CN216185605U

CN216185605U - Heavy AGV carrier

Info

Publication number: CN216185605U
Application number: CN202123088547.6U
Authority: CN
Inventors: 杨伟
Original assignee: Hangzhou Fuyang Yonngfu Machine Co ltd
Current assignee: Hangzhou Fuyang Yonngfu Machine Co ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-04-05
Anticipated expiration: 2031-12-09

Abstract

The utility model belongs to the field of AGV carriers, and particularly relates to a heavy AGV carrier which comprises trolley units, wherein the trolley units comprise an outer frame, a driving module, at least two moving assemblies, a turntable suspension module, a bottom plate, an upper bearing plate and a separate jack, at least three trolley units are fixedly arranged below a bearing frame, two pipe fittings beams are arranged in the bearing frame, and an electric control system and a hydraulic system are also arranged in the bearing frame; the mobile components in the trolley units are used for adapting to uneven and rugged ground, and the suspension module is used for pushing the mobile components of each trolley unit to be in contact with the ground on the uneven and rugged ground. Through the ingenious design of the turntable suspension module and the moving assembly, the turntable suspension module is simple to manufacture and can adapt to the situation of complex ground.

Description

Heavy AGV carrier

Technical Field

The utility model belongs to the field of AGV carriers, and particularly relates to a heavy AGV carrier.

Background

The AGV car is a transportation car equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and does not require a driver's transportation car in industrial application, and uses a rechargeable battery as its power source. At present, the AGV carrying trolley on the market is less in types of carrying heavy objects, general carrying trolleys can carry objects with certain weight, but the structure of the AGV carrying trolley is very unstable under the action of the heavy objects and is easy to collide and damage, and when the AGV carrying trolley is used for some uneven and rugged road surfaces, wheels of the AGV carrying trolley are often damaged due to the fact that certain wheels are pressed too large due to uneven distribution of stress, and meanwhile the stability of the AGV carrying trolley is greatly influenced by the rugged road surfaces.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems in the prior art, and provides a heavy AGV carrier which realizes the functions of uniform stress of wheels of the trolley and stable heavy object carrying through a moving assembly, a turntable suspension module and a hydraulic constant-pressure suspension system.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a heavy AGV carrier comprises trolley units consisting of an outer frame, a driving module, at least two moving assemblies, a turntable suspension module, a bottom plate, an upper bearing plate and a split jack, wherein at least three trolley units are fixedly arranged under a bearing frame, two pipe fitting beams are arranged in the bearing frame, and an electric control system and a hydraulic system are also arranged in the bearing frame; the mobile components in the trolley units are used for adapting to uneven and rugged ground, and the suspension module is used for pushing the mobile components of each trolley unit to be in contact with the ground on the uneven and rugged ground.

Preferably, the outer frame is I-shaped, openings are formed in two sides of the outer frame, a supporting side plate is fixedly connected to each opening, and a separating jack is mounted in the middle of the outer frame.

Preferably, the driving module comprises motors which are arranged on two supporting side plates in a centrosymmetric manner, the output ends of the motors are connected with speed reducers, the output ends of the speed reducers are connected with speed reducer gears, and each gear set is arranged on one side, close to the speed reducer gears, of each supporting side plate.

Preferably, the gear set comprises a first transition gear rotationally arranged on the supporting side plate, the supporting side plate is rotationally connected with a second transition gear and a transmission gear, the first transition gear is in meshing transmission with the reducer gear, the first transition gear is in meshing transmission with the second transition gear, and the second transition gear is in meshing transmission with the transmission gear; the transmission gear center is connected with the gear shaft, the gear shaft rotates to be connected on supporting the curb plate, gear shaft one end stretches into to supporting the curb plate towards one side of outer frame, the gear shaft stretches into one side outer periphery that supports the curb plate and is equipped with the drive tooth.

Preferably, each moving assembly comprises at least one wheel shaft rotatably connected between the support side plate and the outer frame, each wheel shaft is provided with a gear type driving wheel, and an unlimited number of auxiliary steering drums and bearing flat wheels can be added on the wheel shafts according to actual requirements; the gear type driving wheel is in meshed transmission with the driving gear, so that the gear type driving wheel is driven to move.

Preferably, the outer frame is rotatably provided with a rotating frame through two first rotating shafts, the outer frame is further symmetrically provided with limiting blocks for limiting the swing amplitude of the bearing frame, a supporting side plate is arranged inside the rotating frame, and a driving module and a moving assembly are arranged in the rotating frame; the driving module comprises a motor arranged in a rotating frame, the output end of the motor is connected with a speed reducer, the output end of the speed reducer is connected with a speed reducer gear, and one side of each supporting side plate, which is close to the speed reducer gear, is provided with a gear set; the gear set comprises a first transition gear which is rotatably arranged on the supporting side plate, the supporting side plate is rotatably connected with a second transition gear and a transmission gear, the first transition gear is in meshing transmission with the reducer gear, the first transition gear is in meshing transmission with the second transition gear, and the second transition gear is in meshing transmission with the transmission gear; the center of the transmission gear is connected with a gear shaft, the gear shaft is rotatably connected to the supporting side plate, one end of the gear shaft extends into one side of the supporting side plate, which faces the outer frame, and the outer circumferential surface of one side of the gear shaft, which extends into the supporting side plate, is provided with driving teeth; the moving assembly comprises at least one wheel shaft which is rotatably connected between the support side plate and the outer frame, each wheel shaft is provided with a gear type driving wheel, and the wheel shafts can be additionally provided with an unlimited number of auxiliary steering drums and bearing flat wheels according to the actual situation; the gear type driving wheel is in meshed transmission with the driving gear, so that the gear type driving wheel is driven to move.

