Heavy-duty AGV system

Abstract

The present invention relates to the field of vehicle automated assembly, specifically a heavy-duty AGV system, wherein the front end of the front vehicle is provided with a front vehicle driving wheel device, the rear end is provided with a front vehicle follower wheel, the front end of the rear vehicle is provided with a rear vehicle steering wheel device, the rear end is provided with a rear vehicle driving wheel device and a rear vehicle follower wheel, and the front and rear vehicles are both provided with a lifting mechanism; the front vehicle driving wheel device includes a connecting plate, a left driving unit, a right driving unit and a front vehicle power supply device, the connecting plate is provided with a front vehicle disc bearing and is rotatably connected to the front vehicle, the left driving unit and the right driving unit drive different wheel pieces to rotate, the rear vehicle steering wheel device includes a steering wheel driving assembly, a rear vehicle power supply device and a steering wheel frame with a steering wheel wheel piece, the steering wheel frame is provided with a rear vehicle disc bearing and is connected to the rear vehicle, and the rear vehicle disc bearing outer gear is driven to rotate by the steering wheel driving assembly. The front and rear vehicles of the present invention are loaded at the same time, and the front vehicle is driven forward, and the rear vehicle is dragged and walked, the distance between the two vehicles can be automatically adjusted, and the lifting mechanism can automatically adjust the heavy card assembly and the offline height.

Description

Technical Field

[0001] The invention relates to the field of vehicle automated assembly, in particular to a heavy-load AGV system. Background Art

[0002] In view of the increase in the output of military and civilian heavy trucks and the improvement of production technology, the requirements for heavy truck automated assembly production lines are becoming increasingly higher. Existing heavy truck production lines usually use floor chains, and the supporting structure is a bracket fixed on the floor chain. A group of 2 to 3 brackets support the heavy truck body, and the brackets use manual adjustment of the support spacing, and the assembly height cannot be adjusted. The installation of the floor chain requires infrastructure pits, which requires a large amount of engineering work. Therefore, the above structure needs to be improved to meet the requirements of production development. Summary of the invention

[0003] The purpose of the present invention is to provide a heavy-load AGV system, which realizes the support of the heavy-duty truck body by synchronously supporting the front vehicle and the rear vehicle, and the front vehicle carries the load and drives forward, and the rear vehicle only carries and is dragged by the front vehicle to move. The front vehicle and the rear vehicle can automatically adjust the distance between them according to the vehicle model information, and the front vehicle and the rear vehicle are both provided with lifting mechanisms to automatically adjust the heavy-duty truck assembly and offline height, which not only facilitates the heavy-duty truck assembly and assembly, but also greatly improves the production efficiency.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A heavy-load AGV system includes a front vehicle, a rear vehicle and a lifting mechanism, wherein the front vehicle is provided with a front vehicle driving wheel device at the front end and a front vehicle following wheel at the rear end, the rear vehicle is provided with a rear vehicle steering wheel device at the front end and a rear vehicle driving wheel device and a rear vehicle following wheel at the rear end, and the lifting mechanism is provided on both the front vehicle and the rear vehicle; the front vehicle driving wheel device includes a connecting plate and a left driving unit, a right driving unit and a front vehicle power supply device arranged at the lower side of the connecting plate, the upper side of the connecting plate is provided with a front vehicle disc bearing rotatably connected to the front vehicle body, and the lower two ends are provided with There are driving wheels, and the left driving wheel is driven to rotate by the left driving unit, and the right driving wheel is driven to rotate by the right driving unit. The rear vehicle steering wheel device includes a steering wheel frame with a steering wheel, a steering wheel driving assembly and a rear vehicle power supply device arranged on the steering wheel frame, a rear vehicle disc bearing is provided on the upper side of the steering wheel frame to be connected to the rear vehicle body, and the external gear on the rear vehicle disc bearing is driven to rotate by the steering wheel driving assembly, a front vehicle navigation component is installed on the front vehicle driving wheel device, and a rear vehicle navigation component is installed on the rear vehicle steering wheel device.

[0006] A left wheel frame with a left driving wheel plate is provided on one side of the connecting plate of the front vehicle driving wheel device, and a right wheel frame with a right driving wheel plate is provided on the other side, and the left driving unit is installed on the left wheel frame, and the right driving unit is installed on the right wheel frame. The front vehicle power taking device is arranged on the lower side of the middle part of the connecting plate, and the left driving unit and the right driving unit are arranged between the front vehicle power taking device and the connecting plate.

