Outdoor heavy-load AGV chassis with lifting function

Abstract

The invention belongs to the technical field of heavy-load mobile robots, and particularly relates to an outdoor heavy-load AGV chassis with a lifting function, which comprises a frame main body, a rotary lifting driving module, a driving wheel module, a hydraulic station and an electric control cabinet. The hydraulic station and the electric control cabinet are respectively arranged on the frame main body, the front part and the rear part of the lower side of the frame main body are respectively provided with a rotary lifting driving module, and each rotary lifting driving module is correspondingly connected with two driving wheel modules. Each rotary lifting driving module comprises a transition barrel, a rotary speed reducer, a hydraulic motor, a rotary support, an upper rotary frame body, a lower swing shell, a lifting oil cylinder, a hydraulic valve group and an energy accumulator A; reliable moving and steering functions of the AGV can be effectively achieved, the self-lifting function of the AGV chassis can be achieved, the AGV chassis lifting mechanism is particularly suitable for transfer work of a goods yard, the overall structure can be more effectively suitable for heavy-load high-speed carrying working conditions, the bearing capacity is large, the service life is long, and maintenance is easy.

Description

Technical Field

[0001] The invention belongs to the technical field of heavy-load mobile robots, in particular to an outdoor heavy-load AGV chassis with a lifting function. Background Art

[0002] With the transformation and upgrading of the manufacturing industry, the demand for heavy cargo handling has increased significantly, requiring handling equipment to have high load capacity, high efficiency, and high safety. Self-loading and unloading outdoor heavy-duty AGVs have emerged. This type of AGV is usually used in logistics, construction, ports, mines and other scenarios that require large amounts of material transportation. Their design needs to consider a variety of factors to ensure efficient and safe operation in complex and changing outdoor environments.

[0003] Currently, most heavy-duty AGV chassis on the market use automobile bridge-type chassis. Most of these chassis do not have a lifting function, which has certain limitations in some freight yard transshipment situations. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide an outdoor heavy-duty AGV chassis with a built-in lifting function.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] An outdoor heavy-duty AGV chassis with a built-in lifting function, including a frame body, a rotary lifting drive module, a driving wheel module, a hydraulic station, and an electric control cabinet;

[0007] The hydraulic station and the electric control cabinet are respectively arranged on the frame body, the electric control cabinet is provided with a main controller, the hydraulic station is controlled by the main controller, and the lower front part and the lower rear part of the frame body are respectively provided with a rotary lifting drive module;

[0008] Each of the rotary lifting drive modules includes a transition cylinder, a rotary reducer, a hydraulic motor, a rotary bearing, an upper rotary frame, a lower swing housing, a lifting oil cylinder, a hydraulic valve group, and an accumulator A. The top of the transition cylinder of each of the rotary lifting drive modules is respectively fixedly connected to the frame body, the housing of the rotary reducer of each of the rotary lifting drive modules is respectively installed in the transition cylinder of the same rotary lifting drive module, the housing of the hydraulic motor of each of the rotary lifting drive modules is respectively fixedly connected to the housing of the corresponding rotary reducer of the same rotary lifting drive module, and the driving end of the hydraulic motor of each of the rotary lifting drive modules is respectively fixedly connected to the housing of the corresponding rotary reducer of the same rotary lifting drive module. The input end of the speed reducer is connected, a driving gear is provided on the output end of the rotary reducer of each rotary lifting drive module, the outer ring of the rotary bearing of each rotary lifting drive module is fixedly connected to the bottom of the transition tube of the same rotary lifting drive module, the inner gear ring of the rotary bearing of each rotary lifting drive module is respectively meshed with the driving gears connected to the rotary reducers of the same rotary lifting drive module, the inner gear ring of the rotary bearing of each rotary lifting drive module is respectively fixedly connected to the top surface of the upper rotary frame of the same rotary lifting drive module, one end of the upper rotary frame of each rotary lifting drive module forms an articulated seat A, and the upper rotary frame of each rotary lifting drive module The other end of the body forms an articulated seat B, the articulated seat A of the upper slewing frame of each of the slewing lifting drive modules is hinged to one end of the lower swing housing of the same slewing lifting drive module, the other end of the lower swing housing of each of the slewing lifting drive modules is hinged to the cylinder rod of the lifting cylinder of the same slewing lifting drive module, the cylinder body of the lifting cylinder of each of the slewing lifting drive modules is hinged to the articulated seat B of the upper slewing frame of the same slewing lifting drive module, the left and right sides of the lower swing housing of each of the slewing lifting drive modules are respectively provided with a driving wheel module, and each hydraulic motor and lifting cylinder of each of the slewing lifting drive modules are respectively connected to the hydraulic The pressure valve group is connected by a pipeline, the hydraulic valve groups of the two rotary lifting drive modules are respectively connected to the hydraulic station through pipelines, the hydraulic valve groups of the two rotary lifting drive modules are respectively controlled by the main controller, the accumulator A of each rotary lifting drive module is respectively connected to the hydraulic valve group of the same rotary lifting drive module through a pipeline, the hydraulic valve group of each rotary lifting drive module is used to control the action of the hydraulic motor of the same rotary lifting drive module, and the hydraulic valve group of each rotary lifting drive module is also used to control the rodless chamber of the lifting cylinder of the same rotary lifting drive module to be connected to the accumulator A of the same rotary lifting drive module or to the hydraulic station.

