28 are arranged along the path for the object to be moved to move between the load platform 1 and the target position, so that the push rods 21 can move along the path; and limit blocks 20 are provided at both ends of the first guide rail 28, which are in contact with the limit blocks 20 and the first sliders 29 to limit the stroke of the push rods 21.

[0060] During the movement of the push rod 21, interference may occur between the push-pull block 22 and the cookware.

[0061] For example, during the process of taking the cookware from the decocting station, the push rod 21 applies a force to the cookware from the back of the cookware (with the side facing the load platform 1 as the front). Therefore, during the movement of the push rod 21 towards the cookware, the cookware will block the push-pull block 22, making the push rod 21 unable to continue moving towards the cookware.

[0062] During the process of placing the cookware on the load platform 1 into the decocting station, the initial position of the cookware is located in the middle of the load platform 1, between the push-pull blocks 22 at both ends of the push rod 21. Therefore, after the push-pull block 22 at one end of the push rod 21 pushes the cookware into the decocting station, during the reset process of the push rod 21, the cookware will block the push-pull block 22 at the other end of the push rod 21, making the push rod 21 unable to continue moving towards the cookware.

[0063] To avoid the above situation, in this embodiment, the push-pull block 22 can rotate in a plane perpendicular to the push rod 21 to avoid contact between the push-pull block 22 and the cookware before the push-pull block 22 moves to the force application position of the cookware and during the reset process of the push rod 21, and to avoid interference between the push-pull block 22 and the cookware.

[0064] Furthermore, this embodiment provides an embodiment of the push-pull block 22, specifically as Figure 3 shown:

[0065] Rotating seats 223 are provided at both ends of the push rod 21 , and the push-pull block 22 is rotatably connected to the rotating seats 223 , so that the push-pull block 22 can rotate in a plane perpendicular to the push rod 21 .

[0066] Furthermore, the push-pull blocks 22 located at both ends of the same push rod 21 are connected by a connecting rod 224; the loading platform 1 is provided with a second motor 221 at the side parallel to the connecting rod 224, and the output shaft of the second motor 221 is arranged parallel to the connecting rod, and a hinged double-link mechanism 222 is vertically provided between the output shaft and the connecting rod 224, and the two ends of the double-link mechanism 222 are rotatably connected to the output shaft and the connecting rod 224 respectively.

[0067] The connecting rod 224 moves with the movement of the push rod 21; therefore, a linear bearing 225 is provided at one end of the double-link mechanism 222 connected to the connecting rod 224, and the linear bearing 225 is sleeved on the outer side of the connecting rod 224 to facilitate the linear movement of the connecting rod 224.

[0068] When the push rod 21 performs linear reciprocating motion, it can drive the push-pull block 22 to perform linear reciprocating motion synchronously; in this process, the second motor 221 can drive the push-pull block 22 to perform rotational motion through the double-link mechanism 222 .

[0069] In order to facilitate the movement of pots, Figure 6 As shown, a roller transmission line 11 is provided on the loading platform 1 along the moving direction of the cookware, which converts the sliding friction between the bottom of the cookware and the loading platform 1 into rolling friction, thereby facilitating the movement of the cookware.

[0070] Furthermore, guide bars 12 are provided on both sides of the loading platform 1 along the moving direction of the cookware, and both ends of the two guide bars 12 form opening structures, which facilitates the cookware to enter the loading platform 1 from the decoction station.

[0071] In this embodiment, an embodiment of the lifting mechanism 3 is also provided, as shown in FIG. Figure 4 and Figure 5 As shown:

[0072] The lifting mechanism 3 includes a gantry 31 vertically arranged on a mobile platform 41, and lifting devices arranged on both sides of the gantry 31; the loading platform 1 is arranged inside the gantry 31, and the push rod 21 performs linear reciprocating motion through the door opening of the gantry 31; the action ends of the two sets of lifting devices are connected to the loading platform 1, and the action ends of the two sets of lifting devices are lifted and lowered synchronously.

[0073] In this embodiment, the lifting device includes a chain transmission mechanism and a third motor 38; the two chain transmission mechanisms are vertically arranged on both sides of the gantry 31, symmetrically and at the same height.