[0007] The middle of the connecting plate is connected to the front wheel disc bearing through a pin shaft, and an encoder component is arranged on the connecting plate to mesh with the external teeth of the front wheel disc bearing.

[0008] The left drive unit and the right drive unit are arranged symmetrically, a left clutch with a left clutch rod is provided at the end of the left drive unit, a right clutch with a right clutch rod is provided at the end of the right drive unit, and a clutch bracket for supporting the left clutch rod and the right clutch rod is provided on the lower side of the middle part of the connecting plate.

[0009] The steering wheel drive assembly of the rear vehicle steering wheel device includes a steering wheel drive unit and a gear assembly, and the input gear in the gear assembly is fixedly connected to the output shaft of the steering wheel drive unit, and the output gear in the gear assembly is meshed with the external gear of the rear vehicle disc bearing.

[0010] The rear vehicle driving wheel device includes a rear vehicle driving unit, a rear vehicle driving wheel frame, a rear vehicle driving wheel plate and a vehicle body connecting plate. The rear vehicle driving wheel plate and the rear vehicle driving unit are both installed on the rear vehicle driving wheel frame, and the rear vehicle driving wheel plate is driven to rotate by the rear vehicle driving unit. The rear vehicle driving wheel frame is hinged to the vehicle body connecting plate through a rotating pin shaft, and the vehicle body connecting plate is fixedly connected to the rear vehicle body.

[0011] The lifting mechanism includes a cylinder, an articulated shaft, an articulated arm, a clamp shaft bracket, a balance bar and a lifting clamp, wherein the articulated arm is fixed on the articulated shaft, and the articulated shaft is driven to rotate by the cylinder, a clamp shaft bracket with a clamp mounting shaft is provided at the end of the articulated arm, a clamp mounting groove matching the clamp mounting shaft is provided on the lower side of the lifting clamp, an axle bearing surface is provided on the upper side of the lifting clamp, the lower end of the clamp shaft bracket is connected to the corresponding balance bar, and the balance bar and the corresponding articulated arm swing simultaneously along the vertical plane.

[0012] The two ends of the articulated shaft are respectively rotatably mounted on the corresponding articulated shaft mounting seats, and the articulated shaft mounting seats are fixedly connected to the corresponding vehicle body, the bottom end of the cylinder body of the oil cylinder is hinged to a mounting seat, and the mounting seat is fixed in the corresponding vehicle body, a support plate is provided on the articulated shaft, and the cylinder rod end of the oil cylinder is hinged to the corresponding support plate on the articulated shaft, one end of the balance bar is hinged to the corresponding clamp shaft bracket, and the other end is hinged to a balance bar mounting seat, and the balance bar mounting seat is fixed in the corresponding vehicle body.

[0013] The front vehicle power taking device and the rear vehicle power taking device are both provided with power taking boards, and a special cable for inductive power taking in cooperation with the power taking boards is pre-buried in the ground.

[0014] The front vehicle navigation device and the rear vehicle navigation device both include electromagnetic navigation and magnetic navigation, and a loop line with a magnetic strip is arranged on the ground.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention realizes the support of the heavy truck body by synchronously using the front vehicle and the rear vehicle, and the front vehicle is loaded and driven forward, while the rear vehicle only carries and is dragged by the front vehicle. The distance between the front vehicle and the rear vehicle can be automatically adjusted according to the vehicle model information.

[0017] 2. The front and rear vehicles of the present invention are both provided with lifting mechanisms to automatically adjust the height of heavy truck assembly and unloading, so as to facilitate the assembly of heavy trucks.

[0018] 3. The front and rear vehicles of the present invention have simple structures and high strength, and adopt contactless power supply, eliminating the battery part, making the AGV appearance extremely small in size, meeting the functional requirements, and improving the carrying capacity of the whole vehicle, and easy installation and maintenance.

[0019] 4. The front and rear vehicles of the present invention adopt a contactless power supply mode, which greatly reduces the amount of preliminary construction compared to the existing heavy truck assembly production line floor chain mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the present invention,

[0021] Figure 2 for Figure 1 Another angle schematic diagram of the present invention,

[0022] Figure 3 for Figure 2 A three-dimensional schematic diagram of the front vehicle driving wheel device in FIG.

