CN210338116U

CN210338116U - Wheel suspension assembly for AGV trolley

Info

Publication number: CN210338116U
Application number: CN201920909403.6U
Authority: CN
Inventors: 沈鹤; 张赫; 卜立志; 赫保坤
Original assignee: Huapu Electronic Changshu Co ltd
Current assignee: Huapu Electronic Changshu Co ltd
Priority date: 2019-06-17
Filing date: 2019-06-17
Publication date: 2020-04-17
Anticipated expiration: 2029-06-17

Abstract

A wheel suspension for an AGV cart, comprising: the lifting device comprises a motor, a cam type lifting device consisting of a lifting rolling bearing and a rotary table, a lifting disc, a spring, a ball bearing and a lifting axis, wherein the motor drives the cam type lifting device to lift to drive the lifting of wheels of the trolley, the spring is compressed in the lifting process, and the wheels are reversely lifted and fall to the ground through the resilience force of the spring after the lifting force is cancelled. The lifting and descending of the wheels are controlled at any time by controlling the switch of the motor, the trolley is dragged to a specified position by the universal idler wheels on the bottom surface of the AGV trolley, the structure is simple, the cost is low, and the consignment flexibility of the AGV trolley is greatly improved.

Description

Wheel suspension assembly for AGV trolley

Technical Field

The utility model relates to a AGV dolly technical field specifically is a AGV is unsettled subassembly of wheel for dolly.

Background

An AGV is an automatic Guided Vehicle (Automated Guided Vehicle), and is a transfer robot equipped with an electromagnetic or photoelectric automatic guiding device, which can automatically guide and travel along a predetermined ground path, and has man-machine interaction, safety protection, transfer function, and battery power. The wheel subassembly of AGV dolly usually includes action wheel and universal swivel wheel, when taking out the operation of planning outside temporarily or overhauing the AGV dolly in the workshop, the AGV dolly needs to carry the outer removal of non-, the action wheel is not rotatory under the condition that drive arrangement does not open, so can't convenient pull the dolly, on the other hand the weight of dolly exceeds the limit of artificially moving, can drive the AGV dolly and travel after only controller sends the order to drive arrangement, in the face of complicated changeable trailer factor, design programming can't be at first including numerous factor one by one, even all consider the factor that will often need the trailer, so also be a very complicated engineering to the design of all command actions in dolly control procedure, can consume a large amount of manpower and materials.

SUMMERY OF THE UTILITY MODEL

A wheel suspension for an AGV cart, comprising: the motor is fixed on a motor fixing plate, a motor power output shaft penetrates through the motor fixing plate and is fixedly connected with a rotary table, a jacking rolling bearing is fixed at the eccentric position of the rotary table, the rotary table rotating process is the lifting process of the jacking rolling bearing, the jacking rolling bearing is positioned below the plate surface of a jacking circular plate, the upper end of a spring is arranged in a spring fixing piece, a threaded hole is processed at the circle center position of the spring fixing piece, the inverted bolt head is positioned in a hollow accommodating cavity of the spring, the screw rod part penetrates through the thread of the spring fixing piece and is fixedly connected with an inverted U-shaped plate above the spring, the spring penetrates through a hollow hole of a lifting axis and extends out of the other end of the lifting axis and is arranged in a spring fixing hole of a wheel axis, the lifting axis is sleeved in a ball sliding sleeve, the ball sliding sleeve, The sleeve is fixed, wherein the clamp spring is in contact with the end face of the sleeve; the jacking circular plate is sleeved outside the first stepped cylindrical section of the lifting shaft center, a fastening nut is installed on the first stepped cylindrical section extending out of the jacking circular plate, and the jacking circular plate is tightly pressed and fixed on the upper end face of the second stepped cylindrical section in the lifting shaft center through the fastening of the fastening nut and the thread on the outer circular surface of the first stepped cylindrical section;