Preferably, the bottom plate is fixedly arranged at the lower side of the outer frame, and the upper bearing plate is fixedly arranged at the upper side of the outer frame; a turntable groove is arranged in the middle of the upper bearing plate, a first positioning sleeve is fixedly arranged in the turntable groove, an oil-free lubricating bearing is fixedly arranged on the inner circumferential surface of the first positioning sleeve, the inside of the oil-free lubricating bearing is rotatably connected with a turntable, two stop pins are symmetrically arranged on the upper bearing plate, a stop block is arranged on the outer circumferential surface of the turntable at the same height with the stop pin, a turntable gear is arranged on the outer circumferential surface of one side of the turntable, which is close to the upper bearing plate, an angle measuring instrument is arranged on one side of the upper bearing plate facing the bottom plate, one end of the angle measuring instrument extends out of the upper bearing plate in a reverse direction, the input end of the angle measuring instrument is connected with a measuring pinion, the measuring pinion is in meshed transmission with a turntable gear, one end of the turntable penetrates through an oil-free lubrication bearing, and a turntable positioning nut for fixing the turntable is arranged at one end of the turntable, which penetrates through the oil-free lubricating bearing.

Preferably, the upper end face of the rotary table is provided with a rubber plate, four suspension shafts are uniformly and fixedly arranged at the upper end of the rotary table, a pipe fitting bearing plate is arranged at the upper end of the rotary table and fixedly connected with a pipe fitting beam, four second positioning sleeves are uniformly arranged on the pipe fitting bearing plate, a wear-resistant bearing sleeve is arranged in each second positioning sleeve, each suspension shaft correspondingly slides in one wear-resistant bearing sleeve, and a limit nut is arranged at one end of each suspension shaft, which extends out of the wear-resistant bearing sleeve.

Preferably, the middle part of the pipe fitting bearing plate is provided with a third positioning sleeve, the middle part of the turntable is provided with a sleeve column, and a spring is arranged between the sleeve column and the third positioning sleeve.

Has the advantages that:

1. compared with the common AGV carrying vehicle with Mecanum wheels in the market at present, the AGV carrying vehicle with the conventional wheels is adopted, and compared with the conventional AGV carrying vehicle with the Mecanum wheels, the structure of the AGV carrying vehicle is not so precise, the effect is good, the AGV carrying vehicle is more durable, and the carrying capacity is stronger.

2. The hydraulic system can be used after being simply improved through commercially available hydraulic parts, and has mature technology and low use cost.

3. The utility model adopts the form of driving a single wheel to provide power, and the rest wheels bear the weight, thereby reducing the force required for driving the wheels and saving more labor.

4. The wheel set of the trolley unit is flexibly and variably arranged, and if the height is not limited in a use occasion, the driving motor can be upwards arranged, so that the length and the width are reduced, and the structure is more compact.

5. Ingenious mechanical suspension design scheme (the trolley can automatically sink), can enable the trolley units to be automatically matched with the ground, can deal with uneven ground, ensures that each trolley can be contacted with the ground, and avoids the phenomenon that a certain trolley is damaged due to overlarge stress.

6. The wheel set swing design scheme of the utility model can deal with very complicated, very rugged, furrowed and very bad ground. Is applicable to occasions with special requirements.

Drawings

FIG. 1 is a schematic diagram of the construction of the present heavy AGV;

FIG. 2 is a schematic diagram of a driving module and a moving assembly according to a first embodiment;

FIG. 3 is a structural sectional view of the turntable;

FIG. 4 is a top view of the turntable;

FIG. 5 is a cross-sectional view of a turntable suspension module;

FIG. 6 is a top view of a turntable suspension module;

FIG. 7 is a schematic view of the engagement of the turntable suspension module with the load-bearing frame;

FIG. 8 is a cross-sectional view taken at A-A of FIG. 7;

FIG. 9 is a sectional view of the gear type driving wheel structure according to the first embodiment;

FIG. 10 is a front perspective view of the gear type driving wheel according to the first embodiment;

FIG. 11 is a schematic view of a hydraulic constant pressure suspension system;

FIG. 12 is a schematic view of a driving module and a moving assembly according to a second embodiment;

FIG. 13 is a schematic view of an auxiliary steering drum construction;

