A rear axle power transmission device for an unmanned transport robot

Abstract

The invention discloses a rear axle power transmission device of an unmanned transport robot, comprising a rear axle power assembly, which is arranged at the bottom of the unmanned transport robot; the rear axle power assembly comprises a differential case and a main axle case arranged at both ends of the differential case, one end of the main axle case is hinged with a secondary axle case, a main half-shaft is rotatably connected inside the main axle case, a secondary half-shaft is rotatably connected inside the secondary axle case, a universal shaft is movably arranged inside the secondary half-shaft, the universal shaft is transmission-connected with the main half-shaft, a suspension bridge with one end extending to the top of the secondary axle case is arranged on the main axle case, an adjusting device is arranged on the suspension bridge, and the adjusting device comprises a hydraulic cylinder arranged on the top of the suspension bridge and a driving seat movably arranged inside the suspension bridge and driven by the hydraulic cylinder. When the rear wheel of the unmanned transport robot is stuck, the secondary axle case and the secondary half-shaft can be lowered by the adjusting device, and the secondary half-shaft drives the tire at one end thereof to drop and contact the ground, thereby greatly increasing the escape ability of the unmanned transport robot.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned transport robots, and more specifically, to a rear axle power transmission device of an unmanned transport robot. Background Art

[0002] Unmanned transport robots are a type of unmanned vehicle. They generally use on-board sensors to sense the surrounding environment, and control the steering and speed based on the road, vehicle position and obstacle information obtained through the perception, so that the unmanned transport robot can travel safely and reliably on the road. Unmanned transport robots mainly work in harsh working conditions such as beaches, grasslands, mountains, riverbeds and rugged roads. During transportation, they need to withstand various impact loads, forces and torques. The complex and harsh driving environment has high requirements for the passability, handling stability and driving safety of unmanned transport robots. The rear axle is one of the important components of the unmanned transport robot power system. However, the common unmanned transport robot rear axles on the market mostly adopt the integral bridge form. Although this design method can maximize the rigidity of the vehicle and can move in complex working conditions such as rugged roads and other harsh working conditions, if the wheel at one end of the rear axle slips and the wheel at the other end is suspended, the unmanned transport robot will be stuck and unable to escape. And because it is an unmanned automatic driving, there is no person to get off the car to rescue, and the backstage personnel can only be notified remotely to rescue on site, which greatly reduces the work efficiency of the unmanned transport robot and the use effect is not ideal. The utility model patent with announcement number CN218287412U discloses a skateboard-type wire-controlled chassis electric unmanned vehicle, but the utility model does not make structural improvements to the rear axle to help enhance the escape performance. Summary of the invention

[0003] The existing unmanned transport robots are easily trapped and difficult to escape due to the deficiencies in the rear axle structure design, which greatly reduces the working efficiency of the unmanned transport robots. To overcome this defect, the present invention provides an unmanned transport robot rear axle power transmission device, which can optimize the rear axle structure and improve the unmanned transport robot's escape ability.

[0004] The technical solution of the present invention is: a rear axle power transmission device of an unmanned transport robot, including a rear axle power assembly arranged at the bottom of the unmanned transport robot; the rear axle power assembly includes a differential case and a main bridge case arranged at both ends of the differential case, one end of the main bridge case is hinged with a secondary bridge case, a main half-shaft is rotatably connected inside the main bridge case, a secondary half-shaft is rotatably connected inside the secondary bridge case, a universal joint is movably provided inside the secondary half-shaft, the universal joint is transmission-connected to the main half-shaft, a suspension bridge with one end extending to above the secondary bridge case is provided on the main bridge case, an adjusting device is provided on the suspension bridge, the adjusting device includes a hydraulic cylinder arranged on the top of the suspension bridge and a driving seat movably arranged inside the suspension bridge and driven by the hydraulic cylinder.

[0005] When the rear wheels of the unmanned transport robot get stuck, the auxiliary axle housing and the auxiliary half-shaft can be lowered through the adjusting device, and the auxiliary half-shaft drives the tire at one end to descend and contact the ground, which greatly increases the unmanned transport robot's ability to escape from trouble. After escaping from trouble, the unmanned transport robot's rear axle power transmission device can also rotate the auxiliary axle housing again to be consistent with the main axle housing.

[0006] Preferably, a avoidance groove is provided in the driving seat, the output end of the hydraulic cylinder extends into the avoidance groove and is suspended in the avoidance groove, first magnetic suction grooves are provided on both sides of the output end of the hydraulic cylinder, and first pins corresponding to the two first magnetic suction grooves are movably embedded on both sides of the inner wall of the avoidance groove. The arrangement of the first pin allows the output end of the hydraulic cylinder to absorb the first pin when the hydraulic cylinder is started, and the driving seat is pushed down through the first pin.

