RGV conveying line system

Abstract

The utility model discloses an RGV conveying line system which is arranged for a plurality of machining centers and comprises a rack, a guide rail, a guide vehicle, a driving module and a moving module. Supporting legs are arranged on the rack, and the rack is positioned and connected to the ground through the supporting legs; a mounting surface is arranged on the rack in the length direction of the rack, and a set distance exists between the mounting surface and the ground; on the rack, the multiple machining centers are distributed in the length direction of the rack, the wheel faces on the bearing wheel sets can be kept in the state of being in contact with the ground through cooperation of the elastic pieces, the bearing wheel sets and the guide rails, and even if the flatness of the ground is not high, the movement of the guide vehicle cannot be greatly influenced.

Description

Technical Field

[0001] This utility model relates to the field of automated transportation technology, specifically to an RGV conveyor line system. Background Technology

[0002] To address the problems of high labor intensity, low production efficiency, error-proneness, and unstable product quality caused by manual operation of workpiece loading and unloading between various processes in most enterprises, existing enterprises are introducing robots (six-axis articulated robots) to assist in the automated production of machining centers (CNC). Machining centers are high-efficiency automated machine tools composed of mechanical equipment and CNC systems, suitable for machining complex parts. CNC machining centers are currently among the world's highest-volume and most widely used CNC machine tools. Therefore, the robots used in conjunction with machining centers need to be laid out according to the existing space and site conditions.

[0003] In an existing composite assembly-type automated production line containing multiple machining centers, a ground rail is laid on the ground on the same side of the multiple machining centers. The ground rail extends along its length, and an automated RGV trolley is slidably installed on the ground rail. The automated RGV trolley moves back and forth along the ground rail to realize the automated loading and unloading of multiple machining centers.

[0004] The RGV (Automated Guided Vehicle) trolley disclosed in the prior art for use with machining centers requires the trolley to be mounted on a ground track for reciprocating motion. However, its operation has limitations, as follows:

[0005] Currently, automated guided vehicles (AGVs) operate via tracks laid on the ground. However, during track laying, due to poor ground flatness (the reasons for this are: 1. During the ground laying process, as the concrete gradually dries and hardens, the evaporation of moisture causes volume shrinkage, resulting in depressions in the ground; 2. Long-term use leads to depressions in the ground), the tracks laid on the ground will also exhibit undulations. When the AGV runs on the tracks, the goods loaded on the AGV will experience bumps and swaying, affecting the transportation of goods.

[0006] Therefore, how to overcome the shortcomings of the existing technology mentioned above has become the subject of this utility model. Utility Model Content

[0007] This invention provides an RGV conveyor system, which aims to solve the technical problems mentioned in the background art.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is: an RGV conveyor line system, designed for multiple processing centers, the conveyor line system including a frame, guide rails, guide carriages, drive modules, and motion modules;

[0009] The frame has multiple support legs, and the frame is positioned and connected to the ground via the support legs;

[0010] Multiple support legs are arranged along the length of the frame and form a mounting structure. A mounting surface is provided on the mounting structure, and a predetermined distance exists between the mounting surface and the ground. On the frame, multiple machining centers are distributed along the length of the frame.

[0011] The guide rail is positioned and connected to the mounting surface, and the guide rail has a conveying channel;

[0012] The guide vehicle is located on one side of the guide rail;

[0013] The drive module is located between the guide rail and the guide vehicle, and the drive module has a drive head that drives the guide vehicle to move back and forth along the conveying channel of the guide rail.

[0014] The motion module is positioned and connected to the guide vehicle;

[0015] The motion module includes elastic elements and a load-bearing wheel assembly;

[0016] The load-bearing wheel assembly has a wheel surface that contacts the ground.

[0017] The elastic element acts between the load-bearing wheel assembly and the guide vehicle to keep the wheel surface on the load-bearing wheel assembly in contact with the ground.

[0018] The above plan is explained as follows:

[0019] In the above scheme, the mounting surface can be set on the side of the frame or directly above the support leg.

[0020] In the above scheme, the matching method between the conveying channel and the connector can refer to the matching method of gear and rack, the matching method of lead screw and sliding sleeve, or the matching method of belt and mounting block fixed on belt.