[0074] The sprockets 32 on the same side in the two chain drive mechanisms are connected to the second transmission shaft 33. A driven gear 34 is provided on the second transmission shaft, and a driving gear 35 is provided on the output shaft of the third motor 38. The driving gear 35 meshes with the driven gear 34.

[0075] The third motor 38 is arranged at the top or bottom of the gantry 31 according to the position of the second transmission shaft; the chains of the chain drive mechanisms on both sides of the load platform 1 are connected to the edges of the load platform 1 through connectors 30, so that the load platform 1 is parallel to the horizontal plane.

[0076] To avoid interference with the lifting of the load platform 1; as Figure 7 shown, in this embodiment, the second transmission shaft 33 is connected to the sprocket 32 located below in the chain drive mechanism; the sprocket 32, the second transmission shaft 33 and the third motor 38 are all located at the bottom of the moving platform 41; wherein, both ends of the second transmission shaft 33 are fixed to the bottom of the moving platform 41 through bearing seats 39.

[0077] Wherein, the output shaft of the third motor 38 drives the driving gear 35 to rotate through a speed reducer 200 to avoid too fast lifting speed of the load platform 1.

[0078] In this embodiment, the lifting device can also adopt a belt drive mode, and the chain drive mechanism can be replaced with a belt drive mechanism.

[0079] In this embodiment, the lifting device can also adopt a lead screw pair. Two lead screw pairs are symmetrically arranged on both sides of the gantry 31 respectively, and the lead screw nuts of the two lead screw pairs are connected to the edges of the load platform 1 respectively, so that the load platform 1 is parallel to the horizontal plane.

[0080] Furthermore, in this embodiment, second guide rails 36 are vertically arranged on both sides of the gantry 31, and second sliders 37 capable of sliding along the second guide rails 36 are provided at the edges of the load platform 1, so that the movement of the load platform 1 in the vertical direction is more stable.

[0081] This embodiment also provides an embodiment of the traveling mechanism 4, as Figure 7 shown:

[0082] The traveling mechanism 4 further includes driving wheels 42 arranged at the bottom of the moving platform 41 and an electric driving element for driving the driving wheels 42 to rotate; as Figure 8 shown, the electric driving element includes a fourth motor 43 and a speed reducer 200, and the output shaft of the fourth motor 43 drives the driving wheels 42 to rotate through the speed reducer 200.

[0083] And a spring suspension system 47 is provided at the driving wheels 42. The spring suspension system 47 can ensure that the driving wheels 42 always touch the ground, thereby ensuring the adhesion of the ground to the RGV transport device and reducing the requirement for the ground flatness.

[0084] In this embodiment, auxiliary wheels 44 are respectively provided at both ends of the bottom of the mobile platform 41 to improve the stability of the movement of the mobile platform 41.

[0085] In this embodiment, two parallel tracks 45 are provided along the movement path of the mobile platform 41 to guide the traveling mechanism 4, and the two tracks 45 can be directly or indirectly laid on the ground.

[0086] The mobile platform 41 is arranged between the two tracks 45, and there is a gap between the driving wheel 42 and the track 45. The driving wheel 42 can be located inside the track 45 or can be located inside the track 45; in this embodiment, both the driving wheel 42 and the auxiliary wheel 44 are inside the track 45, which not only ensures the smooth operation of the RGV transport function but also ensures a high straightness of walking, reduces the resistance between the traveling mechanism 4 and the track 45, and improves the smoothness of operation.

[0087] Guide wheels 46 are respectively provided at the four corners of the mobile platform 41, and all the guide wheels 46 are in rolling contact with the inner sides of the two tracks 45, or all the guide wheels 46 are in rolling contact with the outer sides of the two tracks 45; in this embodiment, all the guide wheels 46 are in rolling contact with the outer sides of the two tracks 45 to prevent the driving wheel 42 from coming into contact with the track 45 during the movement of the driving wheel 42.

[0088] As Figure 9 and Figure 10 shown, this embodiment also provides an implementation manner of a traditional Chinese medicine decocting RGV transport system, including an RGV transport device for transporting the pot 6 to the decocting station 5 and taking out the pot 6 from the decocting station 5.