the jacking shell comprises a rectangular jacking shell body without a lower cover, and a lifting axis fixing plate welded and fixed with two side plates in an inner cavity of the jacking shell body, wherein concentric round holes are formed in the upper plate surface of the jacking shell body and the surface of the lifting axis fixing plate, a lifting axis penetrates through the round hole in the upper plate surface of the jacking shell body, then a third stepped cylindrical section is in screwed connection with the surface of the lifting axis fixing plate, U-shaped holes for the axle center of a wheel to penetrate through are formed in the two side plate surfaces of the jacking shell body, rolling bearings are sleeved at the two ends of the axle center of the wheel, the wheel is installed at the two end parts of the axle center of the wheel in a non-rolling friction; the inner side of the wheel is fixedly connected with a driven gear sleeved on the axle center of the wheel, a driving motor positioned on the inner side of the cavity of the jacking shell body is fixed on the side plate surface of the jacking shell body through a motor fixing plate, a driving gear is fixed on a power output shaft of the driving motor extending to the outer end of the side plate surface of the jacking shell body, and a chain is sleeved on the driving gear and the driven gear to transmit the torque force of the driving motor to the wheel;

the both ends of inversion U-shaped board are connected with the both sides face spiro union of bow-shaped board, and the sleeve passes the sleeve via hole of bow-shaped board and is connected with the bow-shaped board spiro union through the annular mounting panel at sleeve length middle part, and the epitaxial mounting panel of bow-shaped board both sides is used for the fixed connection of whole wheel unsettled subassembly and AGV dolly frame, and wherein the lower face of motor fixed plate is fixed at the last face of bow-shaped board.

Of course, the specific shapes of the inverted U-shaped plate and the arched plate used for being connected with the frame body can be independently designed according to the specific shape and size of the AGV trolley, and the shapes of the inverted U-shaped plate and the arched plate are not limited here, as long as the supporting and fixing effects of relevant parts can be achieved.

The working process is as follows: the motor rotates to drive the turntable to rotate, the jacking rolling bearing at the eccentric position moves up and down along with the turntable, the jacking rolling bearing can abut against the lower plate surface of the jacking circular plate and form a contact dead point with the jacking circular plate in the lifting process, the jacking circular plate and the lifting axis move up and down in the ball sliding sleeve along with the continuous rotation of the turntable and the continuous rising of the jacking rolling bearing, so that the jacking shell fixed at the bottom end of the lifting axis, the axis of the wheel and the wheels arranged at the two end parts of the axis of the wheel, the driving motor for the wheel, the transmission chain wheel, the gear and other devices are driven to rise until the wheel is separated from the ground, and in the process, the inverted U-shaped plate and the cambered plate which are; when the motor is started again, the jacking rolling bearing at the eccentric position descends along with the turntable, the spring in a compressed state extends and presses the axle center of the wheel downwards, and the wheel fixed at the two ends of the axle center of the wheel descends to be in contact with the ground under the action of the rebound force of the spring.

Preferably, AGV is with unsettled subassembly of wheel, is fixed with two support antifriction bearings that are located the oblique below in carousel both sides on the motor fixed plate, supports the outer rolling surface of antifriction bearing and the outer rolling surface contact of carousel.

When the motor runs to jack the wheel set, the two support rolling bearings can support the turntable to prevent the motor power output shaft from bearing the weight of the vehicle body and the load on the vehicle, and the motor power output shaft is protected from being damaged by stress.

Preferably, the angle between the two supporting rolling bearings and the connecting line of the circle centers of the turntables of the wheel suspension assemblies for the AGV trolley is equal to 90-120 degrees.

When the included angle between the two supporting rolling bearings and the circle center connecting line of the rotary table is too small, the vertical stress borne by the power output shaft of the motor can be replaced, but the component force stress borne by the power output shaft of the motor in the horizontal direction cannot be avoided, and when the included angle is too large, the included angle is just opposite. Therefore, the included angle is in a proper range to better protect the power output shaft of the motor from being damaged by stress.

Preferably, AGV is wheel unsettled subassembly for dolly, installs proximity switch on the bow-shaped board of carousel diameter both sides, and the iron bolt is installed to the diameter one end of carousel, and the iron bolt can be sensed by proximity switch when changeing to proximity switch's position, and wherein when jacking rolling bearing changes to peak, minimum, the position of iron bolt is located the position that proximity switch of carousel diameter both sides can respond to respectively.

