Overloaded Wheel Mechanism and Overloaded AGV

Abstract

The present disclosure provides a heavy-duty wheel mechanism and a heavy-duty AGV. A first oil passing gap and a second oil passing gap are provided between the lower rotating head of the heavy-duty wheel mechanism and the inner wall of the rotating hole. The upper rotating head is provided with a first oil delivery channel and a fourth oil delivery channel, and the lower rotating head is provided with a second oil delivery channel and a third oil delivery channel. The first oil delivery channel communicates with the second oil delivery channel through the first oil passing gap to form a first oil path, and the fourth oil delivery channel communicates with the third oil delivery channel through the second oil passing gap to form a second oil path. The first oil delivery channel is used to communicate with the first hydraulic oil end of the hydraulic station, and the fourth oil delivery channel is used to communicate with the second hydraulic oil end of the hydraulic station. The hydraulic drive end of the hydraulic drive motor is respectively communicated with the second oil delivery channel and the third oil delivery channel, so that the circulation of the hydraulic oil of the hydraulic drive motor can be realized through the first oil path and the second oil path, so that the heavy-duty wheel mechanism can generate a large torque, has a strong load-bearing capacity and high transportation efficiency.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned intelligent heavy-load transfer equipment, and particularly to a heavy-load wheel mechanism and a heavy-load AGV. Background Art

[0002] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a specified guidance path, having safety protection and various transfer functions, and its main function is concentrated in automatic logistics transfer. And a heavy-load AGV is generally defined in the industry as having a load capacity exceeding 5T.

[0003] For example, Chinese Patent Document CN217918081U discloses a heavy-load steering mechanism for an AGV, including a driving welding bracket, driving components are installed at both ends of the driving welding bracket, oil cylinder mounting seats are installed on both sides of the driving welding bracket through openings, a hydraulic cylinder is connected and fixed between the two oil cylinder mounting seats, a first hydraulic oil pipe and a second hydraulic oil pipe are sequentially arranged from left to right at the upper end of the hydraulic cylinder, rotary joints are rotatably connected to the upper ends of the first hydraulic oil pipe and the second hydraulic oil pipe, and a rotating component is further arranged at the upper end of the hydraulic cylinder, and the rotating component is located outside the first hydraulic oil pipe and the second hydraulic oil pipe.

[0004] However, the design of the above heavy-load steering mechanism for an AGV has the following problems:

[0005] The driving component of the above heavy-load steering mechanism for an AGV is realized by the transmission of a motor, a driving sprocket, a driven sprocket, a chain and a polyurethane driving wheel. The motor realizes the rotation of the magnetic field and the coil by sending current into the motor through wires, but the torque output by it can only meet the load capacity within 12T, and it is difficult to meet the requirements of places with a higher load capacity above 12T, such as the applications in industrial production lines and port loading and unloading yards, that is, there is a phenomenon of poor load-bearing capacity. Summary of the Invention

[0006] The purpose of the present disclosure is to overcome the deficiencies in the prior art and provide a heavy-load wheel mechanism and a heavy-load AGV with a large output torque and a large load capacity.

[0007] The purpose of the present disclosure is achieved by the following technical solutions:

[0008] A heavy-load wheel mechanism includes a bracket, a rotary joint, a differential drive axle, a first drive wheel and a second drive wheel. The differential drive axle is installed at the bottom of the bracket. The differential drive axle is respectively provided with a first power output end and a second power output end. The first drive wheel is installed at the first power output end, and the second drive wheel is installed at the second power output end;

[0009] The rotary joint includes an upper rotary head and a lower rotary head. The upper rotary head is mounted on the bracket. A rotary hole is formed in the upper rotary head. The lower rotary head is located in the rotary hole and is rotatably connected to the upper rotary head. A first oil passage gap and a second oil passage gap are provided between the lower rotary head and the inner wall of the rotary hole and are separated from each other. The upper rotary head is provided with a first oil delivery passage and a fourth oil delivery passage. The lower rotary head is provided with a second oil delivery passage and a third oil delivery passage. The first oil delivery passage communicates with the second oil delivery passage through the first oil passage gap to form a first oil path. The fourth oil delivery passage communicates with the third oil delivery passage through the second oil passage gap to form a second oil path. The first oil delivery passage is used to communicate with the first hydraulic oil end of the hydraulic station. The fourth oil delivery passage is used to communicate with the second hydraulic oil end of the hydraulic station;

[0010] The heavy-duty wheel mechanism further includes a hydraulic drive motor. The hydraulic drive motor is mounted on the bracket. The power output end of the hydraulic drive motor is connected to the power input end of the differential drive axle. The hydraulic drive end of the hydraulic drive motor is respectively communicated with the second oil delivery passage and the third oil delivery passage.

[0011] In one embodiment, the rotary hole includes a first cavity, a second cavity and a connecting cavity. The first cavity communicates with the second cavity through the connecting cavity. The lower rotary head respectively penetrates through the first cavity, the connecting cavity and the second cavity. The first oil passage gap is formed between the cavity wall of the first cavity and the lower rotary head. The second oil passage gap is formed between the cavity wall of the second cavity and the lower rotary head. A seal is sleeved between the cavity wall of the connecting cavity and the lower rotary head to separate the first oil passage gap from the second oil passage gap.

[0012] In one embodiment, a first sealing ring is further provided at the pressing position between the cavity wall of the connecting cavity and the lower rotary head.

[0013] In one embodiment, a first annular oil delivery channel is formed on the peripheral wall of the rotary hole. The position of the first annular oil delivery channel corresponds to that of the first oil passage gap. The first oil delivery passage communicates with the first oil passage gap through the first annular oil delivery channel.

[0014] In one embodiment, a second annular oil delivery channel is formed on the outer wall of the lower rotary head. The position of the second annular oil delivery channel corresponds to that of the second oil passage gap. The fourth oil delivery passage communicates with the second oil passage gap through the second annular oil delivery channel.

[0015] In one embodiment, the heavy-duty wheel mechanism further includes a hydraulic station and a hydraulic pump, and the hydraulic pump is respectively communicated with a first hydraulic oil end of the hydraulic station and a second hydraulic oil end of the hydraulic station.

[0016] In one embodiment, a rotary guide ring is provided between the lower rotary head and the inner wall of the rotary hole.

[0017] In one embodiment, an installation groove is formed on the peripheral wall of the lower rotary head, and the rotary guide ring is sleeved outside the lower rotary head and accommodated in the installation groove.

[0018] In one embodiment, a wire passing hole is formed in the middle of the lower rotary head.

[0019] A heavy-duty AGV includes a vehicle frame and the heavy-duty wheel mechanism of any one of the above embodiments.

