RGV chassis suitable for high-speed material conveying working condition

Abstract

The utility model relates to the technical field of logistics conveying, in particular to an RGV chassis suitable for high-speed material conveying working conditions, which comprises a mounting component, a guide rail and a guide rail, the motor assembly comprises a transmission shaft; the single transmission shaft drives the driving wheel sets at the two ends to move along the bottom guide rail so as to synchronize the driving wheel sets at the two ends to rotate, and the axis of the transmission shaft and the welding piece are relatively fixed so as to improve the connecting strength of the driving wheel sets, the transmission shaft and the welding piece. The transmission shaft drives the driving wheel sets at the two ends to move, and the synchronous rate of the high-speed rolling driving wheel sets is prevented from being reduced; the motor assembly and the driving wheel sets are fixed through the welding parts, the parallelism of moving tracks of the driving wheel sets at the two ends is guaranteed, the situation that the driving wheel sets vibrate and impact a transmission shaft due to the synchronization rate and track deviation when rolling at a high speed, and consequently position deviation of the driving wheel sets is caused is avoided, and included angles between the driving wheel sets and a linear section bottom guide rail are avoided. The stress concentration of the driving wheel set on the bottom guide rail is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics transportation, in particular to an RGV chassis suitable for high-speed material conveying working conditions. Background Art

[0002] RGV refers to automated material handling equipment that runs along preset tracks and is widely used in scenarios such as smart factories, warehousing logistics, and assembly lines. Its main structure includes: a vehicle body for carrying materials, a drive system that drives the vehicle body along the guide rails, a safety protection system for ensuring safety, and an energy system for providing electricity. The existing drive system is a split type, which mainly includes a motor system, a reducer, and wheels that are connected to each other through mechanical connectors. The split structure is difficult to control due to the long mechanical transmission chain and the difficulty in controlling the accuracy of independent installation and assembly of each component, which increases the wear between the components. The rigid connection between the components is prone to amplifying torsional vibrations, especially in high-speed or heavy-load scenarios, resulting in noise resonance.

[0003] Published Chinese patent CN112758212A discloses a highly integrated AGV chassis, comprising a chassis frame, integrated drive wheels positioned on either side of the chassis frame's center, four support wheels positioned on either side of the chassis frame's front and rear ends, an integrated motion controller positioned at the front end of the chassis frame's upper support, and a battery pack positioned at the rear end of the upper support to power the AGV chassis. The integrated drive wheels are connected to the integrated motion controller via a CANopen bus cable. This patent utilizes integrated components and CANopen bus communication, resulting in a compact chassis structure, small size, simple installation, and low maintenance costs. However, the integrated drive wheels in this patent are independently arranged on both sides of the middle part of the chassis frame, which include two deceleration wheels and two integrated low-voltage servo motors. When the integrated drive wheels in this patent drive the RGV body to transport goods at high speed, the two integrated low-voltage servo motors on both sides of the middle part accumulate speed errors, causing the synchronization rate to gradually decrease, thereby gradually increasing the angle difference between the moving direction of the chassis frame and the length direction of the bottom guide rail, thereby increasing the squeezing force of the deceleration wheels on one side or both sides on the bottom guide rail, and increasing the stress between the wheel body and the planetary accelerator in the deceleration wheel, thereby increasing the failure rate of the RGV chassis and reducing the service life of the RGV chassis in a high-speed environment. Utility Model Content

[0004] In order to solve the problem that the RGV chassis is prone to stress concentration with the bottom guide rail under the working condition of high-speed material conveying, the utility model provides an RGV chassis suitable for high-speed material conveying working conditions. The specific technical solution is as follows:

[0005] An RGV chassis suitable for high-speed material feeding working conditions, the RGV chassis includes a chassis frame that moves relative to a bottom guide rail, the RGV chassis also includes at least two drive assemblies forming an integral structure, the drive assemblies each including: a mounting assembly connected to the chassis frame, the mounting assembly being a welded part; a motor assembly connected to the mounting assembly, the motor assembly including a transmission shaft for outputting torque; and drive wheel sets respectively connected to the axial ends of the transmission shaft, wherein a single transmission shaft can simultaneously drive the drive wheel sets at both ends to move along the bottom guide rail to synchronize the rotation states of the drive wheel sets at both ends, and the axis of the transmission shaft remains relatively fixed to the welded part to improve the structural strength between the drive wheel set, the transmission shaft and the welded part.