[0023] Figure 4 for Figure 3 Another angle diagram of the front vehicle driving wheel device,

[0024] Figure 5 for Figure 3 The schematic diagram of the power supply device of the front vehicle in FIG.

[0025] Figure 6 for Figure 2 A three-dimensional schematic diagram of the rear vehicle steering wheel device,

[0026] Figure 7 for Figure 6 Another angle diagram of the rear vehicle steering wheel device,

[0027] Figure 8for Figure 2 A three-dimensional schematic diagram of the rear vehicle driving wheel device in FIG.

[0028] Fig. 9 for Figure 1 Schematic diagram of the lifting mechanism in the figure.

[0029] Fig.10 for Fig. 9 Another angle diagram of the lifting mechanism in the figure.

[0030] Fig.11 for Figure 1 Schematic diagram of the lifting fixture on the lifting mechanism.

[0031] Fig.12 It is a schematic diagram of the working state of the present invention,

[0032] Fig.13 for Fig.12 Schematic diagram of the front vehicle in

[0033] Fig.14 for Fig.12 Schematic diagram of the rear vehicle in .

[0034] Among them, 1 is the front car, 2 is the rear car, 3 is the lifting mechanism, 31 is the mounting seat, 32 is the oil cylinder, 33 is the fixture mounting shaft, 34 is the articulated arm, 35 is the articulated shaft, 36 is the articulated shaft mounting seat, 37 is the fixture shaft bracket, 38 is the balance bar, 39 is the balance bar mounting seat, 310 is the lifting fixture, 311 is the axle bearing surface, 312 is the fixture mounting groove, 4 is the front car driving wheel device, 41 is the right driving unit, 411 is the right wheel frame, 412 is the right driving wheel piece, 42 is the connecting plate, 43 is the front car disc bearing, 44 is the encoder assembly, 45 is the pin shaft, 46 is the left driving unit, 461 is the left wheel frame, 462 is the left driving wheel piece, 47 is the front car Power taking device, 471 is the power taking bracket, 472 is the power taking plate, 48 is the left clutch lever, 49 is the right clutch lever, 410 is the clutch bracket, 5 is the front vehicle follower wheel, 6 is the rear vehicle steering wheel device, 61 is the steering wheel frame, 62 is the rear vehicle disc bearing, 63 is the steering wheel drive unit, 64 is the steering wheel wheel plate, 65 is the output gear, 66 is the input gear, 67 is the rear vehicle power taking device, 7 is the rear vehicle drive wheel device, 71 is the rear vehicle drive wheel plate, 72 is the rear vehicle drive unit, 73 is the vehicle body connecting plate, 74 is the rear vehicle drive wheel frame, 75 is the rotating pin shaft, 8 is the rear vehicle follower wheel, 9 is the loop line, 10 is the heavy truck, 11 is the front vehicle navigation component, and 12 is the rear vehicle navigation component. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings.

[0036] like Figures 1 to 14As shown, the present invention includes a front vehicle 1, a rear vehicle 2 and a lifting mechanism 3, wherein the front vehicle 1 is provided with a front vehicle driving wheel device 4 at the front end and a front vehicle following wheel 5 at the rear end, the rear vehicle 2 is provided with a rear vehicle steering wheel device 6 at the front end and a rear vehicle driving wheel device 7 and a rear vehicle following wheel 8 at the rear end, and the lifting mechanism 3 is provided on both the front vehicle 1 and the rear vehicle 2.