FIG. 14 is a schematic diagram of a driving module and a moving assembly according to a sixth embodiment;

FIG. 15 is a cross-sectional view of a keyed drive wheel configuration;

FIG. 16 is a front perspective view of the keyed drive wheel;

FIG. 17 is a sectional view of the structure of the loading flat wheel 47;

FIG. 18 is a schematic view of a driving module and a moving assembly according to the fifth embodiment;

FIG. 19 is a schematic view of a driving module and a moving assembly according to a seventh embodiment;

FIG. 20 is a schematic view of a driving module and a moving assembly according to an eighth embodiment;

FIG. 21 is a schematic view of a driving module and a turntable according to the ninth embodiment;

FIG. 22 is a schematic view of a driving module and a moving assembly according to the ninth embodiment;

FIG. 23 is a schematic view of a driving module and a turntable according to a tenth embodiment;

FIG. 24 is a schematic view of a driving module and a moving assembly according to a tenth embodiment;

FIG. 25 is a top view of a turntable suspension module of an eleventh embodiment;

FIG. 26 is a cross-sectional view taken at B-B in FIG. 25;

FIG. 27 is a sectional view showing a structure of a gear type driving wheel according to a twelfth embodiment;

fig. 28 is a front perspective view of the gear type drive wheel according to the twelfth embodiment.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

In the description of the present invention, it should be noted that the terms "inside", "below", and the like refer to the orientation or positional relationship based on the drawings, or the orientation or positional relationship that the utility model product is used to usually place, are only used for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

The first embodiment is as follows:

with reference to fig. 1-11, a heavy AGV transport vehicle comprises a trolley unit consisting of an outer frame 1, a driving module, two moving assemblies, a turntable suspension module, a bottom plate 2, an upper bearing plate 3 and a split jack 4, wherein the four trolley units are fixedly arranged below a bearing frame 100, two pipe fittings 20 are arranged in the bearing frame 100, and an electric control system and a hydraulic system are also arranged in the bearing frame 100; the mobile components within the trolley units are adapted to accommodate rough and bumpy ground, and the suspension modules are adapted to urge the mobile components of each trolley unit into contact with the ground over the rough and bumpy ground.

Further, the outer frame 1 is I-shaped, openings are formed in two sides of the outer frame, a supporting side plate is fixedly connected to each opening, and a separating jack 4 is installed in the middle of the outer frame 1.

Further, the driving module comprises motors 26 which are arranged on the two supporting side plates in a centrosymmetric mode, the output ends of the motors 26 are connected with speed reducers 27, the output ends of the speed reducers 27 are connected with speed reducer gears 28, and one side, close to the speed reducer gears 28, of each supporting side plate is provided with a gear set.

Further, the gear set comprises a first transition gear 29 rotationally arranged on a supporting side plate, the supporting side plate is rotationally connected with a second transition gear 30 and a transmission gear 32, the first transition gear 29 is in meshing transmission with the reducer gear 28, the first transition gear 29 is in meshing transmission with the second transition gear 30, and the second transition gear 30 is in meshing transmission with the transmission gear 32; the center of the transmission gear 32 is connected with a gear shaft 31, the gear shaft 31 is rotatably connected to the supporting side plate, one end of the gear shaft 31 extends into one side of the supporting side plate facing the outer frame 1, and the outer circumferential surface of one side of the gear shaft 31 extending into the supporting side plate is provided with a driving gear 33.

Further, each moving assembly includes at least one wheel shaft 36 rotatably connected between the support side plate and the outer frame 1, and each wheel shaft 36 is provided with a gear type driving wheel 35; the gear type driving wheel 35 is in meshed transmission with the driving gear 33, so that the gear type driving wheel 35 is driven to move.

Further, the bottom plate 2 is fixedly arranged at the lower side of the outer frame 1, and the upper bearing plate 3 is fixedly arranged at the upper side of the outer frame 1; go up the loading board 3 middle part and be equipped with carousel groove 5, first position sleeve 6 sets firmly in carousel groove 5, the inner circumferential face of first position sleeve 6 sets firmly oil-free lubrication bearing, oil-free lubrication bearing internal rotation is connected with carousel 11, it is equipped with two backing pins 16 to go up the symmetry on loading board 3, be equipped with dog 15 on the outer circumferential face of carousel 11 and backing pin 16 co-altitude department, carousel 11 is close to one side outer circumferential face of last loading board 3 and is equipped with carousel gear 8, it is equipped with angle measuring instrument 7 towards one side of bottom plate 2 to go up loading board 3, the one end of angle measuring instrument 7 extends upper loading board 3 in the reverse direction, the input of angle measuring instrument 7 is connected with measurement pinion 9, measurement pinion 9 and the meshing transmission of carousel gear 8, oil-free lubrication bearing is passed to the one end of carousel 11, the one end that carousel 11 passed oil-free lubrication bearing is equipped with and is used for carousel 11 fixed carousel set nut 14.