[0021] In the above scheme, the elastic component can be selected from components such as springs, airbags, rubber blocks, and silicone pads.

[0022] A further technical solution is that the load-bearing wheel assembly includes a fixed plate, a mounting bracket, and a limiting shaft;

[0023] The mounting bracket is positioned and connected to the fixing plate; wheels are mounted on the mounting bracket.

[0024] The limiting shaft is movably connected to the fixing plate.

[0025] The mounting bracket is positioned and connected to the fixed plate, similar to a caster wheel. The mounting bracket can rotate around its connection point with the fixed plate. Simultaneously, the elastic element allows the mounting bracket to move up and down.

[0026] In a further technical solution, the load-bearing wheel assembly includes a fixed plate, a mounting bracket is provided on one side surface of the fixed plate, a connecting shaft is mounted on the mounting bracket, the mounting bracket is connected to the wheel body through the connecting shaft passing through the wheel body axle, and the outer circumferential surface of the wheel body is the wheel surface;

[0027] A limiting shaft is provided on the other side surface of the fixing plate. The end of the limiting shaft passes through the fixing plate and is positioned and connected to the mounting bracket. The mounting bracket can move away from or towards the guide vehicle, and can also rotate relative to it. When the mounting bracket rotates relative to the guide vehicle, the limiting shaft is configured as the axis of rotation of the mounting bracket.

[0028] Because the ground is uneven, the above design allows the mounting bracket to rotate around the limiting axis, while the elastic element allows the mounting bracket to float up and down.

[0029] In a further technical solution, the elastic element is a spring and is sleeved on the outside of the limiting shaft. This design causes the spring to bend in the middle region during compression.

[0030] A further technical solution is that the guide vehicle is equipped with a positioning limit plate;

[0031] The side surface of the limiting shaft away from the fixed plate passes through the limiting plate, and a nut sleeve is fitted onto the through end of the limiting shaft;

[0032] The elastic element is located between the limiting plate and the fixing plate;

[0033] The load-bearing wheel assembly also includes multiple limiting posts.

[0034] All the limiting posts are evenly distributed along the outer circumferential surface of the limiting shaft, and the axis of the limiting post is parallel to the axis of the limiting shaft;

[0035] One end of the limiting post is connected to the fixing plate, and the other end passes through the limiting plate, with a guide sleeve fitted onto the through end of the limiting post.

[0036] The above design improves the stability of the mounting bracket during its vertical movement.

[0037] In a further technical solution, the bottom of the guide vehicle has a mounting groove, and the limiting plate is positioned and connected to the mounting groove.

[0038] The above design ensures that the vertical movement space of the limiting column and the limiting shaft is not affected by the guide vehicle.

[0039] In a further technical solution, the guide rail includes a fixed track with a track groove, which serves as the conveying channel.

[0040] The drive module includes a connecting plate and a drive head. The connecting plate is positioned on the fixed track and located on one side surface with a track groove.

[0041] The drive head is disposed on the side surface of the connecting plate away from the fixed track, and the working end of the drive head passes through the connecting plate and extends into the track groove.

[0042] With the above design, when the drive head (optional motor) is working, its working end (optional gear) will reciprocate through contact with the inner wall of the track groove (the inner wall of the track groove can be equipped with a rack).

[0043] In a further technical solution, the conveyor system also includes a wire harness mounting frame, which is arranged along the height direction of the frame. The lower end of the wire harness mounting frame is positioned and connected to the upper surface of the guide vehicle. When the guide vehicle moves, the wire harness mounting frame is configured to follow the guide vehicle and move synchronously from the starting end to the end in the conveying channel.

[0044] With the above design, the wiring harness is arranged from the top of the rack, which avoids problems such as tangling and dirt compared to placing it directly on the ground.

[0045] In a further technical solution, the conveyor system also includes a drag chain disposed on the top of the frame. The drag chain includes a first connecting section, a second connecting section and a third connecting section, wherein the first connecting section is positioned and connected to the top of the frame, the third connecting section is positioned and connected to the upper end of the wire harness mounting frame, and the second connecting section is connected between the first connecting section and the third connecting section.