[0006] Furthermore, the mounting assembly includes: a type of bracket connected to the bottom of the chassis frame, the type of bracket is formed by welding plates; bearing mounting seats connected to both sides of the bottom of the type bracket, and the drive shaft passes through the bearing mounting seats on both sides to drive the driving wheel group to rotate.

[0007] Preferably, the mounting assembly further comprises a motor fixing plate welded to the top of the several-shaped bracket, a motor shock absorbing plate connected to the motor fixing plate via an energy absorbing gasket, and the motor shock absorbing plate is connected to the motor assembly.

[0008] Preferably, the mounting assembly further comprises a mounting bracket connected to the bearing mounting seat, the mounting bracket being connected to the motor assembly via a shock-absorbing spring, and the axis of the shock-absorbing spring being perpendicular to the bottom guide rail.

[0009] Preferably, the motor assembly also includes a hollow shaft reduction motor that outputs torque through the torque end and a controller that controls the output torque of the hollow shaft reduction motor. The transmission shaft is connected to the torque end to transmit torque, and the torque end coincides with the axis of the transmission shaft.

[0010] Preferably, the driving wheel group includes driving wheels respectively connected to the axial ends of the transmission shaft, and the opposite axial end faces of the driving wheels on both sides form a limiting rib, and the diameter D2 of the limiting rib is larger than the diameter D1 of the driving wheel; the axial side surface of the driving wheel is tangent to the top surface of the bottom guide rail, and the limiting rib is connected to the side surface of the driving wheel and the side surface of the bottom guide rail at the same time.

[0011] Preferably, the vehicle further includes auxiliary wheel assemblies respectively connected to both sides of the bottom of the chassis frame, and the auxiliary wheel assemblies are arranged between adjacent drive assemblies; the auxiliary wheel assemblies each include an auxiliary wheel and a wheel bracket for mounting the auxiliary wheel, the axis of the auxiliary wheel is parallel to the axis of the drive wheel assembly, and the distance H between the axial side surface of the auxiliary wheel and the top surface of the bottom guide rail is ≥ 0 mm.

[0012] It can be seen from the above technical solution that the utility model has the following beneficial effects:

[0013] The utility model provides a same transmission shaft to drive the driving wheel groups at both ends to move along the bottom guide rail, thereby reducing the synchronization rate drop rate of the driving wheel groups at both ends when the driving wheel groups roll at high speed; secondly, a welded mounting assembly is provided to fix the motor assembly and the driving wheel group, thereby improving the structural strength of the driving assembly, thereby improving the connection strength between the transmission shaft and the driving wheel group, and improving the parallelism of the moving tracks of the driving wheel groups at both ends, thereby avoiding vibration caused by synchronization rate and track deviation when the driving wheel group rolls at high speed, and then continuously impacting the transmission shaft, causing the relative position relationship between the two to gradually deviate, resulting in accumulated deviations, thereby avoiding the angle or angle accumulation between the rolling direction of the driving wheel group and the length direction of the bottom guide rail of the straight section, thereby reducing the stress concentration generated by the driving wheel group on the bottom guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic structural diagram of an embodiment of the utility model;

[0015] Figure 2 A schematic diagram of the structure of the drive assembly assembled with the mounting assembly, motor assembly and drive wheel assembly;

[0016] Figure 3 for Figure 2 A structural diagram from another angle;

[0017] Figure 4 for Figure 3 A magnified view of the structure at point A;

[0018] Figure 5 for Figure 1 Side view of

[0019] Figure 6 for Figure 5 A magnified view of the structure at point B in FIG;

[0020] Figure 7 for Figure 3 Side view of

[0021] Figure 8 for Figure 7 CC section view in.

[0022] In the figure: 1. Chassis frame; 2. Mounting assembly; 21. Bracket; 22. Bearing mounting seat; 23. Motor fixing plate; 24. Motor shock absorber plate; 25. Energy-absorbing gasket; 26. Mounting bracket; 27. Shock-absorbing spring; 3. Motor assembly; 31. Hollow shaft reduction motor; 32. Drive shaft; 33. Controller; 4. Drive wheel set; 41. Active wheel; 42. Limit rib; 5. Auxiliary wheel set; 51. Auxiliary wheel; 52. Wheel bracket. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] In the description of the embodiments of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the present invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as a limitation on the present invention.