[0037] like Figures 3 to 5 As shown, the front vehicle driving wheel device 4 includes a left driving unit 46, a right driving unit 41, a connecting plate 42 and a front vehicle power taking device 47. The connecting plate 42 is provided with a front vehicle disc bearing 43 connected to the body of the front vehicle 1. The front vehicle disc bearing 43 is a well-known technology in the art and is a commercially available product. One side of the connecting plate 42 is provided with a left wheel frame 461 with a left driving wheel plate 462, and the other side is provided with a right wheel frame 411 with a right driving wheel plate 412. The left driving unit 46 is installed on the left wheel frame 461 and drives the left driving wheel plate 462 to rotate. The right driving unit 41 is installed on the right wheel frame 411 and drives the right driving wheel plate 412 to rotate. The front vehicle power taking device 47 is arranged on the lower side of the middle part of the connecting plate 42, and the left driving unit 46 and the right driving unit 41 are arranged between the front vehicle power taking device 47 and the connecting plate 42. When the present invention is working, a special cable is laid on the ground (the cable is pre-buried underground), the front vehicle power-taking device 47 maintains a fixed distance from the ground (within 15 mm) and adopts inductive power taking, and a mobile power unit 9 is provided between the front vehicle power-taking device 47 and the connecting plate 42, which is a high-voltage inverter component that uses power electronic devices for rectification, filtering, and inversion. In this embodiment, the model of the mobile power unit 9 is TPM12B030-ENE-5A2-2, and the front vehicle power-taking device 47 inductively takes power and provides electric energy to the left drive unit 46 and the right drive unit 41 after being processed by the mobile power unit 9. The front vehicle 1 drives the left drive wheel 462 and the right drive wheel 412 to rotate through the left drive unit 46 and the right drive unit 41 respectively to realize forward and backward movement, the connecting plate 42 is connected to the body of the front vehicle 1 through the front vehicle disc bearing 43 to realize rotation, and realizes turning through the differential drive of the left drive unit 46 and the right drive unit 41.

[0038] like Figure 3 As shown, the middle of the connecting plate 42 is connected to the front disc bearing 43 through a pin shaft 45 to achieve horizontal deflection. An encoder assembly 4 is provided on the connecting plate 42 and engages with the external teeth of the front disc bearing 43 to detect the rotation angle of the front disc bearing 43. The encoder assembly 4 is a well-known technology in the art and is a commercially available product.

[0039] like Figure 3As shown, the left drive unit 46 and the right drive unit 41 are arranged symmetrically, a left clutch is provided at the end of the left drive unit 46, and the left clutch is opened and closed by a left clutch pull rod 48, a right clutch is provided at the end of the right drive unit 41, and the right clutch is opened and closed by a right clutch pull rod 49, a clutch bracket 410 is provided at the lower side of the middle part of the connecting plate 42 for supporting the left clutch pull rod 48 and the right clutch pull rod 49, and the staff can pull the corresponding clutch pull rod to realize the external switch corresponding clutch, thereby realizing manual dragging forward and turning. In this embodiment, the left drive unit 46 and the right drive unit 41 are both reduction motors, and the left clutch and the right clutch are respectively integrated with the corresponding reduction motors, and the product model is: HK50_CMPZ71S_BY_PK_RH1M_SB1M3A-90.

[0040] like Figure 5 As shown, the front vehicle power supply device 47 includes a power supply bracket 471 and a power supply board 472, wherein the upper end of the power supply bracket 471 is fixedly connected to the connecting plate 42, and the power supply board 472 is installed side by side at the bottom of the power supply bracket 471. The power supply board 472 maintains a fixed distance from the ground (within 15 mm) and draws power by induction, which is a well-known technology in the art. A front vehicle navigation component 11 is provided at the front end of the power supply bracket 471. In this embodiment, the front vehicle navigation component 11 includes electromagnetic navigation and magnetic navigation, and its model is GSC1501.

[0041] like Figures 6-7 As shown, the rear vehicle steering wheel device 6 includes a steering wheel drive assembly, a steering wheel frame 61, a steering wheel blade 64 and a rear vehicle power supply device 67. The lower sides of both ends of the steering wheel frame 61 are provided with steering wheel blades 64. The upper side of the middle of the steering wheel frame 61 is provided with a rear vehicle disc bearing 62 connected to the body of the rear vehicle 2. The rear vehicle disc bearing 62 is a well-known technology in the art and is a commercially available product. The steering wheel drive assembly includes a steering wheel drive unit 63 and a gear assembly, and the steering wheel drive unit 63 and the gear assembly are both installed on the steering wheel frame 61, and the input gear 66 in the gear assembly is connected to the steering wheel drive unit 6 3 is fixedly connected, the output gear 65 in the gear assembly is meshed with the external gear of the rear vehicle disc bearing 62, and a rear vehicle power supply device 67 is provided on the lower side of the steering wheel frame 61. The structure and working principle of the rear vehicle power supply device 67 are the same as those of the front vehicle power supply device 47, and it also includes a power supply bracket and a power supply board, wherein the upper end of the power supply bracket is fixedly connected to the steering wheel frame 61, and the lower end is provided with a power supply board, and a mobile power unit is provided in the steering wheel frame 61 to process the inductive power supply of the power supply board and provide it to the steering wheel drive unit 63. In this embodiment, the steering wheel drive unit 63 is a reduction motor. When the present invention is working, the steering wheel frame 61 is rotationally connected to the rear vehicle 2 body through the rear vehicle disc bearing 62, and is driven to rotate by the steering wheel drive unit 63 to realize the turning of the vehicle body.