[0046] The first connecting segment, the second connecting segment, and the third connecting segment combine to form a U-shaped structure;

[0047] When the wire harness mounting frame is at the beginning of the conveying channel, only the first connecting segment is attached to the top of the frame; when the wire harness mounting frame moves toward the end of the conveying channel, the first connecting segment, the second connecting segment and the third connecting segment are attached to the top of the frame in sequence.

[0048] The above design allows for a more concentrated arrangement of the wiring harness, and prevents tangling when the harness moves with the guide vehicle.

[0049] The terms "first," "second," etc., used in this article do not specifically refer to order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0050] The terms "connection" or "positioning" as used in this article can refer to two or more components or devices making direct physical contact with each other, or making indirect physical contact with each other, or to two or more components or devices operating or moving with each other.

[0051] The terms “include,” “including,” and “have” used in this article are all open-ended, meaning they include but are not limited to.

[0052] Unless otherwise specified, the terms used herein generally have their ordinary meaning in the context of the art, the subject matter, and the specific context. Certain terms used to describe this case will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the case.

[0053] The terms “front,” “back,” “up,” “down,” “left,” and “right” used in this article are directional terms. In this case, they are only used to describe the positional relationship between the structures and are not intended to limit the specific direction of the protection scheme or its actual implementation.

[0054] The working principle and advantages of this utility model are as follows:

[0055] In this invention, the cooperation of the elastic element, the bearing wheel assembly, and the guide rail ensures that the wheel surface of the bearing wheel assembly remains in contact with the ground. Even if the ground is not very flat, it will not significantly affect the movement of the guide vehicle. Specifically, the drive module is located between the guide rail and the guide vehicle, and the drive head on the drive module drives the guide vehicle to move back and forth along the conveying channel of the guide rail. However, during the back and forth movement of the guide vehicle along the conveying channel of the guide rail, the bearing wheel assembly on the guide vehicle plays an auxiliary guiding role, making the movement of the guide vehicle smoother. At the same time, once it encounters a ground protrusion, the elastic element compresses to raise the bearing wheel assembly, but the wheel surface of the bearing wheel assembly remains in contact with the ground, so that the guide vehicle will not shake. Attached Figure Description

[0056] Appendix Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present utility model;

[0057] Appendix Figure 2 This is a schematic diagram of the guide rail structure in an embodiment of the present utility model;

[0058] Appendix Figure 3 This is a schematic diagram of the guide vehicle structure in an embodiment of the present utility model;

[0059] Appendix Figure 4 This is a schematic diagram of the load-bearing wheel assembly structure in an embodiment of the present utility model;

[0060] Appendix Figure 5 This is a schematic diagram of the support leg structure in an embodiment of the present utility model.

[0061] In the attached diagrams: 1. Frame; 2. Guide rail; 3. Guide trolley; 4. Motion module; 5. Support leg; 6. Conveying channel; 7. Elastic component; 8. Load-bearing wheel set; 9. Fixing plate; 10. Mounting bracket; 11. Connecting shaft; 12. Limiting shaft; 13. Limiting post; 14. Nut sleeve; 15. Guide sleeve; 16. Mounting groove; 17. Fixed rail; 18. Connecting plate; 19. Drive head; 20. Wiring harness mounting bracket; 21. Limiting plate; 22. Wheel surface; 23. Cable chain; 24. First connecting section; 25. Second connecting section; 26. Third connecting section; 27. Wheel body; 28. Mounting surface. Detailed Implementation

[0062] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0063] Example: The present invention will be clearly described below with illustrations and detailed description. Any person skilled in the art who understands the examples of the present invention can make changes and modifications based on the technology taught in the present invention without departing from the spirit and scope of the present invention.

[0064] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the scope of this work. Singular forms such as “a,” “this,” “this,” “the,” and “the” as used herein also include plural forms.

[0065] See appendix Figures 1-5 As shown, an RGV conveyor system is set up for multiple machining centers. The conveyor system includes a frame 1, a guide rail 2, a guide car 3, a drive module, and a motion module 4.