[0020] Compared with the prior art, the present disclosure has at least the following advantages:

[0021] 1) The above-mentioned heavy-duty wheel mechanism forms a rotary hole in the upper rotary head, arranges the lower rotary head in the rotary hole, and sets a separated first oil passing gap and second oil passing gap between the lower rotary head and the inner wall of the rotary hole. A first oil delivery channel and a fourth oil delivery channel are formed in the upper rotary head, and a second oil delivery channel and a third oil delivery channel are formed in the lower rotary head at the same time, so that the first oil delivery channel communicates with the second oil delivery channel through the first oil passing gap to form a first oil circuit, and the fourth oil delivery channel communicates with the third oil delivery channel through the second oil passing gap to form a second oil circuit. Also, by installing the hydraulic drive motor on the bracket and connecting the hydraulic drive end of the hydraulic drive motor to the second oil delivery channel and the third oil delivery channel respectively, when the first oil delivery channel is communicated with the first hydraulic oil end of the hydraulic station and the fourth oil delivery channel is communicated with the second hydraulic oil end of the hydraulic station at the same time, the first hydraulic oil in the hydraulic station can flow to the drive end of the hydraulic drive motor through the first oil circuit. The hydraulic drive motor converts the hydraulic energy of the first hydraulic oil into mechanical energy, so that the power output end of the hydraulic drive motor can output power. At the same time, the first hydraulic oil is converted into second hydraulic oil with lower hydraulic energy, and the second hydraulic oil flows back to the hydraulic station through the second oil circuit to realize the circulation of the hydraulic oil.

[0022] 2) In the above-mentioned heavy-duty wheel mechanism, since the power output end of the hydraulic drive motor is connected to the power input end of the differential drive axle, the differential drive axle is respectively provided with a first power output end and a second power output end, the first drive wheel is installed on the first power output end, and the second drive wheel is installed on the second power output end, so that the power output by the power output end of the hydraulic drive motor can drive the differential drive axle. The differential drive axle drives the first drive wheel through the first power output end and drives the second drive wheel through the second power output end.

[0023] 3) Compared with the traditional driving method using motors, the above-mentioned heavy-duty wheel mechanism can output a greater torque under the same conditions. After installing the above-mentioned heavy-duty wheel mechanism on the heavy-duty AGV, it can load more and heavier goods at one time, improve the efficiency of goods handling, and meet the load requirements in industrial production lines, port loading and unloading yards and other places. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 Structural schematic diagram of the heavy-duty wheel mechanism according to an embodiment of the present disclosure;

[0026] Figure 2 is Figure 1 exploded view of the heavy-duty wheel mechanism shown;

[0027] Figure 3 is Figure 1 cross-sectional structural schematic diagram of the rotary joint of the heavy-duty wheel mechanism shown;

[0028] Figure 4 is Figure 1 cross-sectional view of the rotary joint of the heavy-duty wheel mechanism in the lowered state shown;

[0029] Figure 5 is Figure 1 cross-sectional view of the rotary joint of the heavy-duty wheel mechanism rotating and rising around axis O shown;

[0030] Figure 6 is Figure 1 structural schematic diagram of the rotary joint and the lifting cylinder of the heavy-duty wheel mechanism shown;

[0031] Figure 7 is Figure 1 cross-sectional view of the cooperation state of the rotary joint and the lifting cylinder of the heavy-duty wheel mechanism shown;

[0032] Figure 8 is Figure 1 cross-sectional view of the rotary joint and the lifting cylinder of the heavy-duty wheel mechanism rotating and rising around axis O when they cooperate;

[0033] Figure 9 is Figure 1 cross-sectional structure diagram of the rotary joint and the lifting cylinder of the heavy-duty wheel mechanism in the lowered state when they cooperate.

[0034] Reference numerals: 10, heavy-duty wheel mechanism; 100, bracket; 200, rotary joint; 210, upper rotary head; 2110, rotary hole; 2111, first chamber; 2112, communicating chamber; 2113, second chamber; 2114, first sealing ring; 211a, first annular groove; 2115, second sealing ring; 211b, second annular groove; 2116, third sealing ring; 211c, third clamping groove; 220, lower rotary head; 2210, wire passing hole; 2220, mounting groove; 2230, rotary guide ring; 230, first connecting block; 2310, sixth oil delivery flow channel; 2320, seventh oil delivery flow channel; 2330, eighth oil delivery flow channel; 240, second connecting block; 2410, ninth oil delivery flow channel; 2420, tenth oil delivery flow channel; 300, differential drive axle; 310, first power output end; 320, second power output end; 410, first drive wheel; 420, second drive wheel; 510, first oil delivery flow channel; 520, first annular oil delivery channel; 530, first oil passing clearance; 540, second oil delivery flow channel; 610, third oil delivery flow channel; 620, second annular oil delivery channel; 630, second oil passing clearance; 640, fourth oil delivery flow channel; 6410, inclined section; 6420, first vertical section; 6430, transverse communication section; 6440, second vertical section; 6450, opening; 6460, plug; 700, hydraulic drive motor; 800, jacking oil cylinder; 810, piston; 8110, fifth oil delivery flow channel; 8111, mounting hole; 820, cylinder block; 8210, inner cylinder barrel; 8220, outer cylinder barrel; 8230, hydraulic oil tank. Detailed implementation manners

[0035] To facilitate the understanding of the present disclosure, the present disclosure will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present disclosure are shown in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the understanding of the disclosure content of the present disclosure is more thorough and comprehensive.

[0036] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only embodiments.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this disclosure belongs. The terms used in the description of this disclosure herein are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0038] To better understand the technical solutions and beneficial effects of this disclosure, the following further describes this disclosure in detail with reference to specific embodiments:

[0039] As Figures 1 to 2 shown, the heavy-duty wheel mechanism 10 of an embodiment includes a bracket 100, a rotary joint 200, a differential drive axle 300, a first drive wheel 410, and a second drive wheel 420. The differential drive axle 300 is installed at the bottom of the bracket 100. The differential drive axle 300 is respectively provided with a first power output end 310 and a second power output end 320. The first drive wheel 410 is installed at the first power output end 310, and the second drive wheel 420 is installed at the second power output end 320. Please also refer to Figures 3 to 4 , the rotary joint 200 includes an upper rotary head 210 and a lower rotary head 220. The upper rotary head 210 is installed on the bracket 100. A rotary hole 2110 is formed in the upper rotary head 210. The lower rotary head 220 is located in the rotary hole 2110 and is rotatably connected to the upper rotary head 210. A first oil passage gap 530 and a second oil passage gap 630 are provided between the lower rotary head 220 and the inner wall of the rotary hole 2110 and are separated from each other. The upper rotary head 210 is provided with a first oil supply passage 510 and a fourth oil supply passage 640. The lower rotary head 220 is provided with a second oil supply passage 540 and a third oil supply passage 610. The first oil supply passage 510 communicates with the second oil supply passage 540 through the first oil passage gap 530 to form a first oil circuit. The fourth oil supply passage 640 communicates with the third oil supply passage 610 through the second oil passage gap 630 to form a second oil circuit. The first oil supply passage 510 is used to communicate with the first hydraulic oil end of the hydraulic station. The fourth oil supply passage 640 is used to communicate with the second hydraulic oil end of the hydraulic station. The heavy-duty wheel mechanism 10 further includes a hydraulic drive motor 700. The hydraulic drive motor 700 is installed on the bracket 100. The power output end of the hydraulic drive motor 700 is connected to the power input end of the differential drive axle 300. The hydraulic drive end of the hydraulic drive motor 700 is respectively communicated with the second oil supply passage 540 and the third oil supply passage 610.