Furthermore, the upper end face of the rotary table 11 is provided with a rubber plate 13, four suspension shafts 12 are fixedly arranged at the upper end of the rotary table 11 in an evenly distributed manner, the upper end of the rotary table 11 is provided with a pipe fitting bearing plate 19, the pipe fitting bearing plate 19 is fixedly connected with a pipe fitting beam 20, four second positioning sleeves 17 are evenly distributed on the pipe fitting bearing plate 19, a wear-resistant bearing sleeve 18 is arranged inside each second positioning sleeve 17, each suspension shaft 12 correspondingly slides in one wear-resistant bearing sleeve 18, and one end, extending out of the wear-resistant bearing sleeve 18, of each suspension shaft 12 is provided with a limit nut 22.

Further, the gear type driving wheel 35 includes a first steel core 3501, a first bearing 3502 is disposed on an inner ring of the first steel core 3501, a first adhesive layer 3503 is disposed on an outer circumferential surface of the first steel core 3501, one end of the first steel core 3501 is connected to a connecting disc 3505 through a bolt, one end of the connecting disc 3505, which is far away from the first steel core, is connected to a wheel gear 3504 through a bolt, and the wheel gear 3504 is in meshing transmission with the driving teeth 33.

Further, a bearing mounting groove is formed in the turntable 11, a turntable bearing 10 is arranged on the upper bearing plate 3, and the turntable bearing 10 is further mounted in the bearing mounting groove.

This heavy carrier of AVG outside still is equipped with the shell, is provided with safety device such as alarm lamp, anticollision ware on the shell.

Above-mentioned heavy AGV floor truck has still carried on a hydraulic pressure constant voltage suspension:

oil inlets of the four separated jacks of the trolley unit are connected in parallel, oil is supplied to the oil pump through the oil tank during oil outlet, and then oil is discharged through the No. 1 electromagnetic directional valve to be supplied to the four separated jacks.

And during oil return, oil in the four separated jacks returns to the oil tank through the No. 1 electromagnetic directional valve.

In addition, a No. 1 safety overflow valve is connected to the oil path connecting the No. 1 electromagnetic directional valve and the four separated jacks, and the No. 1 safety overflow valve is communicated to an oil tank.

In addition, the connection oil path between the No. 1 electromagnetic directional valve and the four separated jacks is also connected with a No. 2 electromagnetic directional valve, the oil suction port of the No. 2 electromagnetic directional valve is blocked, the oil return port is communicated to a No. 2 safety overflow valve, and the No. 2 safety overflow valve is communicated to an oil tank.

This heavy AGV floor truck in addition has still carried electrical system, and this electrical system can control each dolly and the work of hydraulic pressure constant voltage suspension system, for ripe prior art, and this here is not repeated for a long time.

The working principle is as follows:

this heavy AGV floor truck carries on the heavy object, and the weight of carrying as required sets for the pressure of 2 overflow valves, uses 100% bearing pressure as an example, controls oil pump and 1 electromagnetic directional valve behind the heavy object transport, the oiling in four disconnect-type jacks.

After the weight is lifted, the electric control system controls the motors 26 in each trolley unit to start working, the output end of each motor 26 rotates, and the speed reducer gear 28 is driven to rotate through the speed reducer 27, so that the first transition gear 29 and the second transition gear 30 are driven to rotate, the gear shaft 31 is driven to rotate, the driving teeth 33 are driven to rotate, the driving teeth 33 drive the two wheel gears 3504 to rotate, and the two gear type driving wheels 35 are driven to rotate. When the trolley is used specifically, the rotation direction of the motor 26 of each trolley unit can be controlled to change according to actual requirements of forward movement, backward movement, left turning and right turning, so that different movements are realized.

When this heavy AGV floor truck removed, if meet jolting, uneven ground, at this moment, when certain dolly unit will be in unsettled state, this platform dolly unit's outer frame 1 drives the automobile body and falls for pipe fitting loading board 19 for the wheel of this dolly unit can guarantee with ground contact. At this time, if the pressure of the separate jacks 4 in the other three trolley units is too large, the safety overflow valve No. 1 works, the three separate jacks 4 drive the turntable 11 to descend, so that the whole bearing frame 100 is driven to descend until the separate jacks 4 of the descended trolley unit bear the force again, then the four separate jacks 4 reach the balance state again, and the situation that other trolleys are damaged quickly because a certain trolley is not stressed on a bumpy road surface when the conventional AGV heavy-duty truck is used is avoided.

After the vehicle passes through a bumpy road surface, the four separated jacks are controlled to be lifted again, and the vehicle is transported in a normal state.

When carrying the weight of the heavy object that the weight is less than 100% bearing pressure, set up the condition that the overflow pressure of 2 # safety overflow valves is the adaptation heavy object, when carrying the heavy object this moment, also can be through above-mentioned adjustment when running into the road surface of jolting, adjust a plurality of dolly units fast, avoid having the condition that dolly unit atress too big leads to damaging to appear.

