Hydraulic driving device and heavy-load AGV

Abstract

The invention provides a hydraulic driving device and a heavy-load AGV. According to the hydraulic driving device, the operation rotating shaft of the hydraulic transmission assembly rotationally penetrates through the two opposite side walls of the driving gearbox, and the two operation steering wheels are connected to the two ends of the operation rotating shaft correspondingly; the driving gear box is movably connected with the mounting plate, the hydraulic motor is arranged on the driving gear box, the driving end of the hydraulic motor is meshed with the power input end of the driving gear box, and the power output end of the driving gear box is meshed with the operation rotating shaft; the two ends of the balance valve are communicated with the oil inlet end and the oil outlet end of the hydraulic motor respectively, the input end of the center rotary connector is connected with an external oil tank, and the output end of the center rotary connector is connected to the oil injection end of the balance valve. The signal collecting end of the encoder is connected with the output shaft and used for collecting signals and transmitting the signals to the control system, and the control system is further connected with the center rotary connector. According to the hydraulic driving device, the hydraulic driving response speed is high, and the transmission efficiency is effectively improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of hydraulic drive, and in particular to a hydraulic drive device and a heavy-load AGV. Background Art

[0002] With the rapid development of industrial automation, heavy-duty AGV (Automated Guided Vehicle) has attracted much attention because of its ability to carry heavy objects and realize autonomous navigation and transportation. As one of the key components, the steering wheel of the heavy-duty AGV is responsible for driving the heavy-duty AGV to travel and turn. Traditionally, the steering wheel is driven by a motor to realize the forward and backward movement of the heavy-duty AGV. The motor drive is easily affected by voltage, and electrical equipment such as a voltage stabilizer is required to ensure its normal operation.

[0003] Therefore, for example, Chinese patent number CN 117002248 A discloses a heavy-duty hydraulic drive wheel, in which a hydraulic motor drives the hydraulic drive wheel to rotate by driving a transmission gear set, thereby increasing the transmission kinetic energy of the hydraulic drive wheel and thus increasing the rotational torque of the hydraulic drive wheel.

[0004] However, although the above-mentioned heavy-duty hydraulic driving wheel can improve the load-bearing capacity of the heavy-duty hydraulic driving wheel and avoid the influence of voltage instability during motor driving, the heavy-duty hydraulic driving wheel has shortcomings in the hydraulic driving response speed. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a hydraulic drive device and a heavy-duty AGV that have a fast hydraulic drive response speed and effectively improve transmission efficiency.

[0006] The purpose of this disclosure is achieved through the following technical solutions:

[0007] A hydraulic drive device, comprising a central swivel joint, a hydraulic transmission assembly, a support swivel assembly and two operating steering wheels, the support swivel assembly comprising a mounting plate and a steering support gear, the steering support gear being connected to the mounting plate, the central swivel joint being fixedly connected to the mounting plate, the hydraulic transmission assembly comprising a hydraulic motor, a balancing valve, a driving gear box, an operating shaft and an encoder, the operating shaft being rotatably arranged through two opposite side walls of the driving gear box, and the two operating steering wheels being respectively connected to the two ends of the operating shaft; the driving gear box being movably connected to the mounting plate, the hydraulic motor being arranged on the driving gear box, the driving end of the hydraulic motor being meshingly connected to the power input end of the driving gear box, and the power output end of the driving gear box being meshingly connected to the operating shaft, so as to rotate the operating steering wheels;

[0008] The balancing valve is arranged on the hydraulic motor, and the two ends of the balancing valve are respectively connected to the oil inlet and oil outlet of the hydraulic motor, the input end of the center swivel joint is used to connect to an external oil tank, and the output end of the center swivel joint is connected to the oil filling end of the balancing valve to control the hydraulic oil in and out of the hydraulic motor; the encoder is arranged on the output shaft of the hydraulic motor, the signal acquisition end of the encoder is connected to the output shaft, the signal output end of the encoder is used to connect to the input end of the control system, and the output end of the control system is also used to connect to the center swivel joint to monitor the rotation speed and displacement of the running steering wheel.

[0009] In one embodiment, the output shaft sleeve is provided with a driving gear, and the driving gear box includes a first driven gear and a second driven gear, the first driven gear and the second driven gear are both rotatably arranged in the driving gear box, the driving gear is meshingly connected to the first driven gear, the first driven gear is meshingly connected to the second driven gear, and the second driven gear is used to drive the running steering wheel to rotate.

[0010] In one embodiment, the hydraulic drive device also includes a bevel gear set, which includes a first bevel gear and a second bevel gear that are meshed with each other, and the driving gear box also includes a first rotating shaft and a second rotating shaft, the first rotating shaft and the second rotating shaft are rotatably arranged in the driving gear box in sequence, the first driven gear is sleeved on the first rotating shaft, the second driven gear is sleeved on one end of the second rotating shaft, and the first bevel gear is sleeved on the other end of the second rotating shaft, and the second bevel gear is sleeved on the running shaft, so that the running steering wheel rotates and travels.