[0042] like Figure 6 As shown, a rear vehicle navigation component 12 is provided on the front side of the power taking bracket of the rear vehicle driving device 67 . In this embodiment, the rear vehicle navigation component 12 is the same as the front vehicle navigation component 11 .

[0043] like Figure 8 As shown, the rear vehicle driving wheel device 7 includes a rear vehicle driving unit 72, a rear vehicle driving wheel frame 74, a rear vehicle driving wheel sheet 71 and a vehicle body connecting plate 73. The rear vehicle driving wheel sheet 71 and the rear vehicle driving unit 72 are both mounted on the rear vehicle driving wheel frame 74, and the rear vehicle driving wheel sheet 71 is driven to rotate by the rear vehicle driving unit 72. The two sides of the rear vehicle driving wheel frame 74 are respectively hinged to the vehicle body connecting plate 73 on the corresponding side through a rotating pin shaft 75. The vehicle body connecting plate 73 is fixedly connected to the body of the rear vehicle 2, and the rear vehicle driving wheel frame 74 realizes horizontal deflection through the rotating pin shaft 75. In this embodiment, the rear vehicle driving unit 72 is a reduction motor, and its electric energy comes from the rear vehicle power supply device 67.

[0044] like Figures 9-11 As shown, the lifting mechanism 3 includes an oil cylinder 32, an articulated shaft 35, an articulated arm 34, a clamp shaft bracket 37, a balancing rod 38 and a lifting clamp 310, wherein the articulated arm 34 is fixed on the articulated shaft 35, and the articulated shaft 35 is driven to rotate by the oil cylinder 32, the end of the articulated arm 34 is provided with a clamp shaft bracket 37 with a clamp installation shaft 33, and the lower side of the lifting clamp 310 is provided with a clamp installation groove 312 that matches the clamp installation shaft 33. When the present invention is working, the oil cylinder 32 is telescopically driven to rotate the articulated shaft 35, thereby driving the articulated arm 34 to rotate and drive the clamp shaft bracket 37 to rise and fall, thereby driving the lifting clamp 310 to rise and fall, and in addition, as shown in FIG. Fig.10 As shown, the lower end of each clamp shaft bracket 37 is connected to the corresponding balance rod 38, and the balance rod 38 and the corresponding articulated arm 34 swing simultaneously along the vertical plane to keep the lifting clamp 310 rising and falling horizontally.

[0045] like Fig. 9 As shown, both ends of the articulated shaft 35 are rotatably mounted on corresponding articulated shaft mounting seats 36, and the articulated shaft mounting seats 36 are fixedly connected to the corresponding vehicle body. Two oil cylinders 32 are respectively arranged at both ends of the articulated shaft 35, and the bottom end of the cylinder body of the oil cylinder 32 is hinged to a mounting seat 31, and the mounting seat 31 is fixedly arranged in the corresponding vehicle body. Support plates are arranged at both ends of the articulated shaft 35, and the cylinder rod end of the oil cylinder 32 is hinged to the corresponding side support plate of the articulated shaft 35, as shown in FIG. Fig.10 As shown, one end of the balance bar 38 is hinged to the corresponding clamp shaft bracket 37, and the other end is hinged to a balance bar mounting seat 39, and the balance bar mounting seat 39 is fixed in the corresponding vehicle body.

[0046] like Fig.11As shown, the lifting fixture 310 is provided with an axle bearing surface 311 on its upper side for supporting the axle portion of the heavy truck 10 to be assembled.

[0047] The working principle of the present invention is:

[0048] like Figures 12-14 As shown, the ground where the present invention works is provided with a loop line 9 with a magnetic strip and a special cable (the cable is pre-buried underground), the front car 1 and the rear car 2 are arranged on the loop line 9 according to the wheelbase size of the heavy truck 10 to be assembled, the front car driving wheel device 4 is installed with a front car navigation component 11, and the rear car steering wheel device 6 is installed with a rear car navigation component 12. In this embodiment, the front car navigation component 11 and the rear car navigation component 12 include electromagnetic navigation and magnetic navigation, which can make the vehicle body move according to the laying direction of the loop line 9 with a magnetic strip, and the front car 1 and the rear car 2 can adjust the vehicle body posture according to the feedback signal of the front car navigation component 11 and the rear car navigation component 12 to ensure that they are in a straight line. In addition, the power supply boards of the front car power supply device 47 and the rear car power supply device 67 are kept at a fixed distance from the ground (within 15mm) and cooperate with the special cable to inductively take electricity, so as to realize the contactless power supply of the front car driving wheel device 4, the rear car steering wheel device 6 and the rear car driving wheel device 7, save the battery part, and greatly reduce the volume of the vehicle body.