[0007] Preferably, a fixed plate is provided on both sides of one end of the auxiliary bridge housing, and a sliding rod is slidably connected between the two fixed plates. The bottom of the driving seat extends between the two fixed plates and is sleeved with the sliding rod. A first locking device is also provided between the suspension bridge and the auxiliary bridge housing. The first locking device includes a support plate fixed to the bottom of one end of the suspension bridge and a fixed seat fixed to the top of the auxiliary bridge housing. The bottom end of the support plate extends to the inside of the fixed seat. Tooth plates are movably provided on both sides of the bottom of the support plate. Tooth grooves meshing with the two tooth plates are provided on both sides of the inner wall of the fixed seat, and an electric push rod for locking the tooth plate is provided on one side of the fixed seat. When the rear wheels of the unmanned transport robot are stuck, the overall bridge shape of the rear axle is first released by the first locking device and the second locking device, and then the adjusting device is started to lower the auxiliary bridge housing and the auxiliary half-axle. After the hydraulic cylinder is started, it drives the driving seat to descend, and the descent of the driving seat drives the sliding rod to descend, and the descent of the sliding rod drives the fixed plate and the auxiliary bridge housing.

[0008] Preferably, ear plates are fixed on both sides of one end of the auxiliary bridge housing, and the ends of the two ear plates away from the auxiliary bridge housing are rotatably connected to the two sides of the main bridge housing. The hydraulic cylinder drives the auxiliary bridge housing and the auxiliary half-shaft to rotate through the driving seat, the sliding rod, the fixed plate ear plate, so that the auxiliary half-shaft drives the tire to descend, and the tire can contact the ground, thereby increasing the unmanned transport robot's ability to escape from difficulties.

[0009] Preferably, the first pin shaft is also sleeved with a first spring whose one end contacts one side of the hydraulic cylinder, a second magnetic groove is provided at the bottom of the output end of the hydraulic cylinder, a second pin shaft corresponding to the second magnetic groove is movably nested at the bottom of the inner wall of the avoidance groove, and a sealing pad whose interior is sleeved with the exterior of the output end of the hydraulic cylinder is provided on the top of the driving seat. When the driving seat pushes the sliding rod to descend, the second pin shaft can avoid the left and right shaking between the driving seat and the output end of the hydraulic cylinder, so that the relative position of the driving seat and the output end of the hydraulic cylinder remains stable, when the electromagnets inside the first magnetic groove and the second magnetic groove are closed, the first spring rebounds and contacts the first pin shaft to reset, and the second pin shaft automatically descends due to gravity, so that the first pin shaft and the second pin shaft are separated from the contact with the output end of the hydraulic cylinder, so as to avoid the rigid vibration of the main bridge housing from being directly transmitted to the output end of the hydraulic cylinder by the fixed plate, the sliding rod and the driving seat, thereby avoiding the damage of the hydraulic cylinder, ensuring the service life of the hydraulic cylinder, so that it can be used normally when the tire height needs to be adjusted.

[0010] Preferably, the rear axle power transmission device of the unmanned transport robot further includes a second locking device, and a leaf spring frame located between the first locking device and the second locking device is further provided at the bottom of the suspension bridge.

[0011] Preferably, the second locking device includes a first stabilizing plate and a second stabilizing plate, wherein the first stabilizing plate is arranged on both sides of one end of the main axle housing, and the second stabilizing plate is arranged on both sides of one end of the auxiliary axle housing and corresponds to the first stabilizing plate respectively. The second locking device is used to further ensure the structural stability of the main axle housing and the auxiliary axle housing when the main axle housing and the auxiliary axle housing are at the same level, retain the characteristics of the integral bridge, and cooperate with the first locking device to greatly improve the structural strength.

[0012] Preferably, a cylinder is provided on one side of the second stabilizing plate, a connecting plate is provided inside the second stabilizing plate, one end of the connecting plate extends to the inside of the first stabilizing plate, and an electromagnet is provided near the other end of the connecting plate at the output end of the cylinder. The output end of the cylinder does not directly contact the connecting plate, and the connecting plate needs to be pulled through and adsorbed by the electromagnet. This design effectively reduces the vibration damage to the output end of the cylinder and can reduce the occurrence of damage.

[0013] Preferably, a plurality of connecting grooves are provided inside the secondary half shaft, a connecting key that is movably sleeved in one-to-one correspondence with the connecting grooves is provided on the surface of the universal shaft, and an oil seal that is sleeved on the surface of the universal shaft is provided inside one end of the secondary half shaft. Lubricating oil is injected into the interior of the connecting groove to cool the connecting key and ensure the sliding flexibility of the connecting key and the connecting groove. The setting of the oil seal avoids the leakage of the lubricating oil.

[0014] Preferably, one end of the secondary half-shaft away from the cardan shaft extends to the outside of the secondary axle housing and is connected to a wheel hub through a connector. The wheel hub is used to mount tires, and the two main half-shafts are transmission-connected to the main shaft. The main shaft transmits power to the main half-shafts, which then drive the tires to rotate through the universal joint, the cardan shaft and the secondary half-shafts, thereby realizing the movement of the unmanned transport robot.

[0015] The beneficial effects of the present invention are:

[0016] When the rear wheel of the unmanned transport robot is stuck, the present invention can lower the secondary axle housing and the secondary half-shaft through the adjustment device, and the secondary half-shaft drives the tire at one end to descend and contact the ground, thereby greatly enhancing the unmanned transport robot's ability to escape from trouble.