[0011] In one embodiment, the reduction ratio between the driving gear and the first driven gear is 1.3 to 1.4.

[0012] In one embodiment, the reduction ratio between the first driven gear and the second driven gear is 3.5 to 4.

[0013] In one embodiment, the hydraulic drive device also includes a steering motor and a steering reducer, wherein the steering motor is arranged on the mounting plate, wherein the steering reducer is an L-shaped structure, the driving end of the steering motor is connected to the power input end of the steering reducer, and the power output end of the steering reducer is meshedly connected to the steering support gear, so that the steering motor drives the running steering wheel to steer.

[0014] In one of the embodiments, the reduction ratio between the power output end of the steering reducer and the steering support gear is 6 to 6.5.

[0015] In one embodiment, the hydraulic drive device also includes two bearings and two pendulum seats, each of which is arranged on the mounting plate facing the running steering wheel, and each of the pendulum seats is sleeved with a bearing in the mounting hole, and a swing shaft is provided at both ends of the driving gear box, and each of the swing shafts is movably arranged in each of the bearings in a one-to-one correspondence so that the running steering wheel can swing left and right.

[0016] In one embodiment, the balancing valve and the hydraulic motor are an integrally formed structure.

[0017] In one of the embodiments, the hydraulic drive device further includes a shock-absorbing buffer plate, which is arranged at the bottom of the mounting plate toward the driving gear box to prevent the driving gear box from colliding with the mounting plate when swinging.

[0018] A heavy-load AGV comprises the hydraulic drive device described in any one of the above embodiments.

[0019] Compared with the prior art, the present invention has at least the following advantages:

[0020] 1) In the hydraulic drive device disclosed in the present invention, since the encoder is arranged on the output shaft of the hydraulic motor, the encoder collects the driving speed of the output shaft of the hydraulic motor, calculates the rotation speed and displacement of the running steering wheel according to the driving speed, and realizes real-time feedback of the position and rotation speed of the running steering wheel by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil to the center rotary joint according to the information feedback of the encoder, thereby realizing rapid response of the hydraulic drive; and since the input end of the center rotary joint is connected to the external oil tank, the two ends of the balance valve are respectively connected to the oil inlet end and the oil outlet end of the hydraulic motor, the center rotary joint inputs hydraulic oil through the external oil tank, and is connected to the oil filling end of the balance valve through the output end of the center rotary joint, thereby ensuring that the balance valve can adjust the hydraulic oil in and out of the hydraulic motor in real time, and control the braking force of the running steering wheel by adjusting the inlet and outlet oil pressure of the hydraulic oil, and the setting of the balance valve ensures that the braking inertia of the running steering wheel is small, the braking distance is short and the sensitivity is good, thereby improving the hydraulic drive response effect of the running steering wheel.

[0021] 2) The hydraulic drive device disclosed in the present invention, since the driving end of the hydraulic motor is meshed and connected to the power input end of the driving gear box, and the power output end of the driving gear box is meshed and connected to the running shaft, compared with other transmission methods such as chain transmission, the transmission method through gear meshing can transmit power more effectively, thereby improving the transmission efficiency from the hydraulic motor to the running shaft, ensuring that the running steering wheel can move at an appropriate speed, and since the two ends of the balance valve are respectively connected to the oil inlet and oil outlet of the hydraulic motor, and the output end of the center rotary joint is connected to the oil filling end of the balance valve to control the hydraulic oil inlet and outlet of the hydraulic motor, it is ensured that the balance valve can effectively control the flow and pressure of the hydraulic oil, ensure the stable operation of the hydraulic motor, and effectively improve the transmission efficiency of the hydraulic motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present disclosure and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a structural schematic diagram of a hydraulic drive device according to an embodiment of the present disclosure;

[0024] Figure 2 for Figure 1 The schematic diagram of the exploded structure of the hydraulic drive device shown;

[0025] Figure 3 for Figure 1 A cross-sectional view of the hydraulic drive device in one direction;

[0026] Figure 4 for Figure 1 A cross-sectional view of the hydraulic drive device shown in another direction;

[0027] Figure 5 for Figure 1 A schematic structural diagram of the hydraulic drive device in another direction shown;

[0028] Figure 6 It is a structural schematic diagram of a shock-absorbing buffer plate in a hydraulic drive device according to another embodiment of the present disclosure;

[0029] Figure 7 for Figure 6 Flow chart of the design of the shock absorbing buffer plate shown;

[0030] Figure 8 The figure is a schematic structural diagram of a shock-absorbing buffer plate according to another embodiment of the present invention.