Example two:

with reference to fig. 12, in the first embodiment, the outer frame 1 is enlarged, and an auxiliary steering drum 37 is added to the wheel axle 36 to achieve better load-bearing capacity and better auxiliary steering capacity.

The auxiliary steering drum 37 comprises a second steel core 3702, a second bearing 3701 is provided inside the second steel core 3702, and a second glue layer 3703 is provided on the outer circumferential surface of the second steel core 3702.

The working principle is the same as that of the first embodiment.

Example three:

in addition to the second embodiment, more auxiliary steering drums 37 and load-bearing flat wheels 47 are additionally arranged on the wheel shafts 36 to adapt to more situations.

The bearing flat wheel 47 comprises a third steel core 4702, a third bearing 4701 is arranged inside the third steel core 4702, and a third adhesive layer 4703 is arranged on the outer circumferential surface of the third steel core 4702.

The working principle is the same as that of the first embodiment.

Example four:

based on the first embodiment, three trolley units are used to be distributed in a triangular shape under the bearing frame 100.

The layout mode can also realize the functions of carrying and adapting to uneven road surfaces.

Example five:

with reference to fig. 18, a heavy AGV transport vehicle comprises a trolley unit consisting of an outer frame 1, a driving module, two moving assemblies, a turntable suspension module, a bottom plate 2, an upper bearing plate 3 and a split jack 4, wherein the four trolley units are fixedly arranged below a bearing frame 100, two pipe fittings 20 are arranged in the bearing frame 100, and an electric control system and a hydraulic system are also arranged in the bearing frame 100; the mobile components within the trolley units are adapted to accommodate rough and bumpy ground, and the suspension modules are adapted to urge the mobile components of each trolley unit into contact with the ground over the rough and bumpy ground.

Furthermore, a rotating frame 43 is rotatably arranged on the outer frame 1 through two first rotating shafts 40, limiting blocks 41 for limiting the swing amplitude of the bearing frame are symmetrically arranged on the outer frame 1, a supporting side plate is arranged inside the rotating frame 43, and a driving module and a moving assembly are arranged in the rotating frame 43; the driving module comprises a motor 26 arranged in a rotating frame 43, the output end of the motor 26 is connected with a speed reducer 27, the output end of the speed reducer 27 is connected with a speed reducer gear 28, and one side of each supporting side plate, which is close to the speed reducer gear 28, is provided with a gear set; the gear set comprises a first transition gear 29 rotationally arranged on a supporting side plate, the supporting side plate is rotationally connected with a second transition gear 30 and a transmission gear 32, the first transition gear 29 is in meshing transmission with a speed reducer gear 28, the first transition gear 29 is in meshing transmission with the second transition gear 30, and the second transition gear 30 is in meshing transmission with the transmission gear 32; the center of the transmission gear 32 is connected with a gear shaft 31, the gear shaft 31 is rotatably connected to the supporting side plate, one end of the gear shaft 31 extends into one side of the supporting side plate facing the outer frame 1, and the outer circumferential surface of one side of the gear shaft 31 extending into the supporting side plate is provided with a driving gear 33; the moving assembly comprises at least two wheel shafts 36 which are rotatably connected between the supporting side plates and the outer frame 1, each wheel shaft 36 is provided with a gear type driving wheel 35, and the wheel shafts 36 can be additionally provided with an unlimited number of auxiliary steering drums 37 and bearing flat wheels 47 according to the actual situation; the gear type driving wheel 35 is in meshed transmission with the driving gear 33, so that the gear type driving wheel 35 is driven to move.

The working principle is as follows:

Moreover, when some uneven ground surfaces exist, the bearing forces of the gear type driving wheels 35, the auxiliary steering drum wheels 37 and the bearing flat wheels 47 in a single trolley unit are not uniform, and at the moment, the rotating frame 43 rotates around the two first rotating shafts 40, so that the gear type driving wheels 35, the auxiliary steering drum wheels 37 and the bearing flat wheels 47 can be better attached to the ground, and the problem that one wheel is damaged due to overlarge stress is avoided.

Example six:

with reference to fig. 14-17, a heavy AGV transport cart comprises a cart unit consisting of an outer frame 1, a driving module, two moving assemblies, a turntable suspension module, a bottom plate 2, an upper bearing plate 3 and a split jack 4, wherein the four cart units are fixedly arranged below a bearing frame 100, two pipe fittings 20 are arranged in the bearing frame 100, and an electric control system and a hydraulic system are also arranged in the bearing frame 100; the mobile components within the trolley units are adapted to accommodate rough and bumpy ground, and the suspension modules are adapted to urge the mobile components of each trolley unit into contact with the ground over the rough and bumpy ground.