[0040] It can be understood that for the above-mentioned heavy-duty wheel mechanism 10, by forming a rotation hole 2110 in the upper rotating head 210, arranging the lower rotating head 220 in the rotation hole 2110, and arranging a separated first oil passing gap 530 and a second oil passing gap 630 between the lower rotating head 220 and the inner wall of the rotation hole 2110, a first oil delivery channel 510 and a fourth oil delivery channel 640 are opened in the upper rotating head 210, and a second oil delivery channel 540 and a third oil delivery channel 610 are opened in the lower rotating head 220 at the same time, so that the first oil delivery channel 510 communicates with the second oil delivery channel 540 through the first oil passing gap 530 to form a first oil circuit, the fourth oil delivery channel 640 communicates with the third oil delivery channel 610 through the second oil passing gap 630 to form a second oil circuit. Also, by installing the hydraulic drive motor 700 on the bracket 100, and connecting the hydraulic drive ends of the hydraulic drive motor 700 to the second oil delivery channel 540 and the third oil delivery channel 610 respectively, when the first oil delivery channel 510 is connected to the first hydraulic oil end of the hydraulic station and the fourth oil delivery channel 640 is connected to the second hydraulic oil end of the hydraulic station at the same time, the first hydraulic oil in the hydraulic station can flow to the drive end of the hydraulic drive motor 700 through the first oil circuit. The hydraulic drive motor 700 converts the hydraulic energy of the first hydraulic oil into mechanical energy, so that the power output end of the hydraulic drive motor 700 can output power. At the same time, the first hydraulic oil is converted into the second hydraulic oil with lower hydraulic energy, and the second hydraulic oil flows back to the hydraulic station through the second oil circuit to realize the circulation of the hydraulic oil.

[0041] Since the power output end of the hydraulic drive motor 700 is connected to the power input end of the differential drive axle 300, and the differential drive axle 300 is respectively provided with a first power output end 310 and a second power output end 320, the first drive wheel 410 is installed on the first power output end 310, and the second drive wheel 420 is installed on the second power output end 320, the power output by the power output end of the hydraulic drive motor 700 can drive the differential drive axle 300. The differential drive axle 300 drives the first drive wheel 410 through the first power output end 310 and drives the second drive wheel 420 through the second power output end 320. Compared with the traditional driving method by motor under the same conditions, the above-mentioned heavy-duty wheel mechanism 10 can output a larger torque, so that after the heavy-duty AGV is installed with the above-mentioned heavy-duty wheel mechanism, it can load more and heavier goods at one time, improve the efficiency of goods handling, and meet the load requirements of industrial production lines, port loading and unloading yards and other places.

[0042] In one embodiment, the first hydraulic oil is high-pressure oil, and the second hydraulic oil is low-pressure oil. The pressure range of the high-pressure oil is 10 MPa - 25 MPa, and the specific pressure values of the high-pressure oil can be 10 MPa, 17 MPa, 25 MPa. The pressure range of the low-pressure oil is 0 MPa - 3 MPa, and the specific pressure values of the low-pressure oil can be 0 MPa, 2 MPa, 3 MPa. It can be understood that when the high-pressure oil passes through the hydraulic drive motor 700, the hydraulic energy is converted into mechanical energy and acts on the power output end of the hydraulic drive motor 700, so that the power output from the power output end of the hydraulic drive motor 700 can drive the first driving wheel 410 and the second driving wheel 420 to rotate through the transmission of the differential drive axle 300, and finally drive the entire heavy-duty wheel mechanism 10 to transport goods. At the same time, the high-pressure oil is also converted into low-pressure oil with lower hydraulic energy, and the low-pressure oil flows back to the hydraulic station to realize the circulation of the hydraulic oil. Further, the specific pressure values of the low-pressure oil and the high-pressure oil are not limited, and those skilled in the art can also make other selections according to needs.

[0043] In one embodiment, the maximum load capacity of the heavy-duty wheel mechanism 10 is 20 T - 30 T, and can specifically be 20 T, 25 T, 30 T. Compared with the traditional driving method using an electric motor under the same conditions, it can load more and heavier goods at one time, improve the efficiency of goods handling, and meet the load requirements of industrial production lines, port loading and unloading yards and other places.

[0044] In one embodiment, the hydraulic drive motor 700 can adopt various forms of hydraulic drive motors 700 such as screw motors, vane motors, and piston motors. It can be understood that the specific types of the hydraulic drive motor 700 are not limited, and those skilled in the art can make selections according to needs.

[0045] Combined with Figure 3As shown, in one embodiment, the rotating hole 2110 includes a first chamber 2111, a second chamber 2113, and a communicating chamber 2112. The first chamber 2111 communicates with the second chamber 2113 through the communicating chamber 2112. The lower rotating head 220 is respectively disposed through the first chamber 2111, the communicating chamber 2112, and the second chamber 2113. A first oil passing gap 530 is formed between the wall of the first chamber 2111 and the lower rotating head 220, and a second oil passing gap 630 is formed between the wall of the second chamber 2113 and the lower rotating head 220. The wall of the communicating chamber 2112 is sleeved and sealed with the lower rotating head 220, so that the first oil passing gap 530 and the second oil passing gap 630 are not directly communicated, and the first oil passing gap 530 and the second oil passing gap 630 are spaced apart. It can be understood that by disposing the lower rotating head 220 through the first chamber 2111, the communicating chamber 2112, and the second chamber 2113, a first oil passing gap 530 is formed between the wall of the first chamber 2111 and the lower rotating head 220, such that a first oil passing gap 530 is formed between the wall of the first chamber 2111 and the lower rotating head 220, and a second oil passing gap 630 is formed between the wall of the second chamber 2113 and the lower rotating head 220. And through the sleeve sealing between the wall of the communicating chamber 2112 and the lower rotating head 220, the first oil passing gap 530 and the second oil passing gap 630 are separated, so that when the first hydraulic oil flows in the first oil passage and the second hydraulic oil flows in the second oil passage, the first hydraulic oil in the first oil passing gap 530 and the second hydraulic oil in the second oil passing gap 630 are prevented from intermixing, thereby affecting the stability of the oil pressure passing through the first oil passing gap 530 and the second oil passing gap 630, and ensuring that the hydraulic energy is fully utilized.