[0049] When the present invention is working, the lifting mechanism 3 on the front vehicle 1 and the lifting mechanism 3 on the rear vehicle 2, the axle bearing surface 311 on the lifting fixture 310 thereof respectively cooperates with the axle corresponding to the lower side of the heavy truck 10 to be assembled, and then the front vehicle driving wheel device 4 is started to provide power, and the rear vehicle 2 is completely connected to the front vehicle 1 through the heavy truck 10 it carries, and is dragged and moved by the front vehicle 1, that is, during the entire assembly process of the heavy truck 10, the front vehicle 1 drives the rear vehicle 2 to move forward at the same time, and carries the heavy truck 10. During the assembly process, in order to reduce the assembly height and be suitable for workers to operate, the front vehicle 1 and the rear vehicle 2 of the present invention have very low bodies, that is, the center of the wheel axle of the heavy truck 10 is very low from the ground, but when assembling tires, because the tire diameter is large, when the front vehicle 1 and the rear vehicle 2 arrive at the tire assembly station, the lifting mechanism 3 is required to lift the heavy truck 10 upwards, so that the distance between the center of the wheel axle and the ground is greater than the tire radius, to meet the assembly requirements.

[0050] The left drive unit 46 and the right drive unit 41 of the front vehicle driving wheel device 4 can drive the front vehicle 1 forward or backward, and the connecting plate 42 of the front vehicle driving wheel device 4 is connected to the body of the front vehicle 1 through the front vehicle disc bearing 43 to achieve rotation, and the left drive unit 46 and the right drive unit 41 are differentially driven to achieve turning, and the steering wheel frame 61 of the rear vehicle steering wheel device 6 is connected to the body of the rear vehicle 2 through the rear vehicle disc bearing 62 to achieve rotation, and the steering wheel drive unit 63 is driven to achieve turning, and the rear vehicle driving wheel device 7 is provided with a rear vehicle drive unit 72 to assist in driving the rear vehicle 2 to move.

Claims

1. A heavy-duty AGV system, characterized in that: The invention comprises a front vehicle (1), a rear vehicle (2) and a lifting mechanism (3), wherein the front vehicle (1) is provided with a front vehicle driving wheel device (4) at the front end and a front vehicle following wheel (5) at the rear end, and the rear vehicle (2) is provided with a rear vehicle steering wheel device (6) at the front end and a rear vehicle driving wheel device (7) and a rear vehicle following wheel (8) at the rear end, and the lifting mechanism (3) is provided on both the front vehicle (1) and the rear vehicle (2); the front vehicle driving wheel device (4) comprises a connecting plate (42) and a left driving unit (46), a right driving unit (41) and a front vehicle power supply device (47) arranged at the lower side of the connecting plate (42); the upper side of the connecting plate (42) is provided with a front vehicle disc bearing (43) for rotationally connecting with the body of the front vehicle (1), and the lower side is provided with two ends of a front vehicle disc bearing (43) for rotationally connecting with the body of the front vehicle (1). The rear vehicle steering wheel device (6) comprises a steering wheel frame (61) with a steering wheel plate (64), a steering wheel drive assembly and a rear vehicle power supply device (67) arranged on the steering wheel frame (61), a rear vehicle disc bearing (62) connected to the rear vehicle (2) body is arranged on the upper side of the steering wheel frame (61), and the external gear on the rear vehicle disc bearing (62) is driven to rotate by the steering wheel drive assembly, a front vehicle navigation component (11) is installed on the front vehicle driving wheel device (4), and a rear vehicle navigation component (12) is installed on the rear vehicle steering wheel device (6); The lifting mechanism (3) comprises an oil cylinder (32), an articulated shaft (35), an articulated arm (34), a clamp shaft bracket (37), a balancing rod (38) and a lifting clamp (310), wherein the articulated arm (34) is fixedly mounted on the articulated shaft (35), and the articulated shaft (35) is driven to rotate by the oil cylinder (32), a clamp shaft bracket (37) with a clamp mounting shaft (33) is provided at the end of the articulated arm (34), a clamp mounting groove (312) matching with the clamp mounting shaft (33) is provided at the lower side of the lifting clamp (310), an axle bearing surface (311) is provided at the upper side of the lifting clamp (310), a lower end of the clamp shaft bracket (37) is connected to a corresponding balancing rod (38), and the balancing rod (38) and the corresponding articulated arm (34) swing simultaneously along a vertical plane; The two ends of the articulated shaft (35) are respectively rotatably mounted on corresponding articulated shaft mounting seats (36), and the articulated shaft mounting seats (36) are fixedly connected to the corresponding vehicle body; the bottom end of the cylinder body of the oil cylinder (32) is hinged to a mounting seat (31), and the mounting seat (31) is fixedly arranged in the corresponding vehicle body; a support plate is provided on the articulated shaft (35), and the cylinder rod end of the oil cylinder (32) is hinged to the corresponding support plate on the articulated shaft (35); one end of the balance bar (38) is hinged to the corresponding fixture shaft bracket (37), and the other end is hinged to a balance bar mounting seat (39), and the balance bar mounting seat (39) is fixedly arranged in the corresponding vehicle body; The front vehicle power taking device (47) and the rear vehicle power taking device (67) are both provided with a power taking board, and a special cable for inductive power taking in cooperation with the power taking board is pre-buried in the ground.