[0009] A stroke sensor is respectively arranged on each of the lifting cylinders, and all of the stroke sensors are respectively connected to communicate with the main controller.

[0010] A limit stopper is provided on the lower swing housing of each rotary lifting drive module.

[0011] The accumulator A of each of the rotary lifting drive modules is respectively installed on the upper rotary frame of the same rotary lifting drive module, and the hydraulic valve group of each of the rotary lifting drive modules is provided with a pressure sensor for detecting the hydraulic oil pressure in the rodless chamber of the lifting cylinder of the same rotary lifting drive module, and all of the pressure sensors are respectively connected to communicate with the main controller.

[0012] An accumulator B is provided on the pipeline connecting each hydraulic motor of each rotary lifting drive module and the hydraulic valve group of the same rotary lifting drive module, and each accumulator B is respectively arranged in the transition cylinder of the adjacent rotary lifting drive module.

[0013] Each of the driving wheel modules comprises a support assembly, a driving motor, a primary reducer, a wheel-side reducer, a wet hydraulic brake, an adapter sleeve, a wheel rim and a vacuum tire, and the support assembly of each of the driving wheel modules is used to connect with the lower swing housing of the corresponding rotary lifting driving module;

[0014] The housing of the primary reducer of each driving wheel module is connected to the support assembly of the same driving wheel module, the housing of the driving motor of each driving wheel module is fixedly connected to the housing of the primary reducer of the same driving wheel module, the driving end of the driving motor of each driving wheel module is connected to the input shaft of the primary reducer of the same driving wheel module, and the driving motor of each driving wheel module is controlled by the main controller;

[0015] Each of the wet hydraulic brakes of the driving wheel module has a brake fixing portion and a brake moving end, the brake fixing portion of each of the wet hydraulic brakes of the driving wheel module is connected to the support assembly of the same driving wheel module, the wet hydraulic brakes of each of the driving wheel modules are provided with hydraulic oil by the hydraulic station and controlled by the main controller, and the brake moving end of each of the wet hydraulic brakes of the driving wheel module is connected to the adapter sleeve of the same driving wheel module;

[0016] The wheel-side reducer of each driving wheel module has a power input end, a fixed connection flange part and an output rotating flange part. The power input end of the wheel-side reducer of each driving wheel module is connected to the output shaft of the first-stage reducer of the same driving wheel module through a universal joint transmission shaft. The fixed connection flange part of the wheel-side reducer of each driving wheel module is connected to the support assembly of the same driving wheel module. The output rotating flange part of the wheel-side reducer of each driving wheel module is respectively connected to the rim and adapter sleeve of the same driving wheel module. The vacuum tire of each driving wheel module is arranged on the outer periphery of the rim of the same driving wheel module.

[0017] A circulating water cooling radiator is installed on the upper rotating frame of each rotating lifting drive module;

[0018] The driving motor of each driving wheel module adopts a water-cooled motor, and each driving motor of the driving wheel module has a motor water-cooling interface;

[0019] The primary reducer of each of the driving wheel modules adopts a water-cooled reducer, and each of the primary reducers of the driving wheel modules has a primary reducer water-cooling interface;

[0020] The motor water cooling interfaces of all the driving motors of the two driving wheel modules corresponding to each of the rotary lifting drive modules are respectively connected to the circulating water cooling radiator on the upper rotary frame of the rotary lifting drive module through pipelines, and the first-stage reducer water cooling interfaces of all the first-stage reducers of the two driving wheel modules corresponding to each of the rotary lifting drive modules are respectively connected to the circulating water cooling radiator on the upper rotary frame of the rotary lifting drive module through pipelines.