[0046] Combined with Figure 4 As shown, in one embodiment, a first sealing ring 2114 is further disposed at the pressing portion between the wall of the communicating chamber 2112 and the lower rotating head 220. It can be understood that by disposing the first sealing ring 2114 at the pressing portion between the wall of the communicating chamber 2112 and the lower rotating head 220, the first sealing ring 2114 can be sleeved on the peripheral wall of the lower rotating head 220. When the lower rotating head 220 is disposed in the rotating hole 2110, through the pressing between the lower rotating head 220 and the wall of the communicating chamber 2112, the first sealing ring 2114 is pressed between the peripheral wall of the lower rotating head 220 and the wall of the communicating chamber 2112, thereby further enhancing the separation effect between the first oil passing gap 530 and the second oil passing gap 630.

[0047] In one embodiment, a first sealing ring 2114 and a second sealing ring 2115 are arranged at intervals between the inner wall of the rotating hole 2110 and the lower rotating head 220. The first oil passage gap 530 is located between the first sealing ring 2114 and the second sealing ring 2115. The first sealing ring 2114 and the second sealing ring 2115 jointly seal the first oil passage gap 530 to prevent the hydraulic oil in the first oil passage gap 530 from leaking out through the gap between the lower rotating head 220 and the inner wall of the rotating hole 2110. In this embodiment, the first sealing ring 2114 and the second sealing ring 2115 are arranged at intervals along the axial direction of the lower rotating head 220.

[0048] Combined with Figure 4 As shown, in one embodiment, the first sealing ring 2114 is sleeved on the lower rotating head 220, and the first sealing ring 2114 elastically abuts against the wall of the communication cavity 2112, avoiding the situation that the first sealing ring 2114 comes off from the gap between the wall of the communication cavity 2112 and the lower rotating head 220, so that the first sealing ring 2114 is better positioned and sealed between the wall of the communication cavity 2112 and the outer wall of the lower rotating head 220. Referring also to Figure 3 As shown, in this embodiment, the lower rotating head 220 is provided with a first annular groove 211a. A part of the first sealing ring 2114 is located in the first annular groove 211a, and a part of the first sealing ring 2114 protrudes from the outer wall of the lower rotating head 220 and elastically abuts against the wall of the communication cavity 2112, so that the first sealing ring 2114 is better sleeved on the lower rotating head 220. Specifically, a part of the first sealing ring 2114 protrudes from the outer wall of the lower rotating head 220 and elastically abuts against the wall of the communication cavity 2112. In other embodiments, the first sealing ring 2114 is not limited to being sleeved on the lower rotating head 220. For example, a first clamping groove is provided on the wall of the upper communication cavity 2112, and the first sealing ring 2114 is clamped into the first clamping groove, so that the first sealing ring 2114 is embedded in the wall of the communication cavity 2112, and the first sealing ring 2114 elastically abuts against the outer peripheral wall of the lower rotating head 220, avoiding the situation that the first sealing ring 2114 comes off from the gap between the wall of the communication cavity 2112 and the lower rotating head 220, so that the first sealing ring 2114 is better positioned and sealed between the wall of the communication cavity 2112 and the outer wall of the lower rotating head 220.

[0049] In one embodiment, the second sealing ring 2115 is sleeved on the lower rotating head 220, and the second sealing ring 2115 elastically abuts against the wall of the first cavity 2111, preventing the second sealing ring 2115 from coming loose in the gap between the inner wall of the rotating hole 2110 and the lower rotating head 220, so that the second sealing ring 2115 is preferably positioned and sealed between the wall of the first cavity 2111 and the outer wall of the lower rotating head 220. In this embodiment, the lower rotating head 220 is provided with a second annular groove 211b. A part of the second sealing ring 2115 is located in the second annular groove 211b, and a part of the second sealing ring 2115 protrudes from the outer wall of the lower rotating head 220 and elastically abuts against the wall of the first cavity 2111, enabling the second sealing ring 2115 to be better sleeved on the lower rotating head 220. In other embodiments, the second sealing ring 2115 is not limited to being sleeved on the lower rotating head 220. For example, the wall of the first cavity 2111 is provided with a second clamping groove, and the second sealing ring 2115 is snapped into the second clamping groove, so that the second sealing ring 2115 is embedded in the wall of the first cavity 2111, and the second sealing ring 2115 elastically abuts against the outer peripheral wall of the lower rotating head 220, preventing the second sealing ring 2115 from coming loose in the gap between the wall of the first cavity 2111 and the lower rotating head 220, so that the second sealing ring 2115 is preferably positioned and sealed between the wall of the first cavity 2111 and the outer wall of the lower rotating head 220.

[0050] In one embodiment, a first sealing ring 2114 and a third sealing ring 2116 are arranged at intervals between the inner wall of the rotating hole 2110 and the lower rotating head 220. The second oil passage gap is located between the first sealing ring 2114 and the third sealing ring 2116. The first sealing ring 2114 and the third sealing ring 2116 jointly seal the second oil passage gap to prevent the hydraulic oil in the second oil passage gap from leaking out through the gap between the lower rotating head 220 and the inner wall of the rotating hole 2110. In this embodiment, the first sealing ring 2114 and the third sealing ring 2116 are arranged at intervals along the axial direction of the lower rotating head 220.

[0051] In one embodiment, the third sealing ring 2116 is sleeved on the lower rotating head 220, and the third sealing ring 2116 elastically abuts against the wall of the second cavity 2113, preventing the third sealing ring 2116 from loosening in the gap between the wall of the second cavity 2113 and the lower rotating head 220, so that the third sealing ring 2116 is better positioned and sealed between the wall of the second cavity 2113 and the outer wall of the lower rotating head 220. In this embodiment, the lower rotating head 220 is provided with a third annular groove, a part of the third sealing ring 2116 is located in the third annular groove, and a part of the third sealing ring 2116 protrudes from the outer wall of the lower rotating head 220 and elastically abuts against the wall of the second cavity 2113, enabling the third sealing ring 2116 to be better sleeved on the lower rotating head 220. In other embodiments, the third sealing ring 2116 is not limited to being sleeved on the lower rotating head 220. For example, a third clamping groove 211c is provided on the inner wall of the upper rotating head 210, and the third sealing ring 2116 is snapped into the third clamping groove 211c, so that the third sealing ring 2116 is embedded in the inner wall of the wall of the second cavity 2113, and the third sealing ring 2116 elastically abuts against the outer peripheral wall of the lower rotating head 220, preventing the third sealing ring 2116 from loosening in the gap between the inner wall of the rotating hole 2110 and the lower rotating head 220, so that the third sealing ring 2116 is better positioned and sealed between the inner wall of the rotating hole 2110 and the wall of the second cavity 2113.