Furthermore, a rotating frame 43 is rotatably arranged on the outer frame 1 through two first rotating shafts 40, limiting blocks 41 for limiting the swing amplitude of the bearing frame are symmetrically arranged on the outer frame 1, a supporting side plate is arranged inside the rotating frame 43, and a driving module and a moving assembly are arranged in the rotating frame 43; the driving module comprises a motor 26 arranged in a rotating frame 43, the output end of the motor 26 is connected with a speed reducer 27, the output end of the speed reducer 27 is connected with a speed reducer gear 28, and one side of each supporting side plate, which is close to the speed reducer gear 28, is provided with a gear set; the gear set comprises a first transition gear 29 rotationally arranged on a support side plate, the support side plate is rotationally connected with two second transition gears 30 and a transmission gear 32, the first transition gear 29 is in meshing transmission with a speed reducer gear 28, the first transition gear 29 is in meshing transmission with the second transition gears 30, the second transition gears 30 are in meshing transmission with the transmission gear 32, and the other side of the transmission gear 32 is in meshing transmission with the other second transition gear 30; the moving assembly comprises two wheel shafts 36 which are rotatably connected between the supporting side plates and the outer frame 1, the two wheel shafts 36 are respectively and fixedly connected with two second transition gears 30, each wheel shaft 36 of the two first wheels is provided with a key type driving wheel 38, and the wheel shafts 36 can be additionally provided with an unlimited number of auxiliary steering drums 37 and bearing flat wheels 47 according to the actual situation; the gear type driving wheel 35 is in meshed transmission with the driving gear 33, so that the gear type driving wheel 35 is driven to move.

Further, the key type driving wheel 38 comprises a fourth steel core 3801, a fourth bearing 3803 is arranged on an inner ring of the fourth steel core 3801, a fourth adhesive layer 3804 is arranged on an outer circumferential surface of the fourth steel core 3801, one end of the fourth steel core 3801 is connected with the key type connecting disc 3802 through a bolt, a key groove is arranged in the key type connecting disc 3802, and the key type driving wheel 38 is fixedly connected with the wheel shaft 36 through the key groove.

With this arrangement, power is transmitted through the wheel shaft 36, and steering and swinging on a rugged bottom surface can also be achieved, so as to avoid rapid damage to the wheels in the cart unit due to uneven bearing.

Example seven:

with reference to fig. 19, the heavy AGV transport vehicle comprises a trolley unit consisting of an outer frame 1, a driving module, two moving assemblies, a turntable suspension module, a bottom plate 2, an upper bearing plate 3 and a split jack 4, wherein the four trolley units are fixedly arranged below a bearing frame 100, two pipe fittings 20 are arranged in the bearing frame 100, and an electric control system and a hydraulic system are also arranged in the bearing frame 100; the mobile components within the trolley units are adapted to accommodate rough and bumpy ground, and the suspension modules are adapted to urge the mobile components of each trolley unit into contact with the ground over the rough and bumpy ground.

Further, the gear set comprises a first transition gear 29 rotationally arranged on a supporting side plate, the supporting side plate is rotationally connected with a second transition gear 30 and a transmission gear 32, the first transition gear 29 is in meshing transmission with the reducer gear 28, the first transition gear 29 is in meshing transmission with the second transition gear 30, and the second transition gear 30 is in meshing transmission with the transmission gear 32; the center of the transmission gear 32 is connected with a gear shaft 31, the gear shaft 31 is rotatably connected between the support side plate and the outer frame 1, one end of the gear shaft 31 extends into one side of the support side plate facing the outer frame 1, and the outer circumferential surface of the position where the gear shaft 31 extends into the support side plate is provided with a driving tooth 33.

Furthermore, each moving assembly comprises a swinging frame 42 which is rotatably connected to the gear shaft 31, the swinging frame 42 is rotatably connected to two wheel shafts 36, each wheel shaft 36 is provided with a gear type driving wheel 35, and an unlimited number of auxiliary steering drums 37 and bearing flat wheels 47 can be added on the wheel shafts 36 according to actual requirements; the gear type driving wheel 35 is in meshed transmission with the driving gear 33, so that the gear type driving wheel 35 is driven to move.

This kind of embodiment makes swing frame 42 can rotate along gear shaft 31 to can realize adapting to the uneven ground in front and back, thereby avoid causing the wheel atress too big and damage at slope undulation highway section wheel atress inequality.

Example eight:

with reference to fig. 20, the heavy AGV transport vehicle comprises a trolley unit consisting of an outer frame 1, a driving module, two moving assemblies, a turntable suspension module, a bottom plate 2, an upper bearing plate 3 and a split jack 4, wherein the four trolley units are fixedly arranged below a bearing frame 100, two pipe fittings 20 are arranged in the bearing frame 100, and an electric control system and a hydraulic system are also arranged in the bearing frame 100; the mobile components within the trolley units are adapted to accommodate rough and bumpy ground, and the suspension modules are adapted to urge the mobile components of each trolley unit into contact with the ground over the rough and bumpy ground.