The distance between the jacking rolling bearing and the circle center of the turntable is 2 times of the maximum distance capable of being lifted, so that when the iron bolt is sensed by the proximity switch at one end of the diameter, information can be transmitted to the controller, at the moment, the motor is instructed to stop working when the jacking rolling bearing is located at the highest point, after an operator drags the AGV to a specified place, an instruction is sent to the controller to enable the motor to continue to rotate, when the iron bolt is sensed by the proximity switch at the other end of the diameter, the information can be transmitted to the controller, the jacking rolling bearing is located at the lowest point, wheels land, and the controller stops the rotation of the motor again.

Preferably, the unsettled subassembly of wheel for the AGV dolly has cup jointed the profile of tooth locking gasket that is located between fastening nut, the jacking plectane on the first step cylinder section, and is corresponding, and fastening nut's lateral surface processing has 2 ~ 4 gasket recesses of axial distribution, and the gasket in the profile of tooth locking gasket can be rolled over into the gasket recess under the fastening state, prevents that fastening nut from taking place circumferential direction, further improves the installation stability of jacking plectane, avoids long-term the back jacking plectane of using to take place not hard up.

Preferably, AGV is unsettled subassembly with wheel, the spring comprises two rectangle coil springs and the cylindrical pad that is located between two rectangle coil springs, and this kind of combination can increase the holistic compression length of spring to increase pressure.

Preferably, the wheel suspension assembly for the AGV trolley is provided with plane clamping parts which are positioned at two ends of the diameter at positions of the wheel axis close to the two ends, the plane clamping parts are positioned in U-shaped holes, and the width of each U-shaped hole is larger than the distance between the two plane clamping parts and is smaller than the diameter of the wheel axis.

Preferably, AGV is unsettled subassembly of wheel for dolly, jacking shell body both sides face U-shaped hole, wheel axle center under the spiral shell inherently prevent the anti-disengaging plate in wheel axle center from the U-shaped hole, wherein the anti-disengaging plate is including the L shape baffle of inversion U-shaped plate, symmetric distribution in inversion U-shaped plate width both sides, the wheel axle center is located the position between two L shape baffles.

Description of the drawings:

the embodiments are further described with reference to the accompanying drawings, in which:

FIG. 1 is a schematic structural view of a wheel suspension assembly for an AGV according to the present invention;

FIG. 2 is a schematic structural view of a wheel suspension assembly for an AGV according to the present invention;

FIG. 3 is a schematic structural diagram of a jacking housing in a wheel suspension assembly for an AGV according to the present invention;

FIGS. 4 and 5 are schematic structural views of a jacking shell part in a wheel suspension assembly for an AGV according to the present invention;

FIG. 6 is a schematic diagram of the structure of the lifting axle center of the wheel suspension assembly for an AGV according to the present invention;

FIG. 7 is a schematic view of the installation of the wheel suspension assembly of the present invention in an AGV;

the specific structure corresponding to the number is as follows:

a motor 1, a motor fixing plate 11, a turntable 2, a jacking rolling bearing 3, a jacking circular plate 4, a spring 5, a spring fixing piece 51, a cylindrical cushion block 52, a wheel axle center 6, a spring fixing hole 61, a plane clamping part 62, a wheel 7, a lifting axle center 8, a first stepped cylindrical section 81, a second stepped cylindrical section 82, a third stepped cylindrical section 83, a ball sliding sleeve 9, a sleeve 10, a tooth-shaped anti-loosening gasket 11, a fastening nut 12, a gasket groove 121, a jacking shell 13, a jacking shell body 131, a U-shaped hole 1311, a lifting axle center fixing plate 132, an anti-loosening plate 133, an inverted U-shaped plate 1331, an L-shaped baffle 1332, an inverted U-shaped plate 14, a cambered plate 15, an extension mounting plate 151, a proximity switch 16, a supporting rolling bearing 17 and a frame upper,

the following detailed description of the invention will be further described in conjunction with the above-identified drawings.