[0052] In one embodiment, a first sealing ring 2114, a second sealing ring 2115 and a third sealing ring 2116 are arranged at intervals between the inner wall of the rotating hole 2110 and the lower rotating head 220. A first oil passing gap 530 is located between the first sealing ring 2114 and the second sealing ring 2115, and a second oil passing gap 630 is located between the first sealing ring 2114 and the third sealing ring 2116. The first sealing ring 2114 and the second sealing ring 2115 jointly seal the first oil passing gap 530 to prevent the hydraulic oil in the first oil passing gap 530 from leaking out through the gap between the lower rotating head 220 and the inner wall of the rotating hole 2110. At the same time, the first sealing ring 2114 and the third sealing ring 2116 jointly seal the second oil passing gap 630 to prevent the hydraulic oil in the second oil passing gap 630 from leaking out through the gap between the lower rotating head 220 and the inner wall of the rotating hole 2110, avoiding oil leakage in the first oil passing gap 530 and the second oil passing gap 630, and also avoiding the situation of oil intermixing between the first oil passing gap 530 and the second oil passing gap 630, so that the heavy-duty AGV has a better hydraulic lifting effect. In this embodiment, the second sealing ring 2115, the first sealing ring 2114 and the third sealing ring 2116 are arranged at intervals along the axial direction of the lower rotating head 220. Among them, the first sealing ring 2114, the second sealing ring 2115 and the third sealing ring 2116 can all use sealing materials such as rubber or silica gel, and there is no limitation here. Those skilled in the art can select according to needs.

[0053] Combined with Figure 4 and Figure 5 As shown, in one embodiment, a first annular oil delivery channel 520 is formed on the peripheral wall of the rotary hole 2110. The position of the first annular oil delivery channel 520 corresponds to the first oil passing gap 530. The first oil delivery flow channel 510 is communicated with the first oil passing gap 530 through the first annular oil delivery channel 520. It can be understood that since the first annular oil delivery channel 520 is arranged on the peripheral wall of the rotary hole 2110 and the position of the first annular oil delivery channel 520 corresponds to the first oil passing gap 530, during the rotation of the lower rotary head 220 in the rotary hole 2110, the first hydraulic oil can still flow from the first oil delivery flow channel 510 through the first annular oil delivery channel 520 to the first oil passing gap 530, ensuring the normal flow of the first oil path, so that the above-mentioned heavy-duty wheel mechanism 10 can simultaneously realize the functions of rotation and hydraulic drive, enhancing the practicability.

[0054] Combined with Figure 4 and Figure 5 As shown, in one embodiment, a second annular oil delivery channel 620 is formed on the outer wall of the lower rotary head 220. The position of the second annular oil delivery channel 620 corresponds to the second oil passing gap 630. The fourth oil delivery flow channel 640 is communicated with the second oil passing gap 630 through the second annular oil delivery channel 620. It can be understood that since the second annular oil delivery channel 620 is arranged on the outer wall of the lower rotary head 220 and the position of the second annular oil delivery channel 620 corresponds to the second oil passing gap 630, during the rotation of the lower rotary head 220 in the rotary hole 2110, the second hydraulic oil can still flow from the fourth oil delivery flow channel 640 through the second annular oil delivery channel 620 to the second oil passing gap 630, ensuring the normal flow of the second oil path, so that the above-mentioned heavy-duty wheel mechanism 10 can simultaneously realize the functions of rotation and hydraulic drive, enhancing the practicability.

[0055] In one embodiment, the heavy-duty wheel mechanism 10 further includes a hydraulic station (not shown in the figure) and a hydraulic pump (not shown in the figure). The hydraulic pump is respectively connected to the first hydraulic oil end of the hydraulic station and the second hydraulic oil end of the hydraulic station. It can be understood that by connecting the hydraulic pump to the first hydraulic oil end and the second hydraulic oil end of the hydraulic station respectively, when working, the first hydraulic oil can flow to the hydraulic drive motor 700 through the first oil circuit under the pressure applied by the first hydraulic oil pump. At the same time, after the first hydraulic oil is converted into the second hydraulic oil, it can flow back to the hydraulic pump through the second oil circuit. The hydraulic pump reconverts the second hydraulic oil into the first hydraulic oil by inputting mechanical energy to the second hydraulic oil, and the first hydraulic oil re-enters the first oil circuit, realizing the rapid conversion of the first hydraulic oil and the second hydraulic oil, and ensuring the continuous operation of the hydraulic drive motor 700. Further, the hydraulic station can also be an external hydraulic station, and the specific position of the hydraulic station is not limited. Those skilled in the art can select according to needs. Further, the hydraulic pump can be a gear pump, a plunger pump, a vane pump, etc. The specific type of the hydraulic pump is not limited, and those skilled in the art can replace it according to needs.

[0056] Further, the heavy-duty wheel mechanism 10 further includes a reversing valve (not shown in the figure). The hydraulic pump is respectively connected to the first hydraulic oil end of the hydraulic station and the second hydraulic oil end of the hydraulic station through the reversing valve. When the reversing valve is adjusted, the first oil delivery channel 510 can be connected to the first hydraulic oil end of the hydraulic station, and at the same time, the fourth oil delivery channel 640 can be connected to the first hydraulic oil end of the hydraulic station, so that the first hydraulic oil enters the hydraulic drive motor 700 through the second oil circuit. The first hydraulic oil is converted into the second hydraulic oil in the hydraulic drive motor 700, and the second hydraulic oil flows back to the hydraulic station from the first oil circuit, so that the power output end of the hydraulic drive motor 700 realizes reverse power output, thereby enabling the drive axle to drive reversely and changing the rotation directions of the first driving wheel 410 and the second driving wheel 420, and finally realizing the forward and reverse switching of the heavy-duty wheel mechanism 10. In this embodiment, the reversing valve is a direction control valve with more than two flow forms and more than two oil ports.

[0057] Combined with Figure 4 As shown, in one embodiment, a rotary guide ring 2230 is provided between the lower rotary head 220 and the inner wall of the rotary hole 2110. It can be understood that the rotary guide ring 2230 can prevent the direct contact and friction between the lower rotary head 220 and the inner wall of the rotary hole 2110 during rotation, and extend the service life of the rotary joint 200. The rotary guide ring 2230 can be made of polyoxymethylene. Polyoxymethylene has high mechanical strength, is tough and wear-resistant, has stable dimensions, is corrosion-resistant, and is more durable.

[0058] Combined with Figure 3 and Figure 4As shown, in one embodiment, an installation groove 2220 is formed in the peripheral wall of the lower rotating head 220. The rotating guide ring 2230 is sleeved outside the lower rotating head 220 and accommodated in the installation groove 2220. It can be understood that by sleeving the rotating guide ring 2230 on the lower rotating head 220 and accommodating the rotating guide ring 2230 in the installation groove 2220, the rotating guide ring 2230 is fixed by the installation groove 2220 and forms a tight connection with the lower rotating head 220, so that when the lower rotating head 220 slides relative to the inner wall of the rotating hole 2110, it will not accidentally slip off the lower rotating head 220.