[0031] Reference numerals: 10, hydraulic drive device; 100, central rotary joint; 200, hydraulic transmission assembly; 210, hydraulic motor; 211, output shaft; 212, driving gear; 220, balance valve; 230, driving gear box; 231, first driven gear; 232, second driven gear; 233, first rotating shaft; 234, second rotating shaft; 235, swing shaft; 240, running shaft; 250, encoder; 260, input pipe; 270, output pipe; 300, support rotary assembly; 310, Mounting plate; 311, slewing hole; 320, steering support gear; 321, accommodating hole; 400, running steering wheel; 500, bevel gear set; 510, first bevel gear; 520, second bevel gear; 600, steering motor; 700, steering reducer; 810, bearing; 820, swing seat; 820a, mounting hole; 821, first accommodating groove; 822, second accommodating groove; 900, shock-absorbing buffer plate; 910, main shock-absorbing part; 920, auxiliary shock-absorbing part; 930, first clamping groove; 940, second clamping groove. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of the present disclosure, the present disclosure will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present disclosure are given 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, the purpose of providing these embodiments is to make the disclosure of the present disclosure more thoroughly and comprehensively understood.

[0033] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present disclosure. The terms used herein in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0035] The present invention provides a hydraulic drive device including a central swivel joint, a hydraulic transmission assembly, a support swivel assembly and two operating steering wheels. The support swivel assembly includes a mounting plate and a steering support gear. The steering support gear is connected to the mounting plate. The central swivel joint is fixedly connected to the mounting plate. The hydraulic transmission assembly includes a hydraulic motor, a balance valve, a driving gear box, an operating shaft and an encoder. The operating shaft is rotatably arranged on two opposite side walls of the driving gear box. The two operating steering wheels are respectively connected to the two ends of the operating shaft. The driving gear box is movably connected to the mounting plate. The hydraulic motor is arranged on the driving gear box. The driving end of the hydraulic motor is meshed and connected to the power of the driving gear box. The input end and the power output end of the driving gear box are meshed and connected to the running shaft to rotate the running steering wheel; the balance valve is arranged on the hydraulic motor, and the two ends of the balance valve are respectively connected to the oil inlet end and the oil outlet end of the hydraulic motor, the input end of the center rotary joint is used to be connected to the external oil tank, and the output end of the center rotary joint is connected to the oil filling end of the balance valve to control the hydraulic oil in and out of the hydraulic motor; the encoder is arranged on the output shaft of the hydraulic motor, the signal acquisition end of the encoder is connected to the output shaft, the signal output end of the encoder is used to be connected to the input end of the control system, and the output end of the control system is also used to be connected to the center rotary joint to monitor the rotation speed and displacement of the running steering wheel.

[0036] Since the encoder is arranged on the output shaft of the hydraulic motor, the encoder collects the driving speed of the output shaft of the hydraulic motor, calculates the rotation speed and displacement of the running steering wheel according to the driving speed, and realizes real-time feedback of the position and rotation speed of the running steering wheel by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil to the center swivel joint according to the information feedback of the encoder, thereby realizing rapid response of the hydraulic drive; and since the input end of the center swivel joint is connected to the external oil tank, the two ends of the balance valve are respectively connected to the oil inlet end and the oil outlet end of the hydraulic motor, the center swivel joint inputs hydraulic oil through the external oil tank, and is connected to the oil filling end of the balance valve through the output end of the center swivel joint, thereby ensuring that the balance valve can adjust the hydraulic oil in and out of the hydraulic motor in real time, and control the braking force of the running steering wheel by adjusting the inlet and outlet oil pressure of the hydraulic oil, and the setting of the balance valve ensures that the braking inertia of the running steering wheel is small, the braking distance is short and the sensitivity is good, thereby improving the hydraulic drive response effect of the running steering wheel.

[0037] Since the driving end of the hydraulic motor is meshed and connected to the power input end of the driving gear box, and the power output end of the driving gear box is meshed and connected to the running shaft, compared with other transmission methods such as chain transmission, the transmission method through gear meshing can transmit power more effectively, thereby improving the transmission efficiency from the hydraulic motor to the running shaft, ensuring that the running steering wheel can move at an appropriate speed, and since the two ends of the balance valve are respectively connected to the oil inlet and oil outlet of the hydraulic motor, the output end of the center swivel joint is connected to the oil filling end of the balance valve to control the hydraulic oil inlet and outlet of the hydraulic motor, ensuring that the balance valve can effectively control the flow and pressure of the hydraulic oil, ensuring the stable operation of the hydraulic motor, thereby effectively improving the transmission efficiency of the hydraulic motor.