[0021] The support assembly of each driving wheel module includes a hollow support sleeve, an outer connecting plate, and an inner connecting plate;

[0022] The interior of the hollow support sleeve of each support assembly forms a hollow channel for the universal joint drive shaft to pass through, and the axial ends of the hollow support sleeve of each support assembly respectively form openings connected to the hollow channel of the hollow support sleeve, and one axial end of the hollow support sleeve of each support assembly extends toward the periphery to sequentially form an annular mounting convex edge A and an annular mounting convex edge B arranged in a stepped manner from the inside to the outside, and the annular mounting convex edge A of the hollow support sleeve of each support assembly is fixedly connected to the brake fixing part of the wet hydraulic brake of the same driving wheel module through screws, and the annular mounting convex edge B of the hollow support sleeve of each support assembly is directly used to connect with the corresponding lower swing housing of the rotary lifting drive module, and the end surface of the other axial end of the hollow support sleeve of each support assembly is uniformly provided with threaded holes A along the circumferential direction;

[0023] The outer connecting plate of each support assembly is divided into a central tube sleeve portion and an annular mounting convex edge C connected together. The inner part of the central tube sleeve portion of each support assembly is hollow. The annular mounting convex edge C of the outer connecting plate of each support assembly is located at the outer periphery of the central tube sleeve portion of the outer connecting plate. The annular mounting convex edge C of the outer connecting plate of each support assembly is connected to the fixed connecting flange portion of the wheel side reducer of the same driving wheel module through screws. The end surface of the central tube sleeve portion of each support assembly at one end away from the driving motor of the same driving wheel module is uniformly provided with threaded holes B along the circumferential direction.

[0024] The interior of the inner connecting disk of each support component is hollow, and screw through holes A are respectively opened on the inner connecting disk of each support component at positions corresponding to each threaded hole A on the hollow supporting sleeve of the same support component, and screw through holes B are respectively opened on the inner connecting disk of each support component at positions corresponding to each threaded hole B on the outer connecting disk of the same support component, each of the screw through holes A is penetrated by a fixing screw A, and each of the fixing screws A is respectively connected to the corresponding threaded hole A through threads, and each of the screw through holes B is penetrated by a fixing screw B, and each of the fixing screws B is respectively connected to the corresponding threaded hole B through threads.

[0025] The three-axis direction of the locking cam is defined as follows: The locking cam of the locking cam is defined as follows: a first locking cam of the locking cam and a second locking cam of the locking cam. The locking cam of the locking cam is defined as follows: a first locking cam of the locking cam and a second locking cam of the locking cam. The first locking cam of the locking cam is defined as follows:

[0026] An inner connecting disk embedding groove matching the outer circumferential shape of the inner connecting disk of the same supporting assembly is formed on a side surface of the outer connecting disk of the whole of each supporting assembly which is away from the driving motor of the same driving wheel module. The other axial end of the hollow supporting sleeve of each supporting assembly extends toward the outer circumference to form an outer spline surface portion. An inner spline surface portion which cooperates with the outer spline surface portion of the hollow supporting sleeve of the same supporting assembly is formed on the inner circumferential surface of the central tube sleeve portion of the outer connecting disk of each supporting assembly.

[0027] The advantages and positive effects of the present invention are:

[0028] The present invention can effectively realize the reliable movement and steering functions of the AGV through the coordinated arrangement of the rotary lifting drive module and the driving wheel module, and can realize the self-lifting function of the AGV chassis, and thus can be suitable for self-loading and unloading of goods, and is particularly suitable for transshipment work in cargo yards. The overall structure can be more effectively applied to heavy-load and high-speed handling conditions, has a large bearing capacity, a long service life, and is simple and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2This is one of the schematic diagrams of the configuration structure of the rotary lifting drive module and the drive wheel module of the present invention;

[0031] Figure 3 The second schematic diagram of the configuration structure of the rotary lifting drive module and the drive wheel module of the present invention;