[0059] In one embodiment, the number of the rotating guide rings 2230 is multiple. It can be understood that by providing multiple rotating guide rings 2230, the direct contact and friction between the lower rotating head 220 and the inner wall of the rotating hole 2110 can be further reduced, and the service life of the rotary joint 200 can be prolonged. Further, the number of the installation grooves 2220 is multiple, and the multiple rotating guide rings 2230 are correspondingly arranged in the multiple installation grooves 2220 one by one. The multiple installation grooves 2220 are arranged at intervals along the axial direction of the rotating hole 2110 on the peripheral wall of the lower rotating head 220. It can be understood that by correspondingly accommodating each rotating guide ring 2230 in each installation groove 2220, the rotating guide ring 2230 is fixed by the installation groove 2220 and forms a tight connection with the lower rotating head 220, further reducing the direct contact and friction between the lower rotating head 220 and the inner wall of the rotating hole 2110, and at the same time preventing the rotating guide ring 2230 from slipping off the lower rotating head 220, making it more convenient and reliable to use.

[0060] Combined with Figures 6 to 7 , in one embodiment, the heavy-duty wheel mechanism 10 further includes a lifting oil cylinder 800. The lifting oil cylinder 800 includes a cylinder plug 810 and a cylinder seat 820. The cylinder seat 820 includes an inner cylinder barrel 8210 and an outer cylinder barrel 8220. The outer cylinder barrel 8220 is hermetically sleeved outside the inner cylinder barrel 8210. A hydraulic oil groove 8230 is formed between the outer cylinder barrel 8220 and the inner cylinder barrel 8210. The cylinder plug 810 is accommodated in the hydraulic oil groove 8230 and is hermetically and slidably connected with the cylinder seat 820; an installation hole 8111 is formed in the cylinder plug 810; the lifting oil cylinder 800 is arranged on the bracket 100. The rotary joint 200 is passed through the installation hole 8111, and the upper rotating head 210 is fixedly connected to the cylinder plug 810, and the lower rotating head 220 is fixedly connected to the bracket 100; a fifth oil delivery flow channel 8110 is formed in the cylinder plug 810. One end of the fifth oil delivery flow channel 8110 communicates with the hydraulic oil groove 8230, and the other end is used for connecting the third hydraulic oil end of the hydraulic station.

[0061] It can be understood that combined with Figure 7As shown, since the third hydraulic oil end of the hydraulic station is connected to the hydraulic oil tank 8230 through the fifth oil delivery channel 8110, the third hydraulic oil can flow into the hydraulic oil tank 8230 through the fifth oil delivery channel 8110. As the third hydraulic oil continuously enters the hydraulic oil tank 8230, the third hydraulic oil will form a pressure in the hydraulic oil tank 8230, and the pressure will push the piston 810 to slide upward relative to the cylinder base 820 in the hydraulic oil tank 8230. See also Figure 8 , and because the rotary joint 200 is inserted into the mounting hole 8111, and the upper rotary head 210 is fixedly connected to the piston 810, and the lower rotary head 220 is fixedly connected to the bracket 100, the upper rotary head 210 can move upward away from the bracket 100 relative to the lower rotary head 220 along with the piston 810, realizing the jacking. When the jacking oil cylinder 800 is arranged under the vehicle frame, the vehicle frame can be jacked up by the jacking oil cylinder 800, and at the same time, the rotary joint 200 will also rise accordingly to adjust the distance between the vehicle frame and the ground. After the jacking is completed, by stopping injecting the third hydraulic oil, the piston 810 will move downward under the gravity of the vehicle frame, and the piston 810 moving downward will compress the third hydraulic oil, so that the third hydraulic oil flows back to the third hydraulic oil end of the hydraulic station along the fifth oil delivery channel 8110, and the piston 810 will then descend smoothly to realize the lowering of the vehicle frame. Since the upper rotary head 210 is fixedly connected to the piston 810, the upper rotary head 210 can synchronously descend along with the piston 810. The above-mentioned rotary joint 200 can rise and fall along with the rise and fall of the jacking oil cylinder 800 to adapt to the jacking and lowering processes of the heavy-duty wheel mechanism 10, and the first oil circuit and the second oil circuit always remain unblocked, so that the hydraulic drive process and the jacking and lowering processes of the heavy-duty wheel mechanism 10 can be realized synchronously, making the structure of the heavy-duty wheel mechanism 10 more compact and the function more integrated.

[0062] Combined with Figure 1 , Figure 4 and Figure 7As shown, in one embodiment, the rotary joint 200 further includes a first connection block 230; the first connection block 230 is used for welding to the vehicle frame, and the first connection block 230 is connected to the upper rotary head 210. A sixth oil delivery channel 2310, a seventh oil delivery channel 2320, and an eighth oil delivery channel 2330 are defined in the first connection block 230. The first hydraulic oil end of the hydraulic station is communicated with the first oil delivery channel 510 through the sixth oil delivery channel 2310, the second hydraulic oil end of the hydraulic station is communicated with the fourth oil delivery channel 640 through the seventh oil delivery channel 2320, and the third hydraulic oil end of the hydraulic station is communicated with the fifth oil delivery channel 8110 through the eighth oil delivery channel 2330. It can be understood that since the first connection block 230 is welded to the vehicle frame and connected to the upper rotary head 210, when the upper rotary head 210 rotates relative to the lower rotary head 220 within the rotary hole 2110, the upper rotary head 210 can also drive the vehicle frame to rotate, realizing the steering of the heavy-duty AGV. Also, because the first hydraulic oil end of the hydraulic station is communicated with the first oil delivery channel 510 through the sixth oil delivery channel 2310, the second hydraulic oil end of the hydraulic station is communicated with the fourth oil delivery channel 640 through the seventh oil delivery channel 2320, and the third hydraulic oil end of the hydraulic station is communicated with the fifth oil delivery channel 8110 through the eighth oil delivery channel 2330, it ensures that the first oil circuit and the second oil circuit remain unobstructed when the heavy-duty wheel mechanism 10 is steering, enabling the hydraulic drive process and the steering process of the heavy-duty wheel mechanism 10 to be synchronized, so that the structure of the heavy-duty wheel mechanism 10 is more compact and the functions are more integrated.

[0063] Combined with Figure 1 、 Figure 4 and Figure 7 As shown, in one embodiment, the rotary joint 200 further includes a second connection block 240. The lower rotary head 220 is connected to the bracket 100 through the second connection block 240. A ninth oil delivery channel 2410 and a tenth oil delivery channel 2420 are defined in the lower rotary head 220. The second oil delivery channel 540 is communicated with the hydraulic drive motor 700 through the ninth oil delivery channel 2410, and the third oil delivery channel 610 is communicated with the hydraulic drive motor 700 through the tenth oil delivery channel 2420. It can be understood that when the upper rotary head 210 rotates relative to the lower rotary head 220 within the rotary hole 2110, the first hydraulic oil can enter the hydraulic drive motor 700 through the ninth oil delivery channel 2410, and the second hydraulic oil can be output from the hydraulic drive motor 700 through the tenth oil delivery channel 2420, ensuring that the first oil circuit and the second oil circuit remain unobstructed when the heavy-duty wheel mechanism 10 is steering, enabling the hydraulic drive process and the steering process of the heavy-duty wheel mechanism 10 to be synchronized, so that the structure of the heavy-duty wheel mechanism 10 is more compact and the functions are more integrated.