[0017] Enhance the overall stability of the unmanned transport robot. After the unmanned transport robot is out of trouble, the present invention can rotate the auxiliary bridge housing again to be consistent with the main bridge housing through the adjustment device, and connect them into an integral bridge shape through the first locking device and the second locking device to ensure the overall stability of the unmanned transport robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention.

[0019] Figure 2 It is a schematic structural diagram of the rear axle power assembly in the present invention.

[0020] Figure 3 It is a schematic structural diagram of the differential case in the present invention.

[0021] Figure 4 It is a structural schematic diagram of the suspension bridge in the present invention.

[0022] Figure 5 It is a cross-sectional view of the suspension bridge in the present invention.

[0023] Figure 6 for Figure 5 A partial enlarged view of point A in the middle.

[0024] Figure 7 for Figure 5 A partial enlarged view of point B in the middle.

[0025] Figure 8 for Figure 5 A partial enlarged view of point C in the middle.

[0026] Fig. 9 It is a cross-sectional view of the second locking device in the present invention.

[0027] Fig.10 It is a structural schematic diagram of the fixing plate in the present invention.

[0028] In the figure, 1-rear axle power assembly, 11-differential housing, 12-main axle housing, 121-main half shaft, 13-secondary axle housing, 131-secondary half shaft, 132-universal shaft, 133-connecting groove, 134-connecting key, 135-connecting piece, 136-wheel hub, 137-oil seal, 138-ear plate, 139-fixing plate, 1391-slide groove, 1392-sliding rod, 14-suspension bridge, 141-leaf spring frame, 15-universal joint, 16-adjusting device, 161-hydraulic cylinder, 162-driving seat, 163-avoidance groove, 164-first magnetic Suction groove, 165-first pin shaft, 166-first spring, 167-second magnetic suction groove, 168-second pin shaft, 169-sealing pad, 17-first locking device, 171-support plate, 172-fixed seat, 173-second spring, 174-tooth plate, 175-tooth groove, 176-insert plate, 177-brush, 18-second locking device, 181-first stabilizing plate, 182-second stabilizing plate, 183-cylinder, 184-third spring, 185-connecting plate, 186-electromagnet, 19-sealing sleeve, 2-unmanned transport robot. DETAILED DESCRIPTION

[0029] The present invention will be further described below with reference to specific embodiments of the accompanying drawings.

[0030] Embodiment 1:

[0031] like Figures 1 to 10As shown, a rear axle power transmission device of an unmanned transport robot includes a rear axle power assembly 1, and the rear axle power assembly 1 is arranged at the bottom of the chassis of the unmanned transport robot 2. The rear axle power assembly 1 includes a differential case 11, a main bridge case 12, an auxiliary bridge case 13, a suspension bridge 14, a universal joint 15, an adjustment device 16, a first locking device 17 and a second locking device 18. The main bridge case 12 is arranged at both ends of the differential case 11, and the auxiliary bridge case 13 is hinged to one end of the main bridge case 12; a sealing sleeve 19 is also provided between the main bridge case 12 and the auxiliary bridge case 13; ear plates 138 are fixed on both sides of one end of the auxiliary bridge case 13, and the ends of the two ear plates 138 away from the auxiliary bridge case 13 are rotatably connected to the two sides of the main bridge case 12 respectively; a main half-shaft 121 is provided inside the main bridge case 12, and the main half-shaft 121 is connected to the main bridge case 12 through bearings. The main axle housing 12 is rotatably connected, and a hollow secondary half-shaft 131 is provided inside the secondary axle housing 13. The secondary half-shaft 131 is rotatably connected to the secondary axle housing 13 through a bearing; a movable universal shaft 132 is provided inside the secondary half-shaft 131, and the universal shaft 132 slides through the secondary half-shaft 131. One end of the universal shaft 132 is transmission-connected to one end of the main half-shaft 121 through a universal joint 15; a plurality of connecting grooves 133 are provided inside the secondary half-shaft 131, and a connecting key 134 movably sleeved with the connecting grooves 133 is provided on the surface of the universal shaft 132, and an oil seal 137 sleeved with the surface of the universal shaft 132 is provided inside one end of the secondary half-shaft 131. The connection groove 133 is filled with lubricating oil, which can cool the connection key 134 and ensure the sliding flexibility of the connection key 134 and the connection groove 133. The oil seal 137 is provided to prevent the leakage of lubricating oil. The suspension bridge 14 is arranged on the top of the main bridge housing 12, and is used to install the leaf spring suspension. One end of the suspension bridge 14 extends to the top of the auxiliary bridge housing 13. The suspension bridge 14 is arc-shaped, and the bottom of the suspension bridge 14 is also provided with a leaf spring frame 141 located between the first locking device 17 and the second locking device 18, which is used to connect the leaf spring suspension. The end of the auxiliary half shaft 131 away from the universal shaft 132 extends to the outside of the auxiliary bridge housing 13 and is connected to the wheel hub 136 through the connecting piece 135. The wheel hub 136 is used to install the tire. The interior of the differential case 11 is provided with a main shaft and a differential for connecting the power system of the unmanned transport robot 2. The opposite ends of the two main half-shafts 121 are connected to the main shaft through the differential. The power is transmitted to the main half-shafts 121 through the main shaft, and then the tires are driven to rotate through the universal joint 15, the universal shaft 132 and the secondary half-shaft 131, thereby realizing the movement of the unmanned transport robot 2.