[0038] In order to better understand the technical solutions and beneficial effects of the present invention, the present invention is further described in detail below in conjunction with specific embodiments:

[0039] like Figure 1 and Figure 2 As shown, a hydraulic drive device 10 of an embodiment includes a central swivel joint 100, a hydraulic transmission assembly 200, a support swivel assembly 300 and two running steering wheels 400, the support swivel assembly 300 includes a mounting plate 310 and a steering support gear 320, the steering support gear 320 is connected to the mounting plate 310, the central swivel joint 100 is fixedly connected to the mounting plate 310, the hydraulic transmission assembly 200 includes a hydraulic motor 210, a balancing valve 220, a driving gear box 230, an running shaft 240 and an encoder 250, the running shaft 240 is rotatably arranged on two opposite side walls of the driving gear box 230, and the two running steering wheels 400 are respectively connected to the two ends of the running shaft 240; the driving gear box 230 is movably connected to the mounting plate 310, the hydraulic motor 210 is arranged on the driving gear box 230, and the driving end of the hydraulic motor 210 is meshed with the encoder 250. It is connected to the power input end of the driving gear box 230, and the power output end of the driving gear box 230 is meshed and connected to the running shaft 240 to rotate the running steering wheel 400; the balancing valve 220 is arranged on the hydraulic motor 210, and the two ends of the balancing valve 220 are respectively connected to the oil inlet end and the oil outlet end of the hydraulic motor 210, the input end of the center rotary joint 100 is used to connect to the external oil tank, and the output end of the center rotary joint 100 is connected to the oil filling end of the balancing valve 220 to control the hydraulic oil in and out of the hydraulic motor 210; the encoder 250 is arranged on the output shaft 211 of the hydraulic motor 210, the signal acquisition end of the encoder 250 is connected to the output shaft 211, and the signal output end of the encoder 250 is used to connect to the input end of the control system, and the output end of the control system is also used to connect to the center rotary joint 100 to monitor the rotation speed and displacement of the running steering wheel 400.

[0040] It can be understood that since the encoder 250 is arranged on the output shaft 211 of the hydraulic motor 210, the encoder 250 collects the driving speed of the output shaft 211 of the hydraulic motor 210, calculates the rotation speed and displacement of the running steering wheel 400 according to the driving speed, and realizes the real-time feedback of the position and rotation speed of the running steering wheel 400 by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil by the center rotary joint 100 according to the information feedback of the encoder 250, thereby realizing the rapid response of the hydraulic drive; and since the input end of the center rotary joint 100 is connected to the external oil tank, the balance valve 22 The two ends of 0 are respectively connected to the oil inlet and outlet of the hydraulic motor 210, and the central rotary joint 100 inputs hydraulic oil through an external oil tank, and is connected to the oil filling end of the balance valve 220 through the output end of the central rotary joint 100, to ensure that the balance valve 220 can adjust the hydraulic oil in and out of the hydraulic motor 210 in real time, and control the braking force of the running steering wheel 400 by adjusting the inlet and outlet oil pressure of the hydraulic oil. In addition, the setting of the balance valve 220 ensures that the braking inertia of the running steering wheel 400 is small, the braking distance is short and the sensitivity is good, thereby improving the hydraulic drive response effect of the running steering wheel 400.

[0041] It can also be understood that since the driving end of the hydraulic motor 210 is meshedly connected to the power input end of the driving gear box 230, and the power output end of the driving gear box 230 is meshedly connected to the running shaft 240, compared with other transmission methods such as chain transmission, the transmission method through gear meshing can transmit power more effectively, thereby improving the transmission efficiency from the hydraulic motor 210 to the running shaft 240, ensuring that the running steering wheel 400 can move at an appropriate speed, and since the two ends of the balance valve 220 are respectively connected to the oil inlet and oil outlet of the hydraulic motor 210, the output end of the center swivel joint 100 is connected to the oil filling end of the balance valve 220 to control the hydraulic oil inlet and outlet of the hydraulic motor 210, ensuring that the balance valve 220 can effectively control the flow and pressure of the hydraulic oil, and ensure the stable operation of the hydraulic motor 210, thereby effectively improving the transmission efficiency of the hydraulic motor 210.

[0042] Please also refer to Figure 1 and Figure 3 In one embodiment, the balancing valve 220 and the hydraulic motor 210 are integrally formed, so that the connecting pipes formed by the two ends of the balancing valve 220 and the oil inlet and outlet of the hydraulic motor 210 are respectively accommodated in the connection space between the balancing valve 220 and the hydraulic motor 210, thereby avoiding leakage of the balancing valve 220 when controlling the hydraulic oil to enter and exit the hydraulic motor 210, thereby improving the output power of the hydraulic motor 210 and further improving the transmission efficiency of the hydraulic motor 210. Specifically, the balancing valve 220 and the hydraulic motor 210 are integrally cast.

[0043] like Figure 3As shown, in one embodiment, the output shaft 211 is sleeved with a driving gear 212, and the driving gear box 230 includes a first driven gear 231 and a second driven gear 232. The first driven gear 231 and the second driven gear 232 are both rotatably disposed in the driving gear box 230, and the driving gear 212 is meshedly connected to the first driven gear 231, and the first driven gear 231 is meshedly connected to the second driven gear 232. The second driven gear 232 is used to drive the steering wheel 400 to rotate. In this embodiment, a driving gear 212 is sleeved on the outer peripheral wall of the output shaft 211 of the hydraulic motor 210, and the driving gear 212 is meshedly connected with the first driven gear 231, and the first driven gear 231 is meshedly connected with the second driven gear 232, thereby ensuring that the output power of the hydraulic motor 210 is transmitted to the running steering wheel 400 through the first driven gear 231 and the second driven gear 232 in sequence, ensuring that the running steering wheel 400 is under the secondary gear transmission of the driving gear box 230, thereby ensuring the efficiency of power transmission by the hydraulic motor 210.