[0025] like Figure 1 As shown, this embodiment is an RGV chassis suitable for high-speed material feeding working conditions, and the RGV chassis includes a chassis frame 1 that moves relative to the bottom guide rail. Specifically, Figure 1 The left side is the top of this embodiment, Figure 1 The right side in the figure is the bottom of the present invention; the bottom of the chassis frame 1 is rolledly connected with the bottom guide rail, which is a common structure. It is an I-beam and is laid on the ground, so that the chassis frame 1 can move along the length direction of the bottom guide rail, and the moving direction is horizontal. The top of the chassis frame 1 is used to carry materials, so that the chassis frame 1 can transport materials along the bottom guide rail.

[0026] like Figure 2 As shown, Figure 2 The axial left and right sides of the transmission shaft 32 are the left and right sides of this embodiment. The RGV chassis also includes at least two drive assemblies forming an integral structure. The drive assemblies include: a mounting assembly 2 connected to the chassis frame 1, and the mounting assembly 2 is a welded part; a motor assembly 3 connected to the mounting assembly 2, and the motor assembly 3 includes a transmission shaft 32 for outputting torque; and a driving wheel group 4 connected to the axial ends of the transmission shaft 32 respectively. A single transmission shaft 32 can simultaneously drive the driving wheel groups 4 at both ends to move along the bottom guide rail to synchronize the rotation state of the driving wheel groups 4 at both ends. The axis of the transmission shaft 32 remains relatively fixed with the welded part to improve the structural strength between the driving wheel group 4, the transmission shaft 32 and the welded part.

[0027] Specifically, the components of the drive assembly are fixedly connected to form an integral structure, which is fixedly connected to the chassis frame 1 by bolts. Secondly, the left and right sides of the mounting assembly 2 are fixedly connected to the bottom of the chassis frame 1 by bolts, so that the relative positions of the two are fixed. At the same time, the bolts pass through the through holes to form a bolt connection with the nuts. The bolts and the through holes are clearance-fitted, so the operator can fine-tune the position of the bolts, and then fine-tune the position of the mounting assembly 2 relative to the chassis frame 1, and then fine-tune the position of the chassis frame 1 relative to the bottom guide rail, so that the length direction of the chassis frame 1 is consistent with the length direction of the bottom guide rail.

[0028] Secondly, the mounting assembly 2 is welded from plates, so that the positional relationship between the plates remains fixed; the bottom of the mounting assembly 2 is fixedly connected to the motor assembly 3 by bolts, and the transmission shaft 32 is rotatably connected to its bottom, so that the axis of the transmission shaft 32 is fixed relative to the mounting assembly 2, and its axis is perpendicular to the length direction of the bottom guide rail. The driving wheel group 4 is fixedly connected to the two axial ends of the transmission shaft 32 by bolts respectively, and the axes of the two coincide, so that the axis of the driving wheel group 4 is perpendicular to the length direction of the bottom guide rail, so that the transmission shaft 32 transmits torque to the driving wheel groups 4 at both ends, so that the rotation speeds of the driving wheel groups 4 at the left and right ends are the same, ensuring the synchronization rate of the driving wheel groups 4 at both ends, and thus stably driving the mounting assembly 2 and the motor assembly 3 to move along the length direction of the bottom guide rail, and during high-speed movement, the driving wheel groups 4 at both ends are always synchronized, so that their moving direction is always consistent with the length direction of the straight section of the bottom guide rail, avoiding angular deviation, thereby ensuring the extrusion force applied by the driving wheel group 4 to the bottom guide rail, reducing the stress concentration on the bottom guide rail, and improving the service life of the RGV.

[0029] Furthermore, the mounting assembly 2 includes: a multi-shaped bracket 21 connected to the bottom of the chassis frame 1, the multi-shaped bracket 21 is formed by welding a plate; a bearing mounting seat 22 connected to both sides of the bottom of the multi-shaped bracket 21, and the transmission shaft 32 passes through the bearing mounting seats 22 on both sides to drive the driving wheel group 4 to rotate.