[0032] The adjusting device 16 is arranged on the suspension bridge 14, and the adjusting device 16 includes a hydraulic cylinder 161 and a driving seat 162. The hydraulic cylinder 161 is arranged on the top of the suspension bridge 14, and the driving seat 162 is movably arranged inside the suspension bridge 14 and driven by the hydraulic cylinder 161; an avoidance groove 163 is arranged inside the driving seat 162, and the output end of the hydraulic cylinder 161 extends into the avoidance groove 163 and is suspended in the avoidance groove 163. First magnetic suction grooves 164 are arranged on both sides of the output end of the hydraulic cylinder 161, and first pin shafts 165 are movably embedded on both sides of the inner wall of the avoidance groove 163. The first pin shaft 165 corresponds to the two first magnetic suction grooves 164 one by one. The outside of the first pin shaft 165 is also sleeved with a first spring 166, and one end of the first spring 166 conflicts with one side of the hydraulic cylinder 161; a second magnetic suction groove 167 is arranged at the bottom of the output end of the hydraulic cylinder 161, and electromagnets 186 are arranged in the first magnetic suction groove 164 and the second magnetic suction groove 167. A second pin 168 is movably embedded at the bottom of the inner wall of the avoidance groove 163, and the second pin 168 corresponds to the second magnetic suction groove 167. A sealing gasket 169 is provided at the top of the driving seat 162, and the output end of the hydraulic cylinder 161 is inserted into the inside of the sealing gasket 169 to form an insert fit with the sealing gasket 169. The sealing gasket 169 can be provided to seal the large opening at the top of the avoidance groove 163. When the first pin 165 is sucked into the second magnetic suction groove 167, one end of the first pin 165 can still block the side hole of the avoidance groove 163 to reduce the entry of dust. At the same time, since the sealing gasket 169 is made of rubber, it will not affect the movement of the output end of the hydraulic cylinder 161. A fixing plate 139 is provided on both sides of one end of the auxiliary bridge housing 13, and the two fixing plates 139 correspond to the two ear plates 138 one by one. The fixing plate 139 is fixed on one side of the ear plate 138. A sliding rod 1392 is provided between the two fixing plates 139. A sliding groove 1391 is provided on the fixing plate 139. The groove width of the sliding groove 1391 is adapted to the diameter of the sliding rod 1392. The sliding rod 1392 is slidably connected in the sliding groove 1391, so that the sliding rod 1392 is slidably connected to the fixing plate 139; the bottom of the driving seat 162 extends between the two fixing plates 139 and is sleeved with the sliding rod 1392.The electromagnet 186 is started to attract the first pin 165 and the second pin 168 to enter the first magnetic groove 164 and the second magnetic groove 167. During the process, the first pin 165 compresses the first spring 166. The first pin 165 is set so that when the hydraulic cylinder 161 is started, the output end of the hydraulic cylinder 161 pushes the driving seat 162 to descend through the first pin 165, so that the driving seat 162 pushes the sliding rod 1392 to descend. The second pin 168 is set to avoid the left and right shaking between the driving seat 162 and the output end of the hydraulic cylinder 161, so that the relative position of the driving seat 162 and the output end of the hydraulic cylinder 161 is stable. The position remains stable, when the electromagnet 186 inside the first magnetic suction groove 164 and the second magnetic suction groove 167 is closed, the first spring 166 rebounds and contacts the first pin shaft 165 to reset, and the second pin shaft 168 automatically drops due to gravity, so that the first pin shaft 165 and the second pin shaft 168 are separated from the contact with the output end of the hydraulic cylinder 161, avoiding the rigid vibration of the main bridge housing 12 from being directly transmitted to the output end of the hydraulic cylinder 161 by the fixed plate 139, the sliding rod 1392 and the driving seat 162, thereby reducing the occurrence of damage to the hydraulic cylinder 161 and ensuring the service life of the hydraulic cylinder 161, so that it can be used normally when the tire height needs to be adjusted.