[0044] Furthermore, if Figure 1 , Figure 3 and Figure 4 As shown, in one embodiment, the hydraulic drive device 10 also includes a bevel gear set 500, the bevel gear set 500 includes a first bevel gear 510 and a second bevel gear 520 that are meshed and connected to each other, the driving gear box 230 also includes a first rotating shaft 233 and a second rotating shaft 234, the first rotating shaft 233 and the second rotating shaft 234 are rotatably arranged in the driving gear box 230 in sequence, the first driven gear 231 is sleeved on the first rotating shaft 233, the second driven gear 232 is sleeved on one end of the second rotating shaft 234, and the first bevel gear 510 is sleeved on the other end of the second rotating shaft 234, and the second bevel gear 520 is sleeved on the running shaft 240, so that the running steering wheel 400 rotates and travels.

[0045] In this embodiment, the first rotating shaft 233 and the second rotating shaft 234 are sequentially rotatably arranged in the driving gear box 230. Specifically, the first rotating shaft 233 is arranged in parallel with the second rotating shaft 234, and the second rotating shaft 234 is arranged perpendicularly to the running shaft 240, so that the central axis of the first driven gear 231 and the central axis of the second driven gear 232 are parallel to each other, and the cross section of the first bevel gear 510 and the cross section of the second bevel gear 520 are perpendicular to each other, so that the second bevel gear 520 is driven by the first bevel gear 510 to rotate, and the running shaft 240 drives the running steering wheel 400 to rotate and travel, thereby realizing the forward and backward movement of the running steering wheel 400. Further, the meshing characteristics of the bevel gear set 500 are conducive to enhancing the transmission stability of the hydraulic drive device 10, and can better bear the load when transmitting power, thereby ensuring that the bevel gear set 500 can more stably transmit power from the driving gear box 230 to the running shaft 240, so as to ensure that the running steering wheel 400 travels normally.

[0046] like Figure 3 As shown, in one embodiment, the reduction ratio of the driving gear 212 to the first driven gear 231 is 1.3 to 1.4. Specifically, the reduction ratio of the driving gear 212 to the first driven gear 231 is 1.368.

[0047] like Figure 3 As shown, in one embodiment, the reduction ratio of the first driven gear 231 to the second driven gear 232 is 3.5 to 4. Specifically, the reduction ratio of the first driven gear 231 to the second driven gear 232 is 3.75.

[0048] like Figure 1As shown, in one embodiment, the hydraulic drive device 10 further includes a steering motor 600 and a steering reducer 700, wherein the steering motor 600 is arranged on the mounting plate 310, wherein the steering reducer 700 is an L-shaped structure, the driving end of the steering motor 600 is connected to the power input end of the steering reducer 700, and the power output end of the steering reducer 700 is meshed and connected to the steering support gear 320, so that the steering motor 600 drives the running steering wheel 400 to turn. In this embodiment, since the steering reducer 700 is an L-shaped structure, it is ensured that the steering reducer 700 can adapt to the limited installation space, making the spatial structure more compact, and since the steering motor 600 provides steering power for the running steering wheel 400, the driving end of the steering motor 600 is connected to the power input end of the steering reducer 700, and the power output end of the steering reducer 700 is meshed and connected to the steering support gear 320, so that the steering motor 600 increases the steering torque through the deceleration of the steering reducer 700, and ensures the stability of the running steering wheel 400 when turning. Specifically, the steering motor 600 is a servo motor, which provides steering power for the steering wheel 400, effectively adjusts the steering angle and speed, and thus achieves accurate steering operation. Further, in one embodiment, the total speed ratio of the steering reducer 700 is 15.

[0049] like Figure 1 As shown, in one embodiment, the reduction ratio between the power output end of the steering reducer 700 and the steering support gear 320 is 6 to 6.5. Specifically, the reduction ratio between the power output end of the steering reducer 700 and the steering support gear 320 is 6.44.

[0050] See also Figure 2 In one embodiment, the hydraulic drive device 10 further includes two bearings 810 and two swing seats 820. Each swing seat 820 is disposed on the mounting plate 310 facing the running steering wheel 400. A bearing 810 is sleeved in the mounting hole 820a of each swing seat 820. A swing shaft 235 is disposed at both ends of the driving gear box 230. Each swing shaft 235 is movably disposed in each bearing 810 in a one-to-one correspondence, so that the running steering wheel 400 can swing left and right. In this embodiment, since the swing shafts 235 at both ends of the driving gear box 230 are movably disposed in the bearings 810, the driving gear box 230 can swing left and right under the setting of the bearings 810. When the running steering wheel 400 travels on an uneven ground, the running steering wheel 400 can swing left and right according to the unevenness of the ground, and automatically adjust the angle to adapt to the changes in the ground, thereby ensuring the driving stability of the running steering wheel 400.