Detailed Description

Specific embodiment example 1:

a wheel suspension for an AGV cart, comprising: the motor 1 is fixed on a motor fixing plate 11, a motor power output shaft penetrates through the motor fixing plate 11 to be fixedly connected with a rotary table 2, a jacking rolling bearing 3 is fixed at the eccentric position of the rotary table 2, the rotary table 2 is the lifting process of the jacking rolling bearing 3, the jacking rolling bearing 3 is positioned below the plate surface of a jacking circular plate 4, the upper end of a spring 5 is arranged in a spring fixing piece 51, a threaded hole is processed at the circle center position of the spring fixing piece 51, the inverted bolt head is positioned in a hollow accommodating cavity of the spring 5, a screw rod part penetrates through the thread of the spring fixing piece 51 and is fixedly connected with an inverted U-shaped plate 14 above the spring, the spring 5 penetrates through the hollow hole of a lifting axis 8 and the other end of the spring extending out of the lifting axis 8 is arranged in a spring fixing hole 61 of a wheel axis 6, the lifting axis 8 is sleeved in a ball sliding sleeve 9, the ball sliding sleeve 9 is sleeved in the sleeve, The sleeve 10 is fixed, wherein the clamp spring is in contact with the end face of the sleeve 10; the jacking circular plate 4 is sleeved outside the first stepped cylindrical section 81 of the lifting axis 8, a fastening nut 12 is installed on the first stepped cylindrical section 81 extending out of the jacking circular plate 4, and the jacking circular plate 4 is tightly pressed and fixed on the upper end face of the second stepped cylindrical section 82 in the lifting axis 8 through the fastening of the fastening nut 12 and the thread on the outer circular surface of the first stepped cylindrical section 81; the jacking shell 13 comprises a rectangular jacking shell body 131 without a lower cover, and a lifting axis fixing plate 132 welded and fixed with two side plates in the inner cavity of the jacking shell body 131, concentric round holes are formed in the upper plate surface of the jacking shell body 131 and the surface of the lifting axis fixing plate 132, a third stepped cylindrical section 83 is fixedly connected with the surface of the lifting axis fixing plate 132 after a lifting axis 8 passes through the round holes in the upper plate surface of the jacking shell body 131, U-shaped holes 1311 for a wheel axle center 6 to pass through are formed in the two side plate surfaces of the jacking shell body 131, rolling bearings are sleeved at the two ends of the wheel axle center 6, wheels 7 are installed at the two length end parts of the wheel axle center in a non-rolling friction manner through the rolling bearings, and the wheels 7 are; the inner side of the wheel 7 is fixedly connected with a driven gear sleeved on the wheel axis 6, a driving motor positioned on the inner side of the cavity of the jacking shell body 131 is fixed on the side plate surface of the jacking shell body 131 through a motor fixing plate, a driving gear is fixed on a power output shaft of the driving motor extending to the outer end of the side plate surface of the jacking shell body 131, and a chain is sleeved on the driving gear and the driven gear to transmit the torque force of the driving motor to the wheel 7; the both ends of the inversion U-shaped board 14 are connected with the both sides board face spiral shell of bow-shaped board 15 admittedly, and sleeve 10 passes the sleeve via hole of bow-shaped board 15 and is connected with bow-shaped board 15 spiral shell through the annular mounting panel in sleeve 10 length middle part, and the epitaxial mounting panel 151 of bow-shaped board 15 both sides is used for the fixed connection of whole wheel unsettled subassembly and AGV dolly frame, and wherein the lower board face of motor fixed plate 11 is fixed at the last face of bow-shaped board 15. The extension mounting plates 151 on the two sides of the arched plate 15 are fixedly connected with the two sides of the upper frame cover 18 in the AGV trolley, and the upper plate surface of the inverted U-shaped plate 14 is fixedly connected with the inner side plate surface of the upper frame cover 18 right above the inverted U-shaped plate, as shown in FIG. 7.

Furthermore, two supporting rolling bearings 17 are fixed on the motor fixing plate 11 and are positioned obliquely below two sides of the turntable 2, and the outer rolling surfaces of the supporting rolling bearings 17 are in contact with the outer rolling surface of the turntable 2. Wherein, the included angle between the two supporting rolling bearings 17 and the connecting line of the circle centers of the rotating discs 2 is equal to 90 degrees or 100 degrees.

Furthermore, proximity switches 16 are installed on the arched plates 15 on two sides of the diameter of the rotary table 2, an iron bolt is installed at one end of the diameter of the rotary table 2, the iron bolt can be sensed by the proximity switches 16 when rotating to the position of the proximity switches 16, and when the jacking rolling bearing 3 rotates to the highest point and the lowest point, the distance between the iron bolt and the proximity switches 16 is 1 mm.