[0033] The first locking device 17 is arranged between the suspension bridge 14 and the auxiliary bridge housing 13. The first locking device 17 includes a support plate 171 and a fixing seat 172. The support plate 171 is fixed to the bottom of one end of the suspension bridge 14, and the fixing seat 172 is fixed to the top of the auxiliary bridge housing 13. The bottom end of the support plate 171 extends to the inside of the fixing seat 172, and a brush 177 is provided on the top of the inner wall of the fixing seat 172; tooth plates 174 are movably provided on both sides of the bottom of the support plate 171, and tooth grooves 175 are provided on both sides of the inner wall of the fixing seat 172. The two tooth grooves 175 are meshed with the two tooth plates 174 in a one-to-one correspondence. An electric push rod is provided on one side of the fixing seat 172, and the electric push rod locks the tooth plate 174. A second spring 173 is provided on the side of the tooth plate 174 away from the tooth groove 175. An insert plate 176 is provided at the output end of the electric push rod, and one end of the insert plate 176 extends between the two tooth plates 174, and the end of the insert plate 176 away from the electric push rod is conical. The output end of the electric push rod and the plug plate 176 are connected by a T-block and a T-slot, and the internal space of the T-slot is larger than the T-block part, so that the T-block does not directly contact the T-slot. Each time the T-block is pulled or pushed by the output end of the electric push rod, it is necessary to move the T-block to make the T-slot larger than the part of the space before it can contact the T-slot. This design can effectively prevent the plug plate 176 from directly transmitting the vibration received to the output end of the electric push rod, thereby reducing the damage to the electric push rod. The sealing sleeve 19 is provided to prevent dust from entering between the main bridge housing 12 and the auxiliary bridge housing 13. The cooperation of the tooth plate 174 and the tooth groove 175 is used to lock the main bridge housing 12 and the auxiliary bridge housing 1 3, to ensure the overall stability of the auxiliary bridge housing 13 after the angle is adjusted. After the first magnetic attraction groove 164 and the second magnetic attraction groove 167 absorb the first pin shaft 165 and the second pin shaft 168, the electric push rod is started to drive the plug plate 176 to disengage from between the two tooth plates 174, so that when the two tooth plates 174 are resisted by the tooth groove 175, the second spring 173 is compressed to retreat and avoid. When the angle of the auxiliary bridge housing 13 is adjusted, the electric push rod is started again to drive the plug plate 176 to insert between the two tooth plates 174, limit the two tooth plates 174, realize the locking of the relative position of the tooth plate 174 and the tooth groove 175, and lock the angle of the auxiliary bridge housing 13.

[0034] The second locking device 18 includes a first stabilizing plate 181 and a second stabilizing plate 182. The first stabilizing plate 181 is arranged on both sides of one end of the main axle housing 12, and the second stabilizing plate 182 is arranged on both sides of one end of the auxiliary axle housing 13 and respectively corresponds to the first stabilizing plate 181. A cylinder 183 is arranged on one side of the second stabilizing plate 182, and a connecting plate 185 is connected to the inside of the second stabilizing plate 182 through a third spring 184. One end of the connecting plate 185 extends to the inside of the first stabilizing plate 181, and an electromagnet 186 is close to the other end of the connecting plate 185. The second locking device 18 is used to further ensure the structural stability of the main bridge housing 12 and the auxiliary bridge housing 13 when the main bridge housing 12 and the auxiliary bridge housing 13 are at the same level, retaining the characteristics of the integral bridge, and cooperating with the first locking device 17, the structural strength is greatly improved. When it is necessary to adjust the lowering height of the auxiliary bridge housing 13, the electromagnet 186 at the output end of the cylinder 183 is started to suck the connecting plate 185, and then the connecting plate 185 is pulled out of the inside of the first stabilizing plate 181, and the adjusting device 16 can be started to prepare to drive the auxiliary bridge housing 13 to perform a downward and flipping movement. The output end of the cylinder 183 is not directly in contact with the connecting plate 185, and the connecting plate 185 needs to be pulled through and adsorbed by the electromagnet 186. This design can effectively reduce the vibration damage to the output end of the cylinder 183 and reduce the occurrence of damage.

[0035] When the rear wheels of the unmanned transport robot 2 are stuck, the first locking device 17 and the second locking device 18 are used to release the overall bridge shape of the rear axle, and then the auxiliary bridge housing 13 and the auxiliary half-shaft 131 are lowered through the adjusting device 16, and the auxiliary half-shaft 131 drives one end of the tire to descend and contact the ground, which greatly increases the unmanned transport robot 2's ability to escape from trouble, and at the same time, remote call personnel can be made to rush to the scene for rescue. After escaping from trouble, the auxiliary bridge housing 13 can be rotated again through the adjusting device 16 to be consistent with the main bridge housing 12, and connected into an integral bridge shape through the first locking device 17 and the second locking device 18, thereby ensuring the overall stability of the unmanned transport robot 2.

[0036] Embodiment 2:

[0037] like Figures 1 to 10As shown, a rear axle power transmission device of an unmanned transport robot includes a rear axle power assembly 1, and the rear axle power assembly 1 is arranged at the bottom of the chassis of the unmanned transport robot 2. The rear axle power assembly 1 includes a differential case 11, a main bridge case 12, an auxiliary bridge case 13, a suspension bridge 14, a universal joint 15, an adjustment device 16, a first locking device 17 and a second locking device 18. The main bridge case 12 is arranged at both ends of the differential case 11, and the auxiliary bridge case 13 is hinged to one end of the main bridge case 12; a sealing sleeve 19 is also provided between the main bridge case 12 and the auxiliary bridge case 13; ear plates 138 are fixed on both sides of one end of the auxiliary bridge case 13, and the ends of the two ear plates 138 away from the auxiliary bridge case 13 are rotatably connected to the two sides of the main bridge case 12 respectively; a main half-shaft 121 is provided inside the main bridge case 12, and the main half-shaft 121 is connected to the main bridge case 12 through bearings. The main axle housing 12 is rotatably connected, and a hollow secondary half-shaft 131 is provided inside the secondary axle housing 13. The secondary half-shaft 131 is rotatably connected to the secondary axle housing 13 through a bearing; a movable universal shaft 132 is provided inside the secondary half-shaft 131, and the universal shaft 132 slides through the secondary half-shaft 131. One end of the universal shaft 132 is transmission-connected to one end of the main half-shaft 121 through a universal joint 15; a plurality of connecting grooves 133 are provided inside the secondary half-shaft 131, and a connecting key 134 movably sleeved with the connecting grooves 133 is provided on the surface of the universal shaft 132, and an oil seal 137 sleeved with the surface of the universal shaft 132 is provided inside one end of the secondary half-shaft 131. The connection groove 133 is filled with lubricating oil, which can cool the connection key 134 and ensure the sliding flexibility of the connection key 134 and the connection groove 133. The oil seal 137 is provided to prevent the leakage of lubricating oil. The suspension bridge 14 is arranged on the top of the main bridge housing 12, and is used to install the leaf spring suspension. One end of the suspension bridge 14 extends to the top of the auxiliary bridge housing 13. The suspension bridge 14 is arc-shaped, and the bottom of the suspension bridge 14 is also provided with a leaf spring frame 141 located between the first locking device 17 and the second locking device 18, which is used to connect the leaf spring suspension. The end of the auxiliary half shaft 131 away from the universal shaft 132 extends to the outside of the auxiliary bridge housing 13 and is connected to the wheel hub 136 through the connecting piece 135. The wheel hub 136 is used to install the tire. The interior of the differential case 11 is provided with a main shaft and a differential for connecting the power system of the unmanned transport robot 2. The opposite ends of the two main half-shafts 121 are connected to the main shaft through the differential. The power is transmitted to the main half-shafts 121 through the main shaft, and then the tires are driven to rotate through the universal joint 15, the universal shaft 132 and the secondary half-shaft 131, thereby realizing the movement of the unmanned transport robot 2.

[0038] The adjusting device 16 is arranged on the suspension bridge 14, and the adjusting device 16 includes a hydraulic cylinder 161 and a driving seat 162. The hydraulic cylinder 161 is arranged on the top of the suspension bridge 14, and the driving seat 162 is movably arranged inside the suspension bridge 14 and driven by the hydraulic cylinder 161; an avoidance groove 163 is arranged inside the driving seat 162, and the output end of the hydraulic cylinder 161 extends into the avoidance groove 163 and is suspended in the avoidance groove 163. First magnetic suction grooves 164 are arranged on both sides of the output end of the hydraulic cylinder 161, and first pin shafts 165 are movably embedded on both sides of the inner wall of the avoidance groove 163. The first pin shaft 165 corresponds to the two first magnetic suction grooves 164 one by one. The outside of the first pin shaft 165 is also sleeved with a first spring 166, and one end of the first spring 166 conflicts with one side of the hydraulic cylinder 161; a second magnetic suction groove 167 is arranged at the bottom of the output end of the hydraulic cylinder 161, and electromagnets 186 are arranged in the first magnetic suction groove 164 and the second magnetic suction groove 167. A second pin 168 is movably embedded at the bottom of the inner wall of the avoidance groove 163, and the second pin 168 corresponds to the second magnetic suction groove 167. A sealing gasket 169 is provided at the top of the driving seat 162, and the output end of the hydraulic cylinder 161 is inserted into the inside of the sealing gasket 169 to form an insert fit with the sealing gasket 169. The sealing gasket 169 can be provided to seal the large opening at the top of the avoidance groove 163. When the first pin 165 is sucked into the second magnetic suction groove 167, one end of the first pin 165 can still block the side hole of the avoidance groove 163 to reduce the entry of dust. At the same time, since the sealing gasket 169 is made of rubber, it will not affect the movement of the output end of the hydraulic cylinder 161. A fixing plate 139 is provided on both sides of one end of the auxiliary bridge housing 13, and the two fixing plates 139 correspond to the two ear plates 138 one by one. The fixing plate 139 is fixed on one side of the ear plate 138. A sliding rod 1392 is provided between the two fixing plates 139. A sliding groove 1391 is provided on the fixing plate 139. The groove width of the sliding groove 1391 is adapted to the diameter of the sliding rod 1392. The sliding rod 1392 is slidably connected in the sliding groove 1391, so that the sliding rod 1392 is slidably connected to the fixing plate 139; the bottom of the driving seat 162 extends between the two fixing plates 139 and is sleeved with the sliding rod 1392.The electromagnet 186 is started to attract the first pin 165 and the second pin 168 to enter the first magnetic groove 164 and the second magnetic groove 167. During the process, the first pin 165 compresses the first spring 166. The first pin 165 is set so that when the hydraulic cylinder 161 is started, the output end of the hydraulic cylinder 161 pushes the driving seat 162 to descend through the first pin 165, so that the driving seat 162 pushes the sliding rod 1392 to descend. The second pin 168 is set to avoid the left and right shaking between the driving seat 162 and the output end of the hydraulic cylinder 161, so that the relative position of the driving seat 162 and the output end of the hydraulic cylinder 161 is stable. The position remains stable, when the electromagnet 186 inside the first magnetic suction groove 164 and the second magnetic suction groove 167 is closed, the first spring 166 rebounds and contacts the first pin shaft 165 to reset, and the second pin shaft 168 automatically drops due to gravity, so that the first pin shaft 165 and the second pin shaft 168 are separated from the contact with the output end of the hydraulic cylinder 161, avoiding the rigid vibration of the main bridge housing 12 from being directly transmitted to the output end of the hydraulic cylinder 161 by the fixed plate 139, the sliding rod 1392 and the driving seat 162, thereby reducing the occurrence of damage to the hydraulic cylinder 161 and ensuring the service life of the hydraulic cylinder 161, so that it can be used normally when the tire height needs to be adjusted.