[0051] Furthermore, in one of the embodiments, the bearing 810 is a nylon bearing, which has good lubrication properties and can absorb part of the vibration energy to play a role in vibration reduction, thereby ensuring the stability and good shock absorption effect of the driving gear box 230 when driving the steering wheel 400 to swing left and right.

[0052] Furthermore, if Figure 2 and Figure 5 As shown, in one embodiment, a first accommodating groove 821 and a second accommodating groove 822 are opened at one end of the swing seat 820 adjacent to the mounting plate 310, and one end of the center swivel joint 100 is successively inserted into the accommodating hole 321 of the steering support gear 320 and the swivel hole 311 of the mounting plate 310; the hydraulic transmission assembly 200 also includes an input pipe 260 and an output pipe 270, the input pipe 260 is fixedly installed in the first accommodating groove 821, and the output pipe 270 is fixedly installed in the second accommodating groove 822, wherein one end of the input pipe 260 is connected to an external oil tank, and the other end of the input pipe 260 is connected to the input end of the center swivel joint 100, one end of the output pipe 270 is connected to the oil filling end of the balancing valve 220, and the other end of the output pipe 270 is connected to the output end of the center swivel joint 100. In this embodiment, the input pipe 260 and the output pipe 270 are respectively fixedly installed in the first receiving groove 821 and the second receiving groove 822 of the pendulum seat 820. On the one hand, the firmness of the installation of the input pipe 260 and the output pipe 270 is ensured to prevent the input pipe 260 and the output pipe 270 from loosening and misalignment when the running steering wheel 400 is driving and turning. On the other hand, the first receiving groove 821 and the second receiving groove 822 arranged on the pendulum seat 820 improve the space utilization rate of the hydraulic drive device 10, thereby ensuring the reliability of the running steering wheel 400 when moving and turning.

[0053] In another embodiment, one end of the central swivel joint 100 is clamped in the swivel hole 311 .

[0054] Furthermore, if Figure 1 , Figure 2 and Figure 6As shown, in one embodiment, the hydraulic drive device 10 further includes a shock absorbing buffer plate 900, which is disposed at the bottom of the mounting plate 310 toward the driving gear box 230, and is used to prevent the driving gear box 230 from colliding with the mounting plate 310 when swinging. In this embodiment, specifically, both ends of the shock absorbing buffer plate 900 are detachably connected to the bottom of the mounting plate 310 through positioning pins. The additional shock absorbing buffer plate 900 prevents the driving gear box 230 from directly colliding with the mounting plate 310 when the driving gear box 230 swings left and right in the swing seat 820. The shock absorbing buffer plate 900 plays a role in buffering and shock absorption, further improving the service life of the driving gear box 230 and the mounting plate 310. In one embodiment, the shock absorbing buffer plate 900 is a silicone plate.

[0055] Furthermore, if Figure 2 and Figure 6 As shown, in one embodiment, the shock-absorbing buffer plate 900 includes a main shock-absorbing portion 910 and two auxiliary shock-absorbing portions 920 respectively connected to the two ends of the main shock-absorbing portion 910, and the thickness of each auxiliary shock-absorbing portion 920 gradually decreases from the connection between the auxiliary shock-absorbing portion 920 and the main shock-absorbing portion 910 to the end away from the main shock-absorbing portion 910. In this embodiment, when the running steering wheel 400 travels on an uneven ground, the driving gear box 230 swings left and right during the driving process, and the driving gear box 230 will first collide with the main shock absorber 910, which has a larger shock absorption force. Then, the two sides of the driving gear box 230 collide with the auxiliary shock absorber 920 when swinging left and right. Since the thickness of the auxiliary shock absorber 920 gradually decreases from the connection between the auxiliary shock absorber 920 and the main shock absorber 910 to the end away from the main shock absorber 910, the shock absorption force gradually weakens from the main shock absorber 910 to the auxiliary shock absorber 920, which prevents the auxiliary shock absorber 920 from having an excessively large shock absorption force when the running steering wheel 400 is turning, and avoids the large shock absorption force of the shock absorbing buffer plate 900 causing the running steering wheel 400 to be obstructed from turning. Further, in one of the embodiments, the auxiliary shock absorber 920 is in an arc structure.