[0066] The frame 1 has multiple support legs 5, and the frame 1 is positioned and connected to the ground through the support legs 5;

[0067] Multiple support legs 5 are arranged along the length of the frame 1 and form an installation structure. An installation surface 28 is provided on the installation structure, and there is a set distance between the installation surface 28 and the ground. On the frame 1, multiple machining centers are distributed along the length of the frame 1.

[0068] The guide rail 2 is positioned and connected to the mounting surface 28, and the guide rail 2 has a conveying channel 6;

[0069] The guide vehicle 3 is located on one side of the guide rail 2;

[0070] The drive module is located between the guide rail 2 and the guide vehicle 3. The drive module has a drive head 19 that drives the guide vehicle 3 to move back and forth along the conveying channel 6 of the guide rail 2.

[0071] The motion module 4 is positioned and connected to the guide vehicle 3;

[0072] The motion module 4 includes an elastic element 7 and a load-bearing wheel assembly 8;

[0073] The load-bearing wheel assembly 8 has a wheel surface 22 that contacts the ground.

[0074] The elastic element 7 acts between the load-bearing wheel assembly 8 and the guide vehicle 3 to keep the wheel surface 22 on the load-bearing wheel assembly 8 in contact with the ground.

[0075] In this embodiment, the mounting surface 28 can be located on the side of the frame 1 or directly above the support leg 5.

[0076] In this embodiment, the connection between the conveying channel 6 and the connector can be similar to the connection between a gear and rack, a lead screw and a sliding sleeve, or a belt and a mounting block fixed on the belt.

[0077] In this embodiment, the elastic element 7 can be selected from components such as springs, airbags, rubber blocks, and silicone pads.

[0078] In this invention, the wheel surface 22 on the bearing wheel set 8 can be kept in contact with the ground through the cooperation of the elastic element 7, the bearing wheel set 8 and the guide rail 2. Even if the ground is not very flat, it will not have a significant impact on the movement of the guide vehicle 3.

[0079] Specifically, the drive module is located between the guide rail 2 and the guide vehicle 3, and the drive head 19 on the drive module drives the guide vehicle 3 to move back and forth along the conveying channel 6 of the guide rail 2. However, during the back and forth movement of the guide vehicle 3 along the conveying channel 6 of the guide rail 2, the bearing wheel set 8 on the guide vehicle 3 plays an auxiliary guiding role, making the movement of the guide vehicle 3 smoother. At the same time, once it encounters a ground protrusion, the elastic element 7 compresses to make the bearing wheel set 8 rise, but the wheel surface 22 on the bearing wheel set 8 remains in contact with the ground, so that the guide vehicle 3 will not shake.

[0080] In some specific embodiments, the load-bearing wheel assembly 8 includes a fixing plate 9, a mounting bracket 10, and a limiting shaft 12;

[0081] The mounting bracket 10 is positioned and connected to the fixing plate 9; a wheel 27 is mounted on the mounting bracket 10.

[0082] The limiting shaft 12 is movably connected to the fixed plate 9. At this time, the elastic element 7 acts between the fixed plate 9 and the guide vehicle 3.

[0083] Specifically, similar to the omnidirectional caster, the mounting bracket 10 can rotate around the positioning connection point with the fixed plate 9. At the same time, the elastic element 7 allows the mounting bracket 10 to float up and down.

[0084] In other words, the raised part of the ground pushes the wheel 27, the mounting bracket 10, and the fixing plate 9 to rise together. During the rising process, the elastic element 7 is compressed, and the limiting shaft 12 plays a limiting role. Based on the height of the frame 1, the limiting shaft 12 restricts the movement direction of the wheel 27, the mounting bracket 10, and the fixing plate 9, so that the three can only move up and down.

[0085] In some specific embodiments, another embodiment is provided for the load-bearing wheel assembly 8, wherein the load-bearing wheel assembly 8 includes a fixing plate 9, a mounting bracket 10 is provided on one side surface of the fixing plate 9, a connecting shaft 11 is mounted on the mounting bracket 10, and the mounting bracket 10 is connected to the wheel body 27 through the connecting shaft 11 passing through the axle of the wheel body 27, and the outer circumferential surface of the wheel body 27 is the wheel surface 22;

[0086] A limiting shaft 12 is provided on the other side surface of the fixing plate 9. The end of the limiting shaft 12 passes through the fixing plate 9 and is positioned and connected to the mounting bracket 10. The mounting bracket 10 can move away from or towards the guide vehicle 3, and can also rotate relative to it. When the mounting bracket 10 rotates relative to the guide vehicle 3, the limiting shaft 12 is configured as the axis of rotation of the mounting bracket 10.