[0030] Specifically, the top of the several-shaped bracket 21 is set in the bottom space of the chassis frame 1, and the bottom of the middle position forms a space for placing the motor assembly 3, so as to reduce the total height of the mounting component 2 and the motor assembly 3, thereby reducing the center of gravity height of the chassis frame 1 and ensuring its stability during high-speed movement; secondly, the left and right ends of the several-shaped bracket 21 are located at its bottom, and the left and right ends are fixedly connected to the chassis frame 1 by bolts respectively. Because the several-shaped bracket 21 is welded, the relative positions of the motor assembly 3, the several-shaped bracket 21 and the chassis frame 1 will not move relative to each other under emergency braking or heavy load conditions during high-speed movement; secondly, the bearing mounting seats on the left and right sides 22 is fixedly connected to the left and right sides of the bottom of the several-shaped bracket 21 by welding, and the bearing mounting seats 22 on the left and right sides are both equipped with bearings, and the bearings are fixedly connected to the transmission shaft 32, so that the bearing mounting seat 22 is rotatably connected to the transmission shaft 32, and the axes of the two coincide. Due to the welding fixation, the positions of the two are relatively fixed, so that the load-bearing conditions and sudden braking of the chassis frame 1 will not affect the position of the transmission shaft 32 relative to the mounting assembly 2, and the positional relationship between the driving wheel groups 4 at both ends of the transmission shaft 32 and the mounting assembly 2 remains stable, thereby maintaining the positional relationship between the bottom guide rail and the mounting assembly 2, and thereby maintaining the positional relationship between the chassis frame 1 and the bottom guide rail.

[0031] like Figure 3 and Figure 4 As shown, the mounting assembly 2 also includes a motor fixing plate 23 welded to the top of the bracket 21, a motor shock absorbing plate 24 connected to the motor fixing plate 23 via an energy absorbing gasket 25, and the motor shock absorbing plate 24 is connected to the motor assembly 3.

[0032] Specifically, the motor assembly 3 generates vibration during high-speed operation, and its top is fixedly connected to the motor shock-absorbing plate 24 by bolts, so that the vibration is transmitted to the motor shock-absorbing plate 24 through a rigid connection. The motor shock-absorbing plate 24 is an L-shaped plate, whose long side is fixedly connected to the motor assembly 3, and its short side is fixedly connected to the motor fixing plate 23 by bolts. The bolts are used to fix the energy-absorbing gasket 25 between the limit head and the motor shock-absorbing plate 24, and an energy-absorbing gasket 25 is connected between the motor shock-absorbing plate 24 and the motor fixing plate 23; wherein, the energy-absorbing gasket 25 in this embodiment is made of rubber, which can absorb the vibration transmitted by the motor shock-absorbing plate 24, and prevent the vibration from being transmitted to the motor fixing plate 23 through the bolts, and thus transmitted to the several-shaped bracket 21, the bearing mounting seat 22, the transmission shaft 32 and the driving wheel group 4, thereby avoiding high-frequency relative impact between the driving wheel group 4 and the bottom guide rail, thereby causing stress concentration. Therefore, the energy-absorbing gasket 25 can reduce the stress concentration between the driving wheel group 4 and the bottom guide rail.

[0033] like Figure 5 and Figure 6As shown, the mounting assembly 2 further includes a mounting bracket 26 connected to the bearing mounting seat 22 , and the mounting bracket 26 is connected to the motor assembly 3 via a shock-absorbing spring 27 , and the axis of the shock-absorbing spring 27 is perpendicular to the bottom guide rail.

[0034] Specifically, the mounting bracket 26 is a wide U-shaped bracket, both ends of which are fixedly connected to the bottom of the bearing mounting seat 22 by welding, and the middle part thereof protrudes downward to form a cavity for placing the motor assembly 3. The bottom of the motor assembly 3 is fixedly connected to the middle part of the mounting bracket 26 by bolts. At the same time, there is a gap between the bottom of the motor assembly 3 and the middle part of the mounting bracket 26 to install the shock-absorbing spring 27, and the shock-absorbing spring 27 is mounted on the bolt; wherein, the total length of the shock-absorbing spring 27 is greater than the gap distance between the two, so that the shock-absorbing spring 27 is always under pressure to generate an upward elastic force to support the motor assembly 3. The shock-absorbing spring 27 can also absorb the vibration generated by the motor assembly 3 to prevent the vibration from being transmitted to the mounting bracket 26, so as to be transmitted to the bracket 21, and then to the driving wheel group 4 in sequence through a rigid connection.