[0089] Among them, there are multiple decocting stations 5. One decocting area 7 is provided on one side of the track 45 for multiple decocting stations 5, or one decocting area 7 is provided on each side of the track 45 for multiple decocting stations 5; in this embodiment, multiple decocting stations 5 are distributed on both sides of the track 45 to form two decocting areas 7.

[0090] The decocting area 7 is composed of multiple layers of decocting stations 5 arranged in parallel with the track 45, and each layer is provided with multiple decocting stations 5.

[0091] The size of the load platform 1 is set such that during the movement of the load platform 1, the edge of the load platform 1 is close to the decocting station 5, enabling the pot 6 to move smoothly between the two; and during the movement of the load platform 1, there is no interference between the load platform 1 and the decocting station 5.

[0092] Further, since the pot 6 is cylindrical, in order to facilitate the push-pull block 22 to apply an external force to the pot 6, in this embodiment, as Figure 11and Figure 12 As shown, the cookware 6 is equipped with a base 61. On two parallel side edges of the base 61, bosses 62 are symmetrically provided. The bosses 62 are the positions where the push-pull blocks 22 apply external forces to the cookware 6.

[0093] An electric control cabinet 8 is further provided on the moving platform 41. Components such as a controller, a driver, and a heat dissipation element for controlling the normal operation of the transport machine are installed in the electric control cabinet 8.

[0094] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements within the essence and protection scope of the present application, and such modifications or equivalent replacements should also be regarded as falling within the protection scope of the present application.

Claims

1. An RGV transport device, characterized in that, Comprising: A load platform (1) for storing objects to be moved; A picking and placing mechanism (2) arranged on the load platform (1); the picking and placing mechanism (2) can drive the object to be moved to move between the load platform (1) and the target position; A lifting mechanism (3) whose moving end is connected to the load platform (1); the lifting mechanism (3) is used to adjust the height of the load platform (1) according to the height of the target position; so that the picking and placing mechanism (2) can drive the object to be moved to move between the load platform (1) and the target position through pushing or pulling actions; A traveling mechanism (4) having a moving platform (41), and the lifting mechanism (3) is arranged on the moving platform (41); the traveling mechanism (4) drives the moving platform (41) to move along the ground, and is used to move the load platform (1) to the lower side of the entrance of the target position.

2. The RGV transport device according to claim 1, characterized in that, The picking and placing mechanism (2) includes two parallel push rods (21), a pushing and pulling block (22) arranged at the end of the push rod (21), and a driving device capable of driving the push rod (21) to perform linear reciprocating motion along its own length direction; Wherein, the push rod (21) is arranged along the path of the object to be moved moving between the load platform (1) and the target position, and is arranged on the plane of the load platform (1) for storing the object to be moved; The pushing and pulling block (22) can apply an external force to the object to be moved during the movement of the push rod (21), so as to drive the object to be moved to move between the load platform (1) and the target position.

3. The RGV transportation device according to claim 2, characterized in that, The driving device includes a first motor (23), a driving gear (24) arranged at the output end of the first motor (23), and a gear set (25); A rack (26) is arranged at the bottom of the push rod (21), and there are two sets of gear sets (25). The input gears (251) in the two sets of gear sets (25) are respectively engaged with the two racks (26); the driving gear (24) is engaged with the input gear (251) of one of the sets of gear sets (25), and the input gears (251) of the two sets of gear sets (25) are synchronously driven through a first transmission shaft (27).

4. The RGV transportation device according to claim 3, characterized in that, First guide rails (28) are respectively arranged on the outside of the two sets of push rods (21) on the plane of the load platform (1) for storing the object to be moved, and first sliders (29) capable of sliding along the guide rails are arranged on the push rods (21); the two sets of first guide rails (28) are arranged along the path of the object to be moved moving between the load platform (1) and the target position, so that the push rod (21) can move along the path.

5. The RGV transportation device according to claim 4, characterized in that, The pushing and pulling block (22) can rotate in a plane perpendicular to the push rod (21) to avoid interference between the pushing and pulling block (22) and the object to be moved before the pushing and pulling block (22) moves to the force application position of the object to be moved and during the reset process of the push rod (21).