[0087] Since the ground is uneven, the above design allows the mounting bracket 10 to rotate around the limiting shaft 12, while the elastic element 7 allows the mounting bracket 10 to float up and down.

[0088] That is, the mounting bracket 10 can rotate around the limiting shaft 12 as the rotation center;

[0089] The raised part of the ground will also push the wheel body 27, the mounting bracket 10 and the fixing plate 9 to rise together. During the rising process, the elastic element 7 is compressed and the limiting shaft 12 plays a limiting role. Based on the height of the frame 1, the movement direction of the wheel body 27, the mounting bracket 10 and the fixing plate 9 is restricted by the limiting shaft 12, so that the three can only move up and down.

[0090] Compared to the first embodiment of the load-bearing wheel set 8, the limiting shaft 12 in this embodiment needs to both rotate and move up and down. When it is subjected to a large external force, it is easy to be damaged. Therefore, the first embodiment of the load-bearing wheel set 8 is preferred.

[0091] In some specific embodiments, the elastic element 7 is a spring and is sleeved on the outside of the limiting shaft 12. This design causes the spring to bend in the middle region during compression.

[0092] In some specific embodiments, a limiting plate 21 is positioned and connected to the guide vehicle 3;

[0093] The side surface of the limiting shaft 12 away from the fixed plate 9 passes through the limiting plate 21, and a nut sleeve 14 is sleeved on the passing end of the limiting shaft 12.

[0094] The elastic element 7 is located between the limiting plate 21 and the fixing plate 9;

[0095] The load-bearing wheel assembly 8 also includes multiple limiting posts 13.

[0096] All the limiting posts 13 are evenly distributed along the outer periphery of the limiting shaft 12, and the axis of the limiting post 13 is parallel to the axis of the limiting shaft 12.

[0097] One end of the limiting post 13 is connected to the fixing plate 9, and the other end passes through the limiting plate 21. The passing end of the limiting post 13 is fitted with a guide sleeve 15.

[0098] The above design improves the stability of the mounting bracket 10 during its vertical movement. The guide sleeve 15, similar to the guide sleeve in the mold, assists in lifting and lowering, thus enhancing the stability of the limiting column 13 during its movement.

[0099] In some specific embodiments, the bottom of the guide vehicle 3 has a mounting groove 16, and the limiting plate 21 is positioned and connected to the mounting groove 16.

[0100] With the above design, the vertical movement space of the limiting column 13 and the limiting shaft 12 will not be affected by the guide vehicle 3.

[0101] If there were no mounting slot 16, the upper ends of the limiting post 13 and the limiting shaft 12 would be inserted into the guide vehicle 3. If there are components inside the guide vehicle 3, they may block the limiting post 13 and the limiting shaft 12. Therefore, the mounting slot 16 is used to accommodate the limiting post 13 and the limiting shaft 12.

[0102] Reference Figure 3 and Figure 4 When there is a protrusion on the ground, the protrusion will push the wheel body 27, the mounting bracket 10 and the fixing plate 9 together to rise through the contact wheel surface 22. When the fixing plate 9 rises, it will push the limiting shaft 12 and the limiting post 13 to rise together. At this time, the upper ends of the rising limiting shaft 12 and the limiting post 13 will enter the mounting groove 16, and the elastic element 7 between the fixing plate 9 and the limiting plate 21 will be compressed.

[0103] Once the protrusion is passed, the elastic element 7 returns to its original position, thus ensuring that the wheel surface 22 on the load-bearing wheel assembly 8 always remains in contact with the ground.

[0104] In some specific embodiments, the guide rail 2 includes a fixed rail 17, on which a rail groove is provided, and the rail groove is a conveying channel 6;

[0105] The drive module includes a connecting plate 18 and a drive head 19. The connecting plate 18 is positioned and connected to the fixed track 17 and is located on the side surface with the track groove.