[0064] Combined with Figure 8 and Figure 9As shown, in one embodiment, the first oil delivery channel 510, the second oil delivery channel 540, the third oil delivery channel 610, the fourth oil delivery channel 640, and the fifth oil delivery channel 8110 are all arranged parallel to the axial direction of the rotating hole 2110. The sixth oil delivery channel 2310 is perpendicular to the first oil delivery channel 510, the seventh oil delivery channel 2320 is perpendicular to the fourth oil delivery channel 640, the ninth oil delivery channel 2410 is perpendicular to the second oil delivery channel 540, the tenth oil delivery channel 2420 is perpendicular to the third oil delivery channel 610, and the eighth oil delivery channel 2330 is perpendicular to the tenth oil delivery channel 2420. It can be understood that by arranging the first oil delivery channel 510, the second oil delivery channel 540, the third oil delivery channel 610, the fourth oil delivery channel 640, the fifth oil delivery channel 8110, the sixth oil delivery channel 2310, the seventh oil delivery channel 2320, the eighth oil delivery channel 2330, the ninth oil delivery channel 2410, and the tenth oil delivery channel 2420 in the above manner, the first hydraulic oil can be provided to the hydraulic drive motor 700 sequentially through the sixth oil delivery channel 2310, the first oil path, and the ninth oil delivery channel 2410, and the second hydraulic oil can be returned to the hydraulic station sequentially through the tenth oil delivery channel 2420, the second oil path, and the seventh oil delivery channel 2320. The structure is more compact and more convenient for processing.

[0065] Combined with Figure 5As shown, in one embodiment, the fourth oil delivery channel 640 includes a first vertical section 6420, a second vertical section 6440, a transverse connection section 6430, and an inclined section 6410. The second vertical section 6440, the transverse connection section 6430, the first vertical section 6420, and the inclined section 6410 are connected in sequence. The inclined section 6410 is connected to the second oil passing gap 630, enabling the fourth oil delivery channel 640 to communicate with the second oil passing gap 630. Without adding an additional oil pipe, the fourth oil delivery channel 640 is integrated into the upper rotating head 210, and the fourth oil delivery channel 640 can communicate with the second oil passing gap 630. In this embodiment, the first vertical section 6420 and the second vertical section 6440 are arranged parallel to the axial direction of the rotating hole 2110. The transverse connection section 6430 is vertically connected to the first vertical section 6420 and the second vertical section 6440 respectively. The second vertical section 6440 is connected to the seventh oil delivery channel 2320. By arranging the first vertical section 6420, the second vertical section 6440, and the transverse connection section 6430 in the above manner, it is more convenient for processing and can make it easier for the first vertical section 6420, the transverse connection section 6430, and the second vertical section 6440 to communicate with the seventh oil delivery channel 2320. Further, the inclined section 6410 is inclined with respect to the first vertical section 6420, making it more convenient to process the fourth oil delivery channel 640 by passing through the inclined section 6410, the first vertical section 6420, the transverse connection section 6430, and the second vertical section 6440 in sequence, and making it easier for the inclined section 6410 to communicate with the second oil passing gap 630. Even further, the first vertical section 6420 extends through the upper rotating head 210 and forms an opening 6450. A plug 6460 is arranged in the opening 6450. By arranging the plug 6460 in the opening 6450 to block the opening 6450, oil leakage from the first vertical section 6420 can be prevented, enabling the second vertical section 6440, the transverse connection section 6430, the first vertical section 6420, and the inclined section 6410 to be connected in sequence. By forming the fourth oil delivery channel 640 in sections, the structure is more compact and more convenient for processing.

[0066] In one embodiment, a wire passing hole 2210 is formed in the middle of the lower rotating head 220. It can be understood that by forming the wire passing hole 2210 in the middle of the lower rotating head 220, the wires can be directly connected to the various components of the heavy-duty wheel mechanism 10 through the wire passing hole 2210. Compared with the traditional method of using a drag chain for wiring, the structure is more compact and there is no need to purchase a drag chain, saving costs.

[0067] The present disclosure also provides a heavy-duty AGV, including a vehicle frame and the heavy-duty wheel mechanism 10 of any of the above embodiments. In this embodiment, the heavy-duty wheel mechanism 10 is disposed under the vehicle frame. Compared with the traditional driving method using a motor under the same conditions, the heavy-duty wheel mechanism 10 can output a greater torque, enabling the heavy-duty AGV to load more and heavier goods at one time, improving the efficiency of goods handling, and meeting the load requirements of industrial production lines, port loading and unloading yards and other places. Further, the upper rotating head 210 is welded to the vehicle frame. When the upper rotating head 210 rotates relative to the lower rotating head 220 in the rotating hole 2110, the upper rotating head 210 can also drive the vehicle frame to rotate, ultimately realizing the steering of the heavy-duty AGV.

[0068] In one of the embodiments, for better understanding, the working process of the heavy-duty AGV is described below:

[0069] Combined with Figure 1 and Figure 4 As shown, during operation, the hydraulic pump presses the first hydraulic oil out from the first hydraulic oil end of the hydraulic station. The first hydraulic oil sequentially passes through the sixth oil delivery channel 2310, the first oil delivery channel 510, the first annular oil delivery channel 520, the first oil passing gap 530, the second oil delivery channel 540 and the ninth oil delivery channel 2410 and enters the hydraulic drive motor 700. The first hydraulic oil releases hydraulic energy in the hydraulic drive motor 700 to drive the hydraulic drive motor 700 to drive the differential drive axle 300. The differential drive axle 300 transmits power to the first drive wheel 410 and the second drive wheel 420, and finally drives the entire heavy-duty AGV to rotate through the drive wheels. After the high-pressure oil releases hydraulic energy, it is converted into low-pressure oil. The low-pressure oil sequentially passes through the seventh oil delivery channel 2320, the third oil delivery channel 610, the second annular oil delivery channel 520, the second oil passing gap 630, the fourth oil delivery channel 640 and the tenth oil delivery channel 2420 and finally returns to the hydraulic pump from the second hydraulic oil end of the hydraulic station. The low-pressure oil is converted into high-pressure oil again in the hydraulic pump, realizing the circulation of the hydraulic oil.

[0070] Also refer to Figure 5, when the upper swivel head 210 rises along the axis O relative to the lower swivel head 220 and rotates 180°, the first hydraulic oil can still pass through the oil passage A and sequentially pass through the sixth oil delivery passage 2310, the first oil delivery passage 510, the first annular oil delivery passage 520, the first oil passing gap 530, the second oil delivery passage 540, and the ninth oil delivery passage 2410 to enter the hydraulic drive motor 700, and can still pass through the oil passage B and sequentially pass through the seventh oil delivery passage 2320, the third oil delivery passage 610, the second annular oil delivery passage 620, the second oil passing gap 630, the fourth oil delivery passage 640, and the tenth oil delivery passage 2420 and finally return from the second hydraulic oil end of the hydraulic station to the hydraulic pump, ensuring that the first oil passage and the second oil passage always remain unblocked when the rotary joint 200 of the heavy-duty AGV lifts and rotates, so that the hydraulic drive motor 700 can work properly.