[0039] The first locking device 17 is arranged between the suspension bridge 14 and the auxiliary bridge housing 13. The first locking device 17 includes a support plate 171 and a fixing seat 172. The support plate 171 is fixed to the bottom of one end of the suspension bridge 14, and the fixing seat 172 is fixed to the top of the auxiliary bridge housing 13. The bottom end of the support plate 171 extends to the inside of the fixing seat 172, and a brush 177 is provided on the top of the inner wall of the fixing seat 172. Different from Example 1, in this embodiment, the support plate 171 and the fixing seat 172 are further defined as an arc, and the arc centers of the support plate 171 and the fixing seat 172 coincide with the axis of the rotation shaft of the ear plate 138. This design The design makes it possible for the auxiliary bridge housing 13 to drive the fixed seat 172 to rotate synchronously without interference movement; tooth plates 174 are movably provided on both sides of the bottom of the support plate 171, and tooth grooves 175 are provided on both sides of the inner wall of the fixed seat 172. The two tooth grooves 175 are meshed with the two tooth plates 174 in a one-to-one correspondence. An electric push rod is provided on one side of the fixed seat 172, and the electric push rod locks the tooth plate 174. A second spring 173 is provided on the side of the tooth plate 174 away from the tooth groove 175. An insert plate 176 is provided at the output end of the electric push rod, and one end of the insert plate 176 extends between the two tooth plates 174, and the end of the insert plate 176 away from the electric push rod is tapered. The output end of the electric push rod and the plug plate 176 are connected by a T-block and a T-slot, and the internal space of the T-slot is larger than the T-block part, so that the T-block does not directly contact the T-slot. Each time the T-block is pulled or pushed by the output end of the electric push rod, it is necessary to move the T-block to make the T-slot larger than the part of the space before it can contact the T-slot. This design can effectively prevent the plug plate 176 from directly transmitting the vibration received to the output end of the electric push rod, thereby reducing the damage to the electric push rod. The sealing sleeve 19 is provided to prevent dust from entering between the main bridge housing 12 and the auxiliary bridge housing 13. The cooperation of the tooth plate 174 and the tooth groove 175 is used to lock the main bridge housing 12 and the auxiliary bridge housing 1 3, to ensure the overall stability of the auxiliary bridge housing 13 after the angle is adjusted. After the first magnetic attraction groove 164 and the second magnetic attraction groove 167 absorb the first pin shaft 165 and the second pin shaft 168, the electric push rod is started to drive the plug plate 176 to disengage from between the two tooth plates 174, so that when the two tooth plates 174 are resisted by the tooth groove 175, the second spring 173 is compressed to retreat and avoid. When the angle of the auxiliary bridge housing 13 is adjusted, the electric push rod is started again to drive the plug plate 176 to insert between the two tooth plates 174, limit the two tooth plates 174, realize the locking of the relative position of the tooth plate 174 and the tooth groove 175, and lock the angle of the auxiliary bridge housing 13.

[0040] The second locking device 18 includes a first stabilizing plate 181 and a second stabilizing plate 182. The first stabilizing plate 181 is arranged on both sides of one end of the main axle housing 12, and the second stabilizing plate 182 is arranged on both sides of one end of the auxiliary axle housing 13 and respectively corresponds to the first stabilizing plate 181. A cylinder 183 is arranged on one side of the second stabilizing plate 182, and a connecting plate 185 is connected to the inside of the second stabilizing plate 182 through a third spring 184. One end of the connecting plate 185 extends to the inside of the first stabilizing plate 181, and an electromagnet 186 is close to the other end of the connecting plate 185. The second locking device 18 is used to further ensure the structural stability of the main bridge housing 12 and the auxiliary bridge housing 13 when the main bridge housing 12 and the auxiliary bridge housing 13 are at the same level, retaining the characteristics of the integral bridge, and cooperating with the first locking device 17, the structural strength is greatly improved. When it is necessary to adjust the lowering height of the auxiliary bridge housing 13, the electromagnet 186 at the output end of the cylinder 183 is started to suck the connecting plate 185, and then the connecting plate 185 is pulled out of the inside of the first stabilizing plate 181, and the adjusting device 16 can be started to prepare to drive the auxiliary bridge housing 13 to perform a downward and flipping movement. The output end of the cylinder 183 is not directly in contact with the connecting plate 185, and the connecting plate 185 needs to be pulled through and adsorbed by the electromagnet 186. This design can effectively reduce the vibration damage to the output end of the cylinder 183 and reduce the occurrence of damage.