[0106] The drive head 19 is disposed on the side surface of the connecting plate 18 away from the fixed track 17, and the working end of the drive head 19 passes through the connecting plate 18 and extends into the track groove.

[0107] The guide rail 2 is located on the side of the frame 1, so it will not be affected by the ground and will not have unevenness. At the same time, with the above design, when the drive head 19 (motor optional) is working, its working end (gear optional) will reciprocate through contact with the inner wall of the track groove (a rack can be installed on the inner wall of the track groove).

[0108] Specifically, when there is a depression in the ground, although the elastic element 7 can push the wheel surface 22 on the wheel body 27 to contact the ground, this puts a large load on the drive head 19 and can easily cause the drive head 19 to bend. Therefore, a guide post can be set in the conveying channel 6 so that part of the force on the drive head 19 is relieved by the guide post.

[0109] In some specific embodiments, the conveyor system also includes a wire harness mounting frame 20, which is arranged along the height direction of the frame 1. The lower end of the wire harness mounting frame 20 is positioned and connected to the upper surface of the guide vehicle 3. When the guide vehicle 3 moves, the wire harness mounting frame 20 is configured to follow the guide vehicle 3 and move synchronously from the starting end to the end in the conveying channel 6.

[0110] In some specific embodiments, the conveyor system further includes a drag chain 23 disposed on the top of the frame 1. The drag chain 23 includes a first connecting section 24, a second connecting section 25 and a third connecting section 26, wherein the first connecting section 24 is positioned and connected to the top of the frame 1, the third connecting section 26 is positioned and connected to the upper end of the wire harness mounting frame 20, and the second connecting section 25 is connected between the first connecting section 24 and the third connecting section 26.

[0111] The first connecting segment 24, the second connecting segment 25 and the third connecting segment 26 combine to form a U-shaped structure;

[0112] When the wire harness mounting bracket 20 is at the beginning of the conveying channel 6, only the first connecting section 24 is attached to the top of the frame 1; when the wire harness mounting bracket 20 moves toward the end of the conveying channel 6, the first connecting section 24, the second connecting section 25 and the third connecting section 26 are attached to the top of the frame 1 in sequence.

[0113] Specifically, when the guide vehicle 3 is not moving, that is, when the wire harness mounting frame 20 is at the beginning of the conveying channel 6, only the first connecting section 24 is attached to the top of the frame 1; when the wire harness mounting frame 20 moves toward the end of the conveying channel 6, the first connecting section 24, the second connecting section 25 and the third connecting section 26 are attached to the top of the frame 1 in sequence.

[0114] Working principle: The drive module is located between the guide rail 2 and the guide car 3. The drive head 19 on the drive module drives the guide car 3 to move back and forth along the conveying channel 6 of the guide rail 2. During the back and forth movement of the guide car 3 along the conveying channel 6 of the guide rail 2, the bearing wheel group 8 on the guide car 3 plays an auxiliary guiding role, making the movement of the guide car 3 smoother. At the same time, once it encounters a ground protrusion, the protrusion will push the wheel body 27, the mounting bracket 10 and the fixing plate 9 together to rise through the contact wheel surface 22. When the fixing plate 9 rises, it will push the limit shaft 12 and the limiting column 13 to rise together. At this time, the upper ends of the raised limit shaft 12 and the limiting column 13 will enter the mounting groove 16, and the elastic element 7 between the fixing plate 9 and the limit plate 21 will be compressed.

[0115] Once the protrusion is passed, the elastic element 7 returns to its original position, thus ensuring that the wheel surface 22 on the load-bearing wheel assembly 8 always remains in contact with the ground.