[0032] Figure 4 is a half-sectioned three-dimensional structural schematic diagram of a driving wheel module of the present invention;

[0033] Figure 5 is a schematic cross-sectional structural diagram of a driving wheel module of the present invention;

[0034] Figure 6 It is a three-dimensional structural schematic diagram of the wheel-side reducer of the present invention;

[0035] Figure 7 It is a side structural schematic diagram of the wheel-side reducer of the present invention;

[0036] Figure 8 It is a three-dimensional structural schematic diagram of the wet hydraulic brake of the present invention;

[0037] Fig. 9 It is a side structural schematic diagram of the wet hydraulic brake of the present invention;

[0038] Fig.10 It is a schematic diagram of the split structure of the support assembly of the present invention in a half-cut state;

[0039] Fig.11 It is a schematic diagram of the three-dimensional structure of the hollow support sleeve of the present invention;

[0040] Fig.12 It is a schematic diagram of the axial structure of the hollow support sleeve of the present invention;

[0041] Fig.13 This is one of the three-dimensional structural schematic diagrams of the external connection plate of the present invention;

[0042] Fig.14 The second schematic diagram of the three-dimensional structure of the external connection plate of the present invention;

[0043] Fig.15 It is a schematic diagram of the three-dimensional structure of the inner connecting disk of the present invention;

[0044] Fig.16 It is a schematic diagram of the axial structure of the inner connecting disk of the present invention.

[0045] In the figure: 1 is the frame body, 2 is the rotary lifting drive module, 3 is the driving wheel module; 4 is the transition cylinder, 5 is the rotary reducer, 6 is the hydraulic motor, 7 is the rotary bearing, 8 is the upper rotary frame, 9 is the lower swing housing, 10 is the lifting cylinder, 11 is the hydraulic valve group, 12 is the accumulator A, 13 is the limit stopper, 14 is the pressure sensor, and 15 is the accumulator B;

[0046] 16 is a driving motor, 1601 is a motor water cooling interface, 17 is a primary reducer, 1701 is a primary reducer water cooling interface, 18 is a wheel reducer, 1801 is a fixed connection flange, 1802 is an output rotating flange, 19 is a wet hydraulic brake, 1901 is a brake fixing part, 1902 is a brake moving end, 20 is an adapter sleeve, 21 is a wheel rim, 22 is a vacuum tire, and 23 is a universal joint transmission shaft;

[0047] 24 is a support assembly, 2401 is a hollow support sleeve, 24011 is an annular mounting flange A, 24012 is an annular mounting flange B, 24013 is a threaded hole A, 24014 is a positioning clamping inner flange, 24015 is an outer spline surface, 2402 is an outer connecting plate, 24021 is a center pipe sleeve, 24022 is an annular mounting flange C, 24023 is a threaded hole B, 24024 is an inner spline surface, 2403 is an inner connecting plate, 24031 is a screw through hole A, 24032 is a screw through hole B, 24033 is an annular clamping flange, and 24034 is a positioning clamping tooth;

[0048] 25 is a circulating water cooling radiator. DETAILED DESCRIPTION

[0049] The following is combined with Figure 1-16 The present invention is further described in detail.

[0050] An outdoor heavy-duty AGV chassis with built-in lifting function, such as Figure 1-16 As shown, in this embodiment, the frame body 1, the rotary lifting drive module 2, the drive wheel module 3, the hydraulic station, and the electric control cabinet are included. The side shape of the frame body 1 in this embodiment is a trapezoid. The frame body 1 with a trapezoidal design can reduce the weight of the vehicle body as much as possible while ensuring the strength and rigidity requirements. The frame body 1 can be further provided with a guide limit structure for ensuring that the goods are safely fixed on the vehicle during transportation to ensure that the goods are smoothly placed in place.

[0051] The hydraulic station and the electric control cabinet are respectively arranged on the frame body 1. The main controller is arranged in the electric control cabinet. The hydraulic station is controlled by the main controller. A rotary lifting drive module 2 is respectively arranged at the lower front part and the lower rear part of the frame body 1. The frame body 1 in this embodiment can also be provided with a high-voltage battery pack and a navigation system. The high-voltage battery pack is used to directly provide electrical energy for the entire AGV. The navigation system is connected to the main controller for communication and is used for navigation of the AGV. The specific structures of the high-voltage battery pack and the navigation system all adopt existing technologies. The hydraulic station, the electric control cabinet, the high-voltage battery pack and the navigation system can all adopt a modular design and be connected to the frame body 1 by bolts for easy replacement and maintenance.