[0056] Further, in one of the embodiments, the outer surface of each auxiliary shock absorbing part 920 is provided with a plurality of grooves (not shown in the figure), and the side of the auxiliary shock absorbing part 920 provided with the grooves is used to contact with the driving gear box 230 when swinging left and right. In this embodiment, when the driving gear box 230 swings left and right, the edge of the box body of the driving gear box 230 directly contacts the auxiliary shock absorbing part 920. Since the edge of the box body is relatively sharp, if the outer surface of the auxiliary shock absorbing part 920 is too smooth, the contact area between the edge of the box body of the driving gear box 230 and the auxiliary shock absorbing part 920 is small, which easily causes the auxiliary shock absorbing part 920 to be punctured, thereby affecting the shock absorbing effect of the shock absorbing buffer plate 900. The outer surface of the auxiliary shock absorbing part 920 is provided with a plurality of grooves, so that the outer surface of the auxiliary shock absorbing part 920 is roughened, and the auxiliary shock absorbing part 920 is prevented from being punctured by the edge of the box body of the driving gear box 230, thereby improving the shock absorbing effect of the shock absorbing buffer plate 900. In other embodiments, the outer surface of each auxiliary shock absorbing portion 920 is provided with a plurality of protrusions (not shown).

[0057] Please also read Figure 2 , Figure 6 and Figure 7 In one embodiment, the design of the shock absorbing and buffering plate 900 includes the following specific processes:

[0058] S110, the damping buffer plate 900 is flatly arranged on one side facing the mounting plate 310. It can be understood that the flatly arranged side of the damping buffer plate 900 ensures the adaptability of the damping buffer plate 900 to be installed on the mounting plate 310, so that the damping buffer plate 900 and the mounting plate 310 are tightly fitted and installed.

[0059] S120 , a main shock absorbing portion 910 is formed on a surface of the shock absorbing buffer plate 900 facing the driving gear box 230 .

[0060] S130 , the main shock absorbing portion 910 of the shock absorbing buffer plate 900 facing the driving gear box 230 extends to both ends to form a secondary shock absorbing portion 920 .

[0061] S140, the connection between the two auxiliary shock absorbing parts 920 extending in the direction of the main shock absorbing part 910 forms an arc transition part (not shown). It can be understood that the arc transition part ensures that when the driving gear box 230 swings left and right, the driving gear box 230 collides with the main shock absorbing part 910 and then gradually buffers and absorbs shock along the arc transition part toward the auxiliary shock absorbing part 920, thereby ensuring a good shock absorption effect.

[0062] S150. The outer surfaces of the two auxiliary shock absorbing parts 920 are provided with a plurality of grooves or a plurality of protrusions.

[0063] Furthermore, if Figure 2 , Figure 3 and Figure 8As shown, in one embodiment, the first clamping groove 930 is provided on the side of the shock absorbing and buffering plate 900 facing the encoder 250, and the first clamping groove 930 is engaged with the outer peripheral wall of the encoder 250. Further, the second clamping groove 940 is provided on the side of the shock absorbing and buffering plate 900 facing the central rotary joint 100, and the second clamping groove 940 is engaged with the part of the central rotary joint 100 protruding from the rotary hole 311 of the mounting plate 310. In this embodiment, the first clamping groove 930 and the second clamping groove 940 of the shock absorbing and buffering plate 900 are respectively engaged with the encoder 250 and the central rotary joint 100, ensuring the firmness of the shock absorbing and buffering plate 900 fixedly mounted on the mounting plate 310, avoiding the situation that the driving gear box 230 collides with the shock absorbing and buffering plate 900 and becomes loose when the steering wheel 400 is running straight or turning, thereby improving the shock absorbing and buffering effect of the shock absorbing and buffering plate 900.

[0064] The present disclosure also provides a heavy-load AGV, comprising the hydraulic drive device 10 described in any one of the above embodiments.

[0065] Compared with the prior art, the present invention has at least the following advantages:

[0066] 1) In the hydraulic drive device 10 disclosed in the present invention, since the encoder 250 is arranged on the output shaft 211 of the hydraulic motor 210, the encoder 250 collects the driving speed of the output shaft 211 of the hydraulic motor 210, calculates the rotation speed and displacement of the running steering wheel 400 according to the driving speed, and realizes the real-time feedback of the position and rotation speed of the running steering wheel 400 by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil by the central rotary joint 100 according to the information feedback of the encoder 250, thereby realizing the rapid response of the hydraulic drive; and since the input end of the central rotary joint 100 is connected to the external oil tank, The two ends of the balancing valve 220 are respectively connected to the oil inlet and outlet of the hydraulic motor 210. The hydraulic oil is input into the center swivel joint 100 through an external oil tank, and the output end of the center swivel joint 100 is connected to the oil filling end of the balancing valve 220, ensuring that the balancing valve 220 can adjust the hydraulic oil in and out of the hydraulic motor 210 in real time, and control the braking force of the running steering wheel 400 by adjusting the inlet and outlet oil pressure of the hydraulic oil. The setting of the balancing valve 220 ensures that the braking inertia of the running steering wheel 400 is small, the braking distance is short and the sensitivity is good, thereby improving the hydraulic drive response effect of the running steering wheel 400.