6. The RGV transportation device according to claim 5, wherein, The push-pull blocks (22) are arranged at both ends of the push rod (21) and are rotatably connected to the push rod (21). The push-pull blocks (22) located at both ends of the same push rod (21) are connected via a connecting rod (224); The loading platform (1) is provided with a second motor (221) on the side parallel to the connecting rod (224); the output shaft of the second motor (221) is arranged parallel to the connecting rod (224); a double-link mechanism (222) is vertically hinged between the output shaft and the connecting rod (224); and the two ends of the double-link mechanism (222) are rotatably connected to the output shaft and the connecting rod (224) respectively.

7. The RGV transportation device according to claim 1, wherein, The lifting mechanism (3) comprises a gantry (31) vertically arranged on a mobile platform (41), and lifting devices arranged on both sides of the gantry (31); The loading platform (1) is arranged inside the gantry (31), and the push rod (21) penetrates the door opening of the gantry (31) in the direction of linear reciprocating motion; the action ends of the two groups of lifting devices are connected to the loading platform (1), and the action ends of the two groups of lifting devices are lifted and lowered synchronously.

8. The RGV transport device according to claim 1, characterized in that, The lifting device comprises a chain transmission mechanism and a third motor (38); The two chain transmission mechanisms are respectively vertically arranged on two sides of the gantry (31), symmetrically and at the same height; The sprocket wheels (32) located on the same side of the two chain transmission mechanisms are connected to a second transmission shaft (33), a driven gear (34) is provided on the second transmission shaft (33), a driving gear (35) is provided on the output shaft of the third motor (38), and the driving gear (35) and the driven gear (34) are meshed; The third motor (38) sets the top or bottom of the gantry (31) according to the position of the second transmission shaft (33); The chains of the chain transmission mechanism located on both sides of the loading platform (1) are connected to the edges of the loading platform (1) via connecting pieces (30).

9. The RGV transportation device according to claim 1, wherein Second guide rails (36) are also vertically provided on both sides of the gantry (31), and a second sliding block (37) capable of sliding along the second guide rails (36) is provided on the edge of the loading platform (1).

10. The RGV transportation device according to claim 1, characterized in that, The walking mechanism (4) further comprises a driving wheel (42) arranged at the bottom of the mobile platform (41), and an electric driving force element for driving the driving wheel (42) to rotate.

11. The RGV transportation device according to claim 1, characterized in that, Auxiliary wheels (44) are respectively provided at both ends of the bottom of the mobile platform (41).

12. The RGV transportation device according to claim 1, wherein, Two parallel tracks (45) are provided along the moving path of the moving platform (41), the moving platform (41) is arranged between the two tracks (45), and there is a gap between the driving wheel (42) and the track (45); And guide wheels (46) are respectively provided at four corners of the mobile platform (41), and all the guide wheels (46) are in rolling contact with the inner sides of the two tracks (45), or all the guide wheels (46) are in rolling contact with the outer sides of the two tracks (45), so as to prevent the driving wheel (42) from contacting the track (45) during the movement of the driving wheel (42).

13. A traditional Chinese medicine decocting RGV transportation system, characterized in that, Comprising the RGV transportation device according to any one of claims 1-12, for transporting the cookware (6) to the decocting station (5) and taking out the cookware (6) from the decocting station (5); One decocting area (7) is provided on one side of the track (45), or one decocting area (7) is respectively provided on both sides of the track (45); the decocting area (7) is composed of multiple layers of decocting stations (5) arranged in parallel with the track (45); And the size of the load platform (1) is set such that during the movement of the load platform (1), the edge of the load platform (1) is close to the decocting station (5), and there is no interference between the load platform (1) and the decocting station (5).

14. The traditional Chinese medicine decocting RGV transportation system according to claim 13, wherein Further comprising a base (61) for carrying the cookware (6), and convex platforms (62) are symmetrically provided on two parallel side edges of the base (61), and the convex platforms (62) are the positions where the push-pull block (22) applies an external force to the cookware (6).

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