Furthermore, the first stepped cylindrical section 81 is sleeved with the tooth-shaped anti-loosening gasket 11 located between the fastening nut 12 and the jacking circular plate 4, correspondingly, 2 gasket grooves 121 which are axially distributed are machined on the outer side face of the fastening nut 12, and the gasket in the tooth-shaped anti-loosening gasket 11 can be folded into the gasket grooves 121 in a fastening state, so that the fastening nut 12 is prevented from rotating circumferentially, the installation stability of the jacking circular plate 4 is further improved, and the jacking circular plate 4 is prevented from loosening after long-term use.

Alternatively, the spring 5 is composed of two rectangular coil springs and a cylindrical spacer 52 located between the two rectangular coil springs. The positions of the wheel axle center 6 close to the two end parts are processed with plane clamping parts 62 positioned at the two ends of the diameter, the plane clamping parts 62 are positioned in U-shaped holes 1311, and the width of the U-shaped hole 1311 is larger than the distance between the two plane clamping parts 62 and smaller than the diameter of the wheel axle center 6.

Further, the U-shaped holes 1311 on the two side plate surfaces of the jacking shell body 131 and the anti-drop plate 133 screwed under the wheel axle center 6 for preventing the wheel axle center 6 from dropping off the U-shaped holes 1311, wherein the anti-drop plate 133 comprises an inverted U-shaped plate 1331 and L-shaped baffles 1332 symmetrically distributed on the two sides of the width of the inverted U-shaped plate 1331, and the wheel axle center 6 is located between the two L-shaped baffles 1332.

The utility model relates to a wheel suspension component for AGV, which utilizes a cam type jacking device composed of a turntable and an eccentric jacking rolling bearing to drive a jacking disc to lift by utilizing the dead point principle so as to realize the separation of the wheel from the ground; the wheels are jacked to the position away from the ground at any time by controlling the switch of the motor, the trolleys are dragged to the specified position by the aid of the universal idler wheels on the bottom surfaces of the AGV trolleys, and the AGV trolleys are simple in structure, low in cost and greatly improved in consignment flexibility.

Specific embodiment example 2:

a wheel suspension for an AGV cart, comprising: the motor 1 is fixed on a motor fixing plate 11, a motor power output shaft penetrates through the motor fixing plate 11 to be fixedly connected with a rotary table 2, a jacking rolling bearing 3 is fixed at the eccentric position of the rotary table 2, the rotary table 2 is the lifting process of the jacking rolling bearing 3, the jacking rolling bearing 3 is positioned below the plate surface of a jacking circular plate 4, the upper end of a spring 5 is arranged in a spring fixing piece 51, a threaded hole is processed at the circle center position of the spring fixing piece 51, the inverted bolt head is positioned in a hollow accommodating cavity of the spring 5, a screw rod part penetrates through the thread of the spring fixing piece 51 and is fixedly connected with an inverted U-shaped plate 14 above the spring, the spring 5 penetrates through the hollow hole of a lifting axis 8 and the other end of the spring extending out of the lifting axis 8 is arranged in a spring fixing hole 61 of a wheel axis 6, the lifting axis 8 is sleeved in a ball sliding sleeve 9, the ball sliding sleeve 9 is sleeved in the sleeve, The sleeve 10 is fixed, wherein the clamp spring is in contact with the end face of the sleeve 10; the jacking circular plate 4 is sleeved outside the first stepped cylindrical section 81 of the lifting axis 8, a fastening nut 12 is installed on the first stepped cylindrical section 81 extending out of the jacking circular plate 4, and the jacking circular plate 4 is tightly pressed and fixed on the upper end face of the second stepped cylindrical section 82 in the lifting axis 8 through the fastening of the fastening nut 12 and the thread on the outer circular surface of the first stepped cylindrical section 81; the jacking shell 13 comprises a rectangular jacking shell body 131 without a lower cover, and a lifting axis fixing plate 132 welded and fixed with two side plates in the inner cavity of the jacking shell body 131, concentric round holes are formed in the upper plate surface of the jacking shell body 131 and the surface of the lifting axis fixing plate 132, a third stepped cylindrical section 83 is fixedly connected with the surface of the lifting axis fixing plate 132 after a lifting axis 8 passes through the round holes in the upper plate surface of the jacking shell body 131, U-shaped holes 1311 for a wheel axle center 6 to pass through are formed in the two side plate surfaces of the jacking shell body 131, rolling bearings are sleeved at the two ends of the wheel axle center 6, wheels 7 are installed at the two length end parts of the wheel axle center in a non-rolling friction manner through the rolling bearings, and the wheels 7 are; the inner side of the wheel 7 is fixedly connected with a driven gear sleeved on the wheel axis 6, a driving motor positioned on the inner side of the cavity of the jacking shell body 131 is fixed on the side plate surface of the jacking shell body 131 through a motor fixing plate, a driving gear is fixed on a power output shaft of the driving motor extending to the outer end of the side plate surface of the jacking shell body 131, and a chain is sleeved on the driving gear and the driven gear to transmit the torque force of the driving motor to the wheel 7; the both ends of the inversion U-shaped board 14 are connected with the both sides board face spiral shell of bow-shaped board 15 admittedly, and sleeve 10 passes the sleeve via hole of bow-shaped board 15 and is connected with bow-shaped board 15 spiral shell through the annular mounting panel in sleeve 10 length middle part, and the epitaxial mounting panel 151 of bow-shaped board 15 both sides is used for the fixed connection of whole wheel unsettled subassembly and AGV dolly frame, and wherein the lower board face of motor fixed plate 11 is fixed at the last face of bow-shaped board 15.