[0035] like Figure 7 and Figure 8 As shown, the motor assembly 3 also includes a hollow shaft reduction motor 31 that outputs torque through the torque end and a controller 33 that controls the output torque of the hollow shaft reduction motor 31. The transmission shaft 32 is connected to the torque end to transmit torque, and the torque end coincides with the axis of the transmission shaft 32.

[0036] Specifically, the hollow shaft reduction motor 31 and the controller 33 for controlling its output torque are existing products, wherein the hollow shaft reduction motor 31 is a driving device that integrates an electric motor and a reducer into one. Its core feature is that the output shaft of the reducer is a hollow structure, and the hollow structure is its torque end, which directly passes through the transmission shaft 32 to connect the drive wheel groups 4 at both ends, reducing the torque transmission nodes, improving the torque transmission efficiency, and thereby reducing the energy loss during high-speed operation of this embodiment.

[0037] Furthermore, the driving wheel group 4 includes a driving wheel 41 respectively connected to the axial ends of the transmission shaft 32, and the opposite axial end faces of the driving wheels 41 on both sides form a limiting rib 42, and the diameter D2 of the limiting rib 42 is larger than the diameter D1 of the driving wheel 41; the axial side surface of the driving wheel 41 is tangent to the top surface of the bottom guide rail, and the limiting rib 42 is connected to the side surface of the driving wheel 41 and the side surface of the bottom guide rail at the same time.

[0038] Specifically, the transmission shaft 32 and the driving wheel 41 transmit torque through a long key, and the end faces of the transmission shaft 32 are fixed with limit plates by bolts to constrain the driving wheel 41 from moving axially, thereby making the driving wheel 41 and the transmission shaft 32 relatively fixed, avoiding slight deviations of the driving wheel 41 relative to the transmission shaft 32 during high-speed rolling, causing deviation accumulation, and thus reducing the stress concentration on the bottom guide rail; secondly, the axial side surface of the driving wheel 41 is tangent to the top surface of the bottom guide rail, and it rolls relative to the top surface, and the relative sides of the driving wheels 41 at both ends are close to the hollow shaft reduction motor 31 The side of the limiting rib 42 connected to the driving wheel 41 is its outward axial end face. The diameter of the limiting rib 42 is larger than the diameter of the driving wheel 41, so that when the axial side face of the driving wheel 41 is tangent to the top surface of the bottom guide rail, the axial end face of the limiting rib 42 contacts the inner side face of the bottom guide rail to form an axial limit for the driving wheel 41, thereby fixing the position of the driving wheels 41 at both ends relative to the width direction of the bottom guide rail, thereby preventing the driving wheel 41 from deviating from the bottom guide rail when rolling at high speed, causing derailment and accidents.

[0039] like Figure 1 As shown, this embodiment further includes auxiliary wheel assemblies 5 respectively connected to both sides of the bottom of the chassis frame 1, and the auxiliary wheel assemblies 5 are arranged between adjacent drive assemblies; the auxiliary wheel assemblies 5 each include an auxiliary wheel 51 and a wheel bracket 52 for mounting the auxiliary wheel 51, the axis of the auxiliary wheel 51 is parallel to the axis of the drive wheel assembly 4, and the distance H between the axial side surface of the auxiliary wheel 51 and the top surface of the bottom guide rail is ≥ 0 mm.

[0040] Specifically, the wheel bracket 52 is fixedly connected to both sides of the bottom of the chassis frame 1 by bolts. The end away from the chassis frame 1 is its bottom, and its bottom is rotatably connected to the auxiliary wheel 51. The axis of the auxiliary wheel 51 is perpendicular to the width direction of the bottom guide rail, so that it can roll along the top surface of the bottom guide rail. Secondly, the wheel bracket 52 and the auxiliary wheel 51 are both arranged in the middle position of the two driving wheel groups 4, or at the connection position of the two chassis frames 1. When the distance H between the axial side surface of the auxiliary wheel 51 and the top surface of the bottom guide rail is greater than 0, it means that it does not contact the bottom guide rail. When the chassis frame 1 undergoes downward flexural deformation due to a momentary impact, the auxiliary wheel 51 is tangent to the bottom guide rail, thereby applying an upward supporting force to the chassis frame 1, preventing it from plastic deformation due to excessive deformation, thereby ensuring the straightness of the chassis frame 1. When H = 0 mm, the auxiliary wheel 51 can always be tangent to the bottom guide rail, which is suitable for heavy-load conditions of the chassis frame 1. It can reduce deformation of the chassis frame 1 and thus increase its service life.