2. The heavy-duty AGV system according to claim 1, characterized in that: A left wheel frame (461) with a left driving wheel sheet (462) is provided on one side of a connecting plate (42) of the front vehicle driving wheel device (4), and a right wheel frame (411) with a right driving wheel sheet (412) is provided on the other side, and the left driving unit (46) is mounted on the left wheel frame (461), and the right driving unit (41) is mounted on the right wheel frame (411), and the front vehicle power supply device (47) is arranged at the lower middle side of the connecting plate (42), and the left driving unit (46) and the right driving unit (41) are arranged between the front vehicle power supply device (47) and the connecting plate (42).

3. The heavy-duty AGV system according to claim 1 or 2, characterized in that: The middle of the connecting plate (42) is connected to the front wheel bearing (43) via a pin shaft (45), an encoder assembly (44) is provided on the connecting plate (42), and a gear is provided on the encoder assembly (44) that meshes with the external teeth of the front wheel bearing (43).

4. The heavy-duty AGV system according to claim 2, characterized in that: The left drive unit (46) and the right drive unit (41) are arranged symmetrically; a left clutch with a left clutch rod (48) is provided at the end of the left drive unit (46); a right clutch with a right clutch rod (49) is provided at the end of the right drive unit (41); and a clutch bracket (410) for supporting the left clutch rod (48) and the right clutch rod (49) is provided at the lower middle side of the connecting plate (42).

5. The heavy-duty AGV system according to claim 1, characterized in that: The steering wheel drive assembly of the rear vehicle steering wheel device (6) comprises a steering wheel drive unit (63) and a gear assembly, wherein an input gear (66) in the gear assembly is fixedly connected to an output shaft of the steering wheel drive unit (63), and an output gear (65) in the gear assembly is meshed with an external gear of the rear vehicle disc bearing (62).

6. The heavy-duty AGV system according to claim 1, characterized in that: The rear vehicle driving wheel device (7) comprises a rear vehicle driving unit (72), a rear vehicle driving wheel frame (74), a rear vehicle driving wheel plate (71) and a vehicle body connecting plate (73); the rear vehicle driving wheel plate (71) and the rear vehicle driving unit (72) are both mounted on the rear vehicle driving wheel frame (74), and the rear vehicle driving wheel plate (71) is driven to rotate by the rear vehicle driving unit (72); the rear vehicle driving wheel frame (74) is hinged to the vehicle body connecting plate (73) via a rotating pin shaft (75), and the vehicle body connecting plate (73) is fixedly connected to the body of the rear vehicle (2).

7. The heavy-duty AGV system according to claim 1, characterized in that: The front vehicle navigation component (11) and the rear vehicle navigation component (12) both include electromagnetic navigation and magnetic navigation, and a loop line (9) with a magnetic strip attached is provided on the ground.

Images