[0071] Compared with the prior art, the present disclosure has at least the following advantages:

[0072] 1) The above-mentioned heavy-duty wheel mechanism 10 forms a rotary hole 2110 in the upper swivel head 210, sets the lower swivel head 220 in the rotary hole 2110, and sets a separated first oil passing gap 530 and a second oil passing gap 630 between the lower swivel head 220 and the inner wall of the rotary hole 2110. The upper swivel head 210 is provided with a first oil delivery passage 510 and a fourth oil delivery passage 640, and at the same time, the lower swivel head 220 is provided with a second oil delivery passage 540 and a third oil delivery passage 610, so that the first oil delivery passage 510 communicates with the second oil delivery passage 540 through the first oil passing gap 530 to form a first oil passage, and the fourth oil delivery passage 640 communicates with the third oil delivery passage 610 through the second oil passing gap 630 to form a second oil passage. Also, by installing the hydraulic drive motor 700 on the bracket 100, the hydraulic drive ends of the hydraulic drive motor 700 are respectively communicated with the second oil delivery passage 540 and the third oil delivery passage 610. When the first oil delivery passage 510 is communicated with the first hydraulic oil end of the hydraulic station, and at the same time, the fourth oil delivery passage 640 is communicated with the second hydraulic oil end of the hydraulic station, the first hydraulic oil in the hydraulic station can flow to the drive end of the hydraulic drive motor 700 through the first oil passage. The hydraulic drive motor 700 converts the hydraulic energy of the first hydraulic oil into mechanical energy, so that the power output end of the hydraulic drive motor 700 can output power. At the same time, the first hydraulic oil is converted into a second hydraulic oil with lower hydraulic energy, and the second hydraulic oil returns to the hydraulic station through the second oil passage to realize the circulation of the hydraulic oil.

[0073] 2) Since the power output end of the hydraulic drive motor 700 is connected to the power input end of the differential drive axle 300, the differential drive axle 300 is respectively provided with a first power output end 310 and a second power output end 320. The first drive wheel 410 is installed on the first power output end 310, and the second drive wheel 420 is installed on the second power output end 320, so that the power output from the power output end of the hydraulic drive motor 700 can drive the differential drive axle 300. The differential drive axle 300 drives the first drive wheel 410 through the first power output end 310 and drives the second drive wheel 420 through the second power output end 320.

[0074] 3) Compared with the traditional driving method through an electric motor under the same conditions, the above-mentioned heavy-duty wheel mechanism 10 can output a greater torque. After the heavy-duty AGV is installed with the above-mentioned heavy-duty wheel mechanism, it can load more and heavier goods at one time, improve the efficiency of goods handling, and meet the load requirements of industrial production lines, port loading and unloading yards and other places.

[0075] The above-described embodiments merely represent several implementation manners of the present disclosure. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can still be made, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure patent shall be subject to the appended claims.

Claims

1. An overloaded wheel mechanism, comprising a bracket, a rotary joint, a differential drive axle, a first drive wheel and a second drive wheel. The differential drive axle is installed at the bottom of the bracket. The differential drive axle is respectively provided with a first power output end and a second power output end. The first drive wheel is installed at the first power output end, and the second drive wheel is installed at the second power output end; It is characterized in that The rotary joint includes an upper rotary head and a lower rotary head. The upper rotary head is installed on the bracket. A rotary hole is formed in the upper rotary head. The lower rotary head is located in the rotary hole and is rotatably connected to the upper rotary head. A first oil passage gap and a second oil passage gap are provided between the lower rotary head and the inner wall of the rotary hole. The upper rotary head is provided with a first oil delivery passage and a fourth oil delivery passage. The lower rotary head is provided with a second oil delivery passage and a third oil delivery passage. The first oil delivery passage is communicated with the second oil delivery passage through the first oil passage gap to form a first oil path. The fourth oil delivery passage is communicated with the third oil delivery passage through the second oil passage gap to form a second oil path. The first oil delivery passage is used for communicating with the first hydraulic oil end of the hydraulic station. The fourth oil delivery passage is used for communicating with the second hydraulic oil end of the hydraulic station; The overloaded wheel mechanism further includes a hydraulic drive motor. The hydraulic drive motor is installed on the bracket. The power output end of the hydraulic drive motor is connected to the power input end of the differential drive axle. The hydraulic drive end of the hydraulic drive motor is respectively communicated with the second oil delivery passage and the third oil delivery passage; A first annular oil delivery channel is formed on the peripheral wall of the rotary hole. The position of the first annular oil delivery channel corresponds to that of the first oil passage gap. The first oil delivery passage is communicated with the first oil passage gap through the first annular oil delivery channel; A second annular oil delivery channel is formed on the outer wall of the lower rotary head. The position of the second annular oil delivery channel corresponds to that of the second oil passage gap. The fourth oil delivery passage is communicated with the second oil passage gap through the second annular oil delivery channel.

2. The heavy-duty wheel mechanism according to claim 1, characterized in that The rotary hole includes a first cavity, a second cavity and a communication cavity. The first cavity is communicated with the second cavity through the communication cavity. The lower rotary head respectively penetrates through the first cavity, the communication cavity and the second cavity. The first oil passage gap is formed between the cavity wall of the first cavity and the lower rotary head. The second oil passage gap is formed between the cavity wall of the second cavity and the lower rotary head. A seal is sleeved between the cavity wall of the communication cavity and the lower rotary head to separate the first oil passage gap from the second oil passage gap.

3. The heavy-duty wheel mechanism according to claim 2, characterized in that, A first sealing ring is further provided at the pressing place between the cavity wall of the communication cavity and the lower rotary head.

4. The heavy-duty wheel mechanism according to claim 1, characterized in that, The overloaded wheel mechanism further includes a hydraulic station and a hydraulic pump. The hydraulic pump is respectively communicated with the first hydraulic oil end and the second hydraulic oil end of the hydraulic station.

5. The heavy-duty wheel mechanism according to claim 1, characterized in that A rotary guide ring is provided between the lower rotary head and the inner wall of the rotary hole.

6. The heavy-duty wheel mechanism according to claim 5, characterized in that, An installation groove is formed on the peripheral wall of the lower rotary head. The rotary guide ring is sleeved outside the lower rotary head and is accommodated in the installation groove.

7. The heavy-duty wheel mechanism according to claim 1, characterized in that A wire passing hole is formed in the middle of the lower rotary head.

8. An overloaded AGV, characterized in that, It includes a vehicle frame and the heavy-duty wheel mechanism described in any one of claims 1 to 7.

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