[0041] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

[0042] The technology, shape and structure that are not described in detail in this utility model are all well-known technologies.

Claims

1. An RGV chassis suitable for high-speed material conveying working conditions, the RGV chassis comprises a chassis frame (1) that moves relative to a bottom guide rail, characterized in that: The RGV chassis also includes at least two drive assemblies forming an integral structure, each of which includes: a mounting assembly (2) connected to the chassis frame (1), wherein the mounting assembly (2) is a welded part; a motor assembly (3) connected to the mounting assembly (2), the motor assembly (3) comprising a transmission shaft (32) for outputting torque; The drive wheel groups (4) are respectively connected to the axial ends of the transmission shaft (32), and a single transmission shaft (32) can simultaneously drive the drive wheel groups (4) at both ends to move along the bottom guide rail to synchronize the rotation states of the drive wheel groups (4) at both ends. The axis of the transmission shaft (32) remains relatively fixed to the welded part to improve the structural strength between the drive wheel group (4), the transmission shaft (32) and the welded part.

2. The RGV chassis according to claim 1, characterized in that: The installation component (2) comprises: A several-shaped bracket (21) connected to the bottom of the chassis frame (1), wherein the several-shaped bracket (21) is formed by welding plates; The bearing mounting seats (22) are connected to both sides of the bottom of the several-shaped bracket (21), and the transmission shaft (32) passes through the bearing mounting seats (22) on both sides to drive the driving wheel group (4) to rotate.

3. The RGV chassis according to claim 2, characterized in that: The mounting assembly (2) further comprises a motor fixing plate (23) welded to the top of the several-shaped bracket (21), a motor damping plate (24) connected to the motor fixing plate (23) via an energy absorbing gasket (25), and the motor damping plate (24) is connected to the motor assembly (3).

4. The RGV chassis according to claim 3, characterized in that: The mounting assembly (2) further comprises a mounting bracket (26) connected to the bearing mounting seat (22), wherein the mounting bracket (26) is connected to the motor assembly (3) via a shock-absorbing spring (27), and the axis of the shock-absorbing spring (27) is perpendicular to the bottom guide rail.

5. The RGV chassis according to claim 1, characterized in that: The motor assembly (3) further includes a hollow shaft reduction motor (31) for outputting torque through a torque end and a controller (33) for controlling the magnitude of the torque output by the hollow shaft reduction motor (31); the transmission shaft (32) is connected to the torque end to transmit torque, and the torque end coincides with the axis of the transmission shaft (32).

6. The RGV chassis according to claim 1, characterized in that: The driving wheel assembly (4) includes driving wheels (41) respectively connected to the two axial ends of the transmission shaft (32), and the opposite axial end surfaces of the driving wheels (41) on both sides form limiting ribs (42), and the diameter D2 of the limiting ribs (42) is larger than the diameter D1 of the driving wheel (41); The axial side surface of the driving wheel (41) is tangent to the top surface of the bottom guide rail, and the limiting rib is connected to the side surface of the driving wheel (41) and the side surface of the bottom guide rail at the same time.

7. The RGV chassis according to claim 1, characterized in that: It also includes auxiliary wheel assemblies (5) respectively connected to both sides of the bottom of the chassis frame (1), and the auxiliary wheel assemblies (5) are arranged between adjacent drive assemblies; The auxiliary wheel set (5) comprises an auxiliary wheel (51) and a wheel bracket (52) for mounting the auxiliary wheel (51); the axis of the auxiliary wheel (51) is parallel to the axis of the driving wheel set (4); and the distance H between the axial side surface of the auxiliary wheel (51) and the top surface of the bottom guide rail is ≥0 mm.

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