Furthermore, a rotating frame 43 is rotatably arranged on the outer frame 1 through two first rotating shafts 40, limiting blocks 41 for limiting the swing amplitude of the bearing frame are symmetrically arranged on the outer frame 1, a supporting side plate is arranged inside the rotating frame 43, and a driving module and a moving assembly are arranged in the rotating frame 43; the driving module comprises a motor 26 arranged in a rotating frame 43, the output end of the motor 26 is connected with a speed reducer 27, the output end of the speed reducer 27 is connected with a speed reducer gear 28, and one side of each supporting side plate, which is close to the speed reducer gear 28, is provided with a gear set; the gear set comprises a first transition gear 29 rotationally arranged on a supporting side plate, the supporting side plate is rotationally connected with a second transition gear 30 and a transmission gear 32, the first transition gear 29 is in meshing transmission with a speed reducer gear 28, the first transition gear 29 is in meshing transmission with the second transition gear 30, and the second transition gear 30 is in meshing transmission with the transmission gear 32; the center of the transmission gear 32 is connected with a gear shaft 31, the gear shaft 31 is rotationally connected with the supporting side plate and the rotating frame 43, and the outer circumferential surface of the position where the gear shaft 31 extends into the supporting side plate is provided with a driving gear 33; each moving assembly comprises a swinging frame 42 which is rotatably connected to the gear shaft 31, two wheel shafts 36 are rotatably connected to the swinging frame 42, each wheel shaft 36 is provided with a gear type driving wheel 35, and an unlimited number of auxiliary steering drums 37 and bearing flat wheels 47 can be added on the wheel shafts 36 according to actual requirements; the gear type driving wheel 35 is in meshed transmission with the driving gear 33, so that the gear type driving wheel 35 is driven to move.

The working principle is as follows: the dolly of this embodiment is when meetting when rugged very much, uneven very much, the ground of especially complicated, when dolly wheel and ground contact, rotating frame 43 can swing along first axis of rotation 40, and swinging frame 43 can also rotate along gear shaft 31 in rotating frame 43 simultaneously to realize the wheel angular adjustment of two directions, thereby make the wheel can contact the ground load, avoid single wheel load or the inhomogeneous condition of wheel load to take place.

Example nine:

with reference to fig. 21 and 22, in the first embodiment, the height of the outer frame 1 is raised, and the second transition gear 30 is in mesh transmission with the gear-type driving wheel 35, and the two gear-type driving wheels 35 are in transmission connection through the driving gear 33.

The embodiment is suitable for scenes without limiting the height, the length and the width of the trolley are shortened, and the structure is more compact.

Example ten:

with reference to fig. 22 and 23, in the ninth embodiment, the second transition gear 30 is not provided, and the single gear type driving wheel 35 is engaged with the first transition gear 29.

The embodiment adopts the single gear type driving wheel 35 with larger size, and has compact and simple structure and strong stability.

Example eleven:

with reference to fig. 25 and 26, on the basis of the first to tenth embodiments, a third positioning sleeve 23 is disposed in the middle of the pipe carrier plate 19, a sleeve column 24 is disposed in the middle of the rotary table 11, and a spring 25 is disposed between the sleeve column 24 and the third positioning sleeve 23.

The arrangement of the spring 25 enables the trolley unit to contact the ground more quickly, so that the capability of the embodiment to adapt to uneven ground is greatly enhanced.

Example twelve:

with reference to fig. 27 and 28, in the eleventh embodiment, the gear-type driving wheel 35 may further include a fifth steel core 3505 having a flange, a first bearing 3502 is disposed in the fifth steel core 3505, a first glue layer 3503 is disposed on an outer circumferential surface of the fifth steel core 3505, a meshing connecting tooth 3506 is disposed at the flange of the fifth steel core 3503, and the meshing connecting tooth 3506 is in meshing transmission with the driving tooth 33.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A heavy AGV carrier comprises a trolley unit consisting of an outer frame (1), a driving module, at least two moving assemblies, a turntable suspension module, a bottom plate (2), an upper bearing plate (3) and a separating jack (4), and is characterized in that at least three trolley units are fixedly arranged below a bearing frame (100), two pipe fitting beams (20) are arranged in the bearing frame (100), and an electric control system and a hydraulic system are further arranged in the bearing frame (100); the mobile components in the trolley units are used for adapting to uneven and rugged ground, and the suspension module is used for pushing the mobile components of each trolley unit to be in contact with the ground on the uneven and rugged ground.

2. A heavy AGV cart according to claim 1, characterized in that said outer frame (1) is i-shaped with openings at both sides, each of said openings being fixedly connected with a supporting side plate, and a separate jack (4) is mounted in the middle of said outer frame (1).

3. A heavy AGV cart according to claim 2, characterized in that said drive module comprises a motor (26) arranged centrally symmetrically on two supporting side plates, said motor (26) having a speed reducer (27) connected to its output, said speed reducer (27) having a speed reducer gear (28) connected to its output, each supporting side plate having a gear set on one side adjacent to the speed reducer gear (28).