Furthermore, two supporting rolling bearings 17 are fixed on the motor fixing plate 11 and are positioned obliquely below two sides of the turntable 2, and the outer rolling surfaces of the supporting rolling bearings 17 are in contact with the outer rolling surface of the turntable 2. Wherein, the included angle between the two supporting rolling bearings 17 and the connecting line of the circle centers of the rotating discs 2 is equal to 110 degrees or 120 degrees.

Furthermore, proximity switches 16 are installed on the arched plates 15 on two sides of the diameter of the rotary disc 2, an iron bolt is installed at one end of the diameter of the rotary disc 2, the iron bolt can be sensed by the proximity switches 16 when rotating to the position of the proximity switches 16, and when the jacking rolling bearing 3 rotates to the highest point and the lowest point, the distance between the iron bolt and the proximity switches 16 is 1.5 mm.

Furthermore, the first stepped cylindrical section 81 is sleeved with the tooth-shaped anti-loosening gasket 11 located between the fastening nut 12 and the jacking circular plate 4, correspondingly, 4 gasket grooves 121 which are axially distributed are machined on the outer side face of the fastening nut 12, and the gasket in the tooth-shaped anti-loosening gasket 11 can be folded into the gasket grooves 121 in a fastening state, so that the fastening nut 12 is prevented from rotating circumferentially, the installation stability of the jacking circular plate 4 is further improved, and the situation that the jacking circular plate 4 is loosened after long-term use is avoided.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. The utility model provides a AGV is unsettled subassembly of wheel for dolly which characterized in that: the method comprises the following steps: the motor is fixed on a motor fixing plate, a motor power output shaft penetrates through the motor fixing plate and is fixedly connected with a rotary table, a jacking rolling bearing is fixed at the eccentric position of the rotary table, the rotary table rotating process is the lifting process of the jacking rolling bearing, the jacking rolling bearing is positioned below the plate surface of a jacking circular plate, the upper end of a spring is arranged in a spring fixing piece, a threaded hole is processed at the circle center position of the spring fixing piece, the inverted bolt head is positioned in a hollow accommodating cavity of the spring, the screw rod part penetrates through the thread of the spring fixing piece and is fixedly connected with an inverted U-shaped plate above the spring, the spring penetrates through a hollow hole of a lifting axis and extends out of the other end of the lifting axis and is arranged in a spring fixing hole of a wheel axis, the lifting axis is sleeved in a ball sliding sleeve, the ball sliding sleeve, The sleeve is fixed, wherein the clamp spring is in contact with the end face of the sleeve; the jacking circular plate is sleeved outside the first stepped cylindrical section of the lifting shaft center, a fastening nut is installed on the first stepped cylindrical section extending out of the jacking circular plate, and the jacking circular plate is tightly pressed and fixed on the upper end face of the second stepped cylindrical section in the lifting shaft center through the fastening of the fastening nut and the thread on the outer circular surface of the first stepped cylindrical section; the jacking shell comprises a rectangular jacking shell body without a lower cover, and a lifting axis fixing plate welded and fixed with two side plates in an inner cavity of the jacking shell body, wherein concentric round holes are formed in the upper plate surface of the jacking shell body and the surface of the lifting axis fixing plate, a lifting axis penetrates through the round hole in the upper plate surface of the jacking shell body, then a third stepped cylindrical section is in screwed connection with the surface of the lifting axis fixing plate, U-shaped holes for the axle center of a wheel to penetrate through are formed