[0116] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. An RGV conveyor line system, configured for multiple machining centers, characterized in that: The conveyor system includes a frame (1), a guide rail (2), a guide vehicle (3), a drive module, and a motion module (4); The frame (1) has multiple support legs (5), and the frame (1) is positioned and connected to the ground through the support legs (5); Multiple support legs (5) are arranged along the length of the frame (1) and form an installation structure. An installation surface (28) is provided on the installation structure, and there is a set distance between the installation surface (28) and the ground. On the frame (1), multiple machining centers are distributed along the length of the frame (1). The guide rail (2) is positioned and connected to the mounting surface (28), and the guide rail (2) has a conveying channel (6). The guide vehicle (3) is located on one side of the guide rail (2); The drive module is located between the guide rail (2) and the guide vehicle (3), and the drive module has a drive head (19) that drives the guide vehicle (3) to move back and forth along the conveying channel (6) of the guide rail (2). The motion module (4) is positioned and connected to the guide vehicle (3); The motion module (4) includes an elastic element (7) and a load-bearing wheel assembly (8); The load-bearing wheel assembly has a wheel surface (22) that contacts the ground. The elastic element (7) acts between the load-bearing wheel assembly and the guide vehicle (3) to keep the wheel surface (22) on the load-bearing wheel assembly in contact with the ground.

2. The RGV conveyor system according to claim 1, characterized in that: The load-bearing wheel assembly (8) includes a fixing plate (9), a mounting bracket (10), and a limiting shaft (12); The mounting bracket (10) is positioned and connected to the fixing plate (9); a wheel (27) is mounted on the mounting bracket (10). The limiting shaft (12) is movably connected to the fixing plate (9).

3. The RGV conveyor line system according to claim 2, characterized in that: The elastic element (7) is a spring and is sleeved on the outside of the limiting shaft (12).

4. The RGV conveyor line system according to claim 3, characterized in that: A limiting plate (21) is positioned and connected to the guide vehicle (3); The side surface of the limiting shaft (12) away from the fixed plate (9) passes through the limiting plate (21), and a nut sleeve (14) is sleeved on the through end of the limiting shaft (12). The elastic element (7) is located between the limiting plate (21) and the fixing plate (9); The load-bearing wheel assembly (8) also includes multiple limiting posts (13). All the limiting posts (13) are evenly distributed along the outer periphery of the limiting shaft (12), and the axis of the limiting post (13) is parallel to the axis of the limiting shaft (12); One end of the limiting post (13) is connected to the fixing plate (9), and the other end passes through the limiting plate (21), and the through end of the limiting post (13) is fitted with a guide sleeve (15).

5. The RGV conveyor line system according to claim 4, characterized in that: The guide vehicle (3) has a mounting groove (16) at its bottom, and the limiting plate (21) is positioned and connected to the mounting groove (16).

6. The RGV conveyor system according to claim 1, characterized in that: The guide rail (2) includes a fixed rail (17), and the fixed rail (17) is provided with a rail groove, which is the conveying channel (6). The drive module includes a connecting plate (18) and a drive head (19). The connecting plate (18) is positioned on the fixed track (17) and located on one side surface with a track groove. The drive head (19) is disposed on the side surface of the connecting plate (18) away from the fixed track (17), and the working end of the drive head (19) passes through the connecting plate (18) and extends into the track groove.

7. The RGV conveyor system according to claim 1, characterized in that: The conveyor system also includes a wire harness mounting frame (20), which is arranged along the height direction of the frame (1). The lower end of the wire harness mounting frame (20) is positioned and connected to the upper surface of the guide vehicle (3). When the guide vehicle (3) moves, the wire harness mounting frame (20) is configured to follow the guide vehicle (3) and move synchronously from the starting end to the end in the conveying channel (6).

8. The RGV conveyor system according to claim 7, characterized in that: The conveyor system also includes a drag chain (23) disposed on the top of the frame (1). The drag chain (23) includes a first connecting section (24), a second connecting section (25) and a third connecting section (26). The first connecting section (24) is positioned and connected to the top of the frame (1). The third connecting section (26) is positioned and connected to the upper end of the wire harness mounting frame (20). The second connecting section (25) is connected between the first connecting section (24) and the third connecting section (26). The first connecting segment (24), the second connecting segment (25), and the third connecting segment (26) combine to form a U-shaped structure; When the wire harness mounting bracket (20) is at the beginning of the conveying channel (6), only the first connecting segment (24) is attached to the top of the frame (1); when the wire harness mounting bracket (20) moves toward the end of the conveying channel (6), the first connecting segment (24), the second connecting segment (25) and the third connecting segment (26) are attached to the top of the frame (1) in sequence.

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