4. A heavy AGV cart according to claim 3, wherein said gear train comprises a first transition gear (29) rotatably mounted on said support side panel, said support side panel having a second transition gear (30) and a drive gear (32) rotatably coupled thereto, said first transition gear (29) being in meshing engagement with said reducer gear (28), said first transition gear (29) being in meshing engagement with said second transition gear (30), said second transition gear (30) being in meshing engagement with said drive gear (32); the utility model discloses a frame, including transmission gear (32), gear shaft (31) rotation connection, gear shaft (31) one end stretches into to the one side that supports the curb plate towards outer frame (1), one side outer periphery that gear shaft (31) stretched into the support curb plate is equipped with drive tooth (33).

5. A heavy AGV according to claim 4 wherein each of said moving assemblies includes at least one wheel axle (36) pivotally connected between said support side plates and said outer frame (1), each of said wheel axles (36) having a geared drive wheel (35), said wheel axles (36) further having an unlimited number of auxiliary steering drums (37) and load bearing flat wheels (47) depending upon the actual requirements; the gear type driving wheel (35) is in meshed transmission with the driving gear (33), so that the gear type driving wheel (35) is driven to move.

6. The heavy AGV according to claim 1, wherein said outer frame (1) is rotatably installed with a rotating frame (43) through two first rotating shafts (40), said outer frame (1) is further symmetrically installed with a limiting block (41) for limiting the swing range of the carrying frame, said rotating frame (43) is internally installed with a supporting side plate, said rotating frame (43) is internally installed with a driving module and a moving assembly; the driving module comprises a motor (26) arranged in a rotating frame (43), the output end of the motor (26) is connected with a speed reducer (27), the output end of the speed reducer (27) is connected with a speed reducer gear (28), and one side, close to the speed reducer gear (28), of each supporting side plate is provided with a gear set; the gear set comprises a first transition gear (29) rotatably arranged on the supporting side plate, the supporting side plate is rotatably connected with a second transition gear (30) and a transmission gear (32), the first transition gear (29) is in meshing transmission with a speed reducer gear (28), the first transition gear (29) is in meshing transmission with the second transition gear (30), and the second transition gear (30) is in meshing transmission with the transmission gear (32); the center of the transmission gear (32) is connected with a gear shaft (31), the gear shaft (31) is rotatably connected to the supporting side plate, one end of the gear shaft (31) extends into one side of the supporting side plate, which faces the outer frame (1), and the outer circumferential surface of one side, which extends into the supporting side plate, of the gear shaft (31) is provided with driving teeth (33); the moving assembly comprises at least one wheel shaft (36) which is rotatably connected between the supporting side plates and the outer frame (1), each wheel shaft (36) is provided with a gear type driving wheel (35), and an unlimited number of auxiliary steering drums (37) and bearing flat wheels (47) can be added on the wheel shaft (36) according to actual requirements; the gear type driving wheel (35) is in meshed transmission with the driving gear (33), so that the gear type driving wheel (35) is driven to move.

7. A heavy AGV according to any of claims 5 or 6 wherein said floor (2) is fixed to the lower side of the outer frame (1) and said upper carrying floor (3) is fixed to the upper side of the outer frame (1); go up loading board (3) middle part and be equipped with carousel groove (5), first position sleeve (6) sets firmly in carousel groove (5), the interior circumference of first position sleeve (6) has set firmly oil-free lubrication bearing, oil-free lubrication bearing internal rotation is connected with carousel (11), it is equipped with two backing pins (16) to go up the symmetry on loading board (3), be equipped with dog (15) on the outer circumference of carousel (11) and backing pin (16) co-altitude department, carousel (11) are close to one side outer circumference of last loading board (3) and are equipped with carousel gear (8), it is equipped with angle measurement appearance (7) to go up one side of loading board (3) towards bottom plate (2), the one end reverse extension of angle measurement appearance (7) stretches out go up loading board (3), the input of angle measurement appearance (7) is connected with and measures pinion (9), measure pinion (9) and carousel gear (8) meshing transmission, the one end of carousel (11) is passed oil-free lubrication bearing, carousel (11) pass oil-free lubrication bearing's one end and are equipped with carousel set nut (14) that are used for carousel (11) to fix.

8. The heavy AGV carrier of claim 7, wherein the upper end surface of the rotary table (11) is provided with a rubber plate (13), four suspension shafts (12) are uniformly and fixedly arranged on the upper end of the rotary table (11), a pipe loading plate (19) is arranged on the upper end of the rotary table (11), the pipe loading plate (19) is fixedly connected with the pipe beam (20), four second positioning sleeves (17) are uniformly and fixedly arranged on the pipe loading plate (19), each second positioning sleeve (17) is internally provided with a wear-resistant bearing sleeve (18), each suspension shaft (12) correspondingly slides in one wear-resistant bearing sleeve (18), and one end of each suspension shaft (12) extending out of the wear-resistant bearing sleeve (18) is provided with a limit nut (22).

9. A heavy AGV according to claim 8 wherein said tube carrying floor (19) has a third locating sleeve (23) in the middle, said turntable (11) has a sleeve post (24) in the middle, and a spring (25) is provided between said sleeve post (24) and said third locating sleeve (23).