[0041] When the rear wheels of the unmanned transport robot 2 are stuck, the first locking device 17 and the second locking device 18 are used to release the overall bridge shape of the rear axle, and then the auxiliary bridge housing 13 and the auxiliary half-shaft 131 are lowered through the adjusting device 16, and the auxiliary half-shaft 131 drives one end of the tire to descend and contact the ground, which greatly increases the unmanned transport robot 2's ability to escape from trouble, and at the same time, remote call personnel can be made to rush to the scene for rescue. After escaping from trouble, the auxiliary bridge housing 13 can be rotated again through the adjusting device 16 to be consistent with the main bridge housing 12, and connected into an integral bridge shape through the first locking device 17 and the second locking device 18, thereby ensuring the overall stability of the unmanned transport robot 2.

Claims

1. A rear axle power transmission device for an unmanned transport robot, comprising a rear axle power assembly, characterized in that: The rear axle powertrain is arranged at the bottom of the unmanned transport robot; the rear axle powertrain includes a differential case and a main axle case arranged at both ends of the differential case, one end of the main axle case is hinged with a secondary axle case, a main half-shaft is rotatably connected inside the main axle case, a secondary half-shaft is rotatably connected inside the secondary axle case, a universal shaft is movably arranged inside the secondary half-shaft, and the universal shaft is drivingly connected to the main half-shaft, a suspension bridge with one end extending to the top of the secondary axle case is arranged on the main axle case, an adjusting device is arranged on the suspension bridge, and the adjusting device includes a hydraulic cylinder arranged on the top of the suspension bridge and a movable shaft arranged inside the suspension bridge and driven by the hydraulic cylinder. Driving seat; fixed plates are provided on both sides of one end of the auxiliary bridge housing and a sliding rod is slidably connected between the two fixed plates, the bottom of the driving seat extends between the two fixed plates and is sleeved with the sliding rod, and a first locking device is also provided between the suspension bridge and the auxiliary bridge housing, the first locking device includes a supporting plate fixed to the bottom of one end of the suspension bridge and a fixed seat fixed to the top of the auxiliary bridge housing, the bottom end of the supporting plate extends to the inside of the fixed seat, tooth plates are movably provided on both sides of the bottom of the supporting plate, tooth grooves respectively meshing with the two tooth plates are provided on both sides of the inner wall of the fixed seat, and an electric push rod for locking the tooth plate is provided on one side of the fixed seat.

2. The rear axle power transmission device of an unmanned transport robot according to claim 1, characterized in that: An avoidance groove is provided in the driving seat, the output end of the hydraulic cylinder extends into the avoidance groove and is suspended in the avoidance groove, first magnetic suction grooves are provided on both sides of the output end of the hydraulic cylinder, and first pin shafts corresponding to the two first magnetic suction grooves are movably nested on both sides of the inner wall of the avoidance groove.

3. The rear axle power transmission device of an unmanned transport robot according to claim 1, characterized in that: Ear plates are fixed on both sides of one end of the auxiliary bridge housing, and the ends of the two ear plates away from the auxiliary bridge housing are rotatably connected to the two sides of the main bridge housing respectively.

4. The rear axle power transmission device of an unmanned transport robot according to claim 2, characterized in that: The outside of the first pin shaft is also sleeved with a first spring whose one end contacts one side of the hydraulic cylinder. A second magnetic groove is provided at the bottom of the output end of the hydraulic cylinder. A second pin shaft corresponding to the second magnetic groove is movably nested at the bottom of the inner wall of the avoidance groove. A sealing gasket is provided on the top of the driving seat whose interior is sleeved with the outside of the output end of the hydraulic cylinder.

5. The rear axle power transmission device of an unmanned transport robot according to claim 1 is characterized in that: It also includes a second locking device, and the bottom of the suspension bridge is also provided with a leaf spring frame located between the first locking device and the second locking device.

6. The rear axle power transmission device of an unmanned transport robot according to claim 5 is characterized in that: The second locking device includes a first stabilizing plate and a second stabilizing plate. The first stabilizing plate is arranged on both sides of one end of the main bridge housing, and the second stabilizing plate is arranged on both sides of one end of the auxiliary bridge housing and corresponds to the first stabilizing plate respectively.

7. The rear axle power transmission device of an unmanned transport robot according to claim 6 is characterized in that: A cylinder is arranged on one side of the second stabilizing plate, a connecting plate is arranged inside the second stabilizing plate, one end of the connecting plate extends to the inside of the first stabilizing plate, and an electromagnet is arranged near the other end of the connecting plate at the output end of the cylinder.

8. The rear axle power transmission device of an unmanned transport robot according to any one of claims 1 to 7, characterized in that: A plurality of connecting grooves are arranged inside the auxiliary half shaft, a connecting key which is movably sleeved with the connecting grooves in one-to-one correspondence is arranged on the surface of the universal shaft, and an oil seal which is sleeved with the surface of the universal shaft is arranged inside one end of the auxiliary half shaft.

9. A rear axle power transmission device for an unmanned transport robot according to any one of claims 1 to 7, characterized in that: One end of the secondary half-shaft away from the cardan shaft extends to the outside of the secondary axle housing and is connected to the wheel hub through a connecting piece.

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