in the two side plate surfaces of the jacking shell body, rolling bearings are sleeved at the two ends of the axle center of the wheel, the wheel is installed at the two end parts of the axle center of the wheel in a non-rolling friction manner; the inner side of the wheel is fixedly connected with a driven gear sleeved on the axle center of the wheel, a driving motor positioned on the inner side of the cavity of the jacking shell body is fixed on the side plate surface of the jacking shell body through a motor fixing plate, a driving gear is fixed on a power output shaft of the driving motor extending to the outer end of the side plate surface of the jacking shell body, and a chain is sleeved on the driving gear and the driven gear to transmit the torque force of the driving motor to the wheel; the both ends of inversion U-shaped board are connected with the both sides face spiro union of bow-shaped board, and the sleeve passes the sleeve via hole of bow-shaped board and is connected with the bow-shaped board spiro union through the annular mounting panel at sleeve length middle part, and the epitaxial mounting panel of bow-shaped board both sides is used for the fixed connection of whole wheel unsettled subassembly and AGV dolly frame, and wherein the lower face of motor fixed plate is fixed at the last face of bow-shaped board.

2. The AGV cart wheel suspension of claim 1, further comprising: two supporting rolling bearings which are positioned at the oblique lower parts of the two sides of the turntable are fixed on the motor fixing plate, and the outer rolling surfaces of the supporting rolling bearings are in contact with the outer rolling surface of the turntable.

3. The AGV cart wheel suspension of claim 2, further comprising: the included angle between the two supporting rolling bearings and the connecting line of the circle centers of the turntables is equal to 90-120 degrees.

4. The AGV cart wheel suspension of claim 1, further comprising: proximity switches are installed on the arched plates on two sides of the diameter of the rotary table, iron bolts are installed at one end of the diameter of the rotary table, the iron bolts can be sensed by the proximity switches when rotating to the positions of the proximity switches, and when the jacking rolling bearing rotates to the highest point and the lowest point, the positions of the iron bolts are respectively located at the positions, which can be sensed by the proximity switches, on two sides of the diameter of the rotary table.

5. The AGV cart wheel suspension of claim 1, further comprising: the first step cylinder section is sleeved with a tooth-shaped anti-loosening gasket between a fastening nut and a jacking circular plate, correspondingly, 2-4 gasket grooves which are axially distributed are machined on the outer side face of the fastening nut, and the gasket in the tooth-shaped anti-loosening gasket can be folded into the gasket grooves in a fastening state.

6. The AGV cart wheel suspension of claim 1, further comprising: the spring is composed of two rectangular spiral springs and a cylindrical cushion block positioned between the two rectangular spiral springs.

7. The AGV cart wheel suspension of claim 1, further comprising: the positions of the wheel axle center close to the two end parts are provided with plane clamping parts positioned at the two ends of the diameter, the plane clamping parts are positioned in U-shaped holes, and the width of each U-shaped hole is larger than the distance between the two plane clamping parts and smaller than the diameter of the wheel axle center.

8. The AGV cart wheel suspension of claim 1, further comprising: the U-shaped holes of the plate surfaces on the two sides of the jacking shell body and the anti-falling plates for preventing the wheel axes from being separated from the U-shaped holes are fixed below the wheel axes, the anti-falling plates comprise inverted U-shaped plates and L-shaped baffles which are symmetrically distributed on the two sides of the width of the inverted U-shaped plates, and the wheel axes are located between the two L-shaped baffles.