[0067] 2) The hydraulic drive device 10 disclosed in the present invention, since the driving end of the hydraulic motor 210 is meshedly connected to the power input end of the driving gear box 230, and the power output end of the driving gear box 230 is meshedly connected to the running shaft 240, compared with other transmission methods such as chain transmission, the transmission method through gear meshing can more effectively transmit power, thereby improving the transmission efficiency from the hydraulic motor 210 to the running shaft 240, ensuring that the running steering wheel 400 can move at a suitable speed, and since the two ends of the balance valve 220 are respectively connected to the oil inlet and oil outlet of the hydraulic motor 210, the output end of the center swivel joint 100 is connected to the oil filling end of the balance valve 220 to control the hydraulic oil inlet and outlet of the hydraulic motor 210, ensuring that the balance valve 220 can effectively control the flow and pressure of the hydraulic oil, ensuring the stable operation of the hydraulic motor 210, thereby effectively improving the transmission efficiency of the hydraulic motor 210.

[0068] The above-mentioned embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the patent of the present disclosure shall be subject to the attached claims.

Claims

1. A hydraulic drive device, comprising a central swivel joint, a hydraulic transmission assembly, a support swivel assembly and two operating steering wheels, wherein the support swivel assembly comprises a mounting plate and a steering support gear, wherein the steering support gear is connected to the mounting plate, and the central swivel joint is fixedly connected to the mounting plate, characterized in that: The hydraulic transmission assembly includes a hydraulic motor, a balancing valve, a driving gear box, a running shaft and an encoder. The running shaft is rotatably arranged through two opposite side walls of the driving gear box, and the two running steering wheels are respectively connected to the two ends of the running shaft; the driving gear box is movably connected to the mounting plate, the hydraulic motor is arranged on the driving gear box, the driving end of the hydraulic motor is meshedly connected to the power input end of the driving gear box, and the power output end of the driving gear box is meshedly connected to the running shaft, so that the running steering wheels rotate; The balancing valve is arranged on the hydraulic motor, and the two ends of the balancing valve are respectively connected to the oil inlet and oil outlet of the hydraulic motor, the input end of the center swivel joint is used to connect to an external oil tank, and the output end of the center swivel joint is connected to the oil filling end of the balancing valve to control the hydraulic oil in and out of the hydraulic motor; the encoder is arranged on the output shaft of the hydraulic motor, the signal acquisition end of the encoder is connected to the output shaft, the signal output end of the encoder is used to connect to the input end of the control system, and the output end of the control system is also used to connect to the center swivel joint to monitor the rotation speed and displacement of the running steering wheel.

2. The hydraulic drive device according to claim 1, characterized in that: The output shaft sleeve is provided with a driving gear, and the driving gear box includes a first driven gear and a second driven gear, the first driven gear and the second driven gear are both rotatably arranged in the driving gear box, the driving gear is meshedly connected to the first driven gear, the first driven gear is meshedly connected to the second driven gear, and the second driven gear is used to drive the running steering wheel to rotate.

3. The hydraulic drive device according to claim 2, characterized in that: The hydraulic drive device also includes a bevel gear set, which includes a first bevel gear and a second bevel gear that are meshed with each other. The driving gear box also includes a first rotating shaft and a second rotating shaft. The first rotating shaft and the second rotating shaft are rotatably arranged in the driving gear box in sequence. The first driven gear is sleeved on the first rotating shaft, the second driven gear is sleeved on one end of the second rotating shaft, and the first bevel gear is sleeved on the other end of the second rotating shaft. The second bevel gear is sleeved on the running shaft to make the running steering wheel rotate and travel.

4. The hydraulic drive device according to claim 2, characterized in that: The reduction ratio of the driving gear to the first driven gear is 1.3 to 1.

4.

5. The hydraulic drive device according to claim 2, characterized in that: A reduction ratio between the first driven gear and the second driven gear is 3.5 to 4.

6. The hydraulic drive device according to claim 1, characterized in that: The hydraulic drive device also includes a steering motor and a steering reducer, wherein the steering motor is arranged on the mounting plate, wherein the steering reducer is an L-shaped structure, the driving end of the steering motor is connected to the power input end of the steering reducer, and the power output end of the steering reducer is meshedly connected to the steering support gear so that the steering motor drives the running steering wheel to steer.

7. The hydraulic drive device according to claim 6, characterized in that: The reduction ratio between the power output end of the steering reducer and the steering support gear is 6 to 6.

5.

8. The hydraulic drive device according to claim 1, characterized in that: The hydraulic drive device also includes two bearings and two swing seats, each of which is arranged on the mounting plate facing the running steering wheel, and each of the swing seats is sleeved with a bearing in the mounting hole. A swing shaft is provided at both ends of the driving gear box, and each of the swing shafts is movably arranged in each of the bearings in a one-to-one correspondence to enable the running steering wheel to swing left and right.

9. The hydraulic drive device according to claim 1, characterized in that: The balancing valve and the hydraulic motor are integrally formed; and / or, The hydraulic drive device further comprises a shock absorbing buffer plate, which is arranged at the bottom of the mounting plate towards the driving gear box and is used to prevent the driving gear box from colliding with the mounting plate when swinging.

10. A heavy-load AGV, characterized in that: The invention comprises the hydraulic drive device according to any one of claims 1 to 9.

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