[0052] Each rotary lifting drive module 2 includes a transition tube 4, a rotary reducer 5, a hydraulic motor 6, a rotary bearing 7, an upper rotary frame 8, a lower swing shell 9, a lifting cylinder 10, a hydraulic valve group 11, and an accumulator A12. The top of the transition tube 4 of each rotary lifting drive module 2 is respectively fixed to the frame body 1, and the outer shell of the rotary reducer 5 of each rotary lifting drive module 2 is respectively installed in the transition tube 4 of the same rotary lifting drive module 2. The outer shell of the hydraulic motor 6 of each rotary lifting drive module 2 is respectively fixed to the outer shell of the corresponding rotary reducer 5 of the same rotary lifting drive module 2. The driving end of the hydraulic motor 6 of each rotary lifting drive module 2 is respectively fixed to the corresponding rotary reducer 5 of the same rotary lifting drive module 2. The input end of the rotary reducer 5 of each rotary lifting drive module 2 is connected, and a driving gear is provided on the output end of the rotary reducer 5 of each rotary lifting drive module 2. The outer ring of the rotary bearing 7 of each rotary lifting drive module 2 is fixedly connected to the bottom of the transition tube 4 of the same rotary lifting drive module 2. The inner gear ring of the rotary bearing 7 of each rotary lifting drive module 2 is respectively meshed with the driving gear connected to each rotary reducer 5 of the same rotary lifting drive module 2. The inner gear ring of the rotary bearing 7 of each rotary lifting drive module 2 is respectively fixedly connected to the top surface of the upper rotary frame 8 of the same rotary lifting drive module 2. One end of the upper rotary frame 8 of each rotary lifting drive module 2 forms an articulated seat A, and the other end of the upper rotary frame 8 of each rotary lifting drive module 2 forms an articulated seat B, the hinged seat A of the upper rotating frame 8 of each rotary lifting drive module 2 is hinged to one end of the lower swing shell 9 of the same rotary lifting drive module 2, the other end of the lower swing shell 9 of each rotary lifting drive module 2 is hinged to the cylinder rod of the lifting cylinder 10 of the same rotary lifting drive module 2, the cylinder body of the lifting cylinder 10 of each rotary lifting drive module 2 is hinged to the hinged seat B of the upper rotating frame 8 of the same rotary lifting drive module 2, and a driving wheel module 3 is respectively provided on the left and right sides of the lower swing shell 9 of each rotary lifting drive module 2, and each hydraulic motor 6 and lifting cylinder 10 of each rotary lifting drive module 2 are respectively connected to the hydraulic valve group 11 of the same rotary lifting drive module 2 through pipelines, and the two rotary The hydraulic valve groups 11 of the lifting drive modules 2 are respectively connected to the hydraulic station through pipelines, and the hydraulic valve groups 11 of the two rotary lifting drive modules 2 are respectively controlled by the main controller. The accumulator A12 of each rotary lifting drive module 2 is respectively connected to the hydraulic valve group 11 of the same rotary lifting drive module 2 through pipelines. The hydraulic valve group 11 of each rotary lifting drive module 2 is used to control the action of the hydraulic motor 6 of the same rotary lifting drive module 2. The hydraulic valve group 11 of each rotary lifting drive module 2 is also used to control the rodless chamber of the lifting cylinder 10 of the same rotary lifting drive module 2 to be connected to the accumulator A12 of the same rotary lifting drive module 2 or to the hydraulic station, and to control the extension and retraction action of the corresponding lifting cylinder 10.In this embodiment, the rotary reducer 5, hydraulic motor 6, rotary bearing 7, and lifting cylinder 10 are all commercially available products. The rotary bearing 7 of each rotary lifting drive module 2 is driven by two sets of cooperatively arranged rotary reducers 5 and hydraulic motors 6, and the axis of the rotary bearing 7 is perpendicular to the horizontal plane. The hydraulic motor 6 is controlled to operate, driving the inner gear ring of the rotary bearing 7 to rotate, thereby causing the upper rotary frame 8 to drive the lower swing housing 9 provided with the driving wheel module 3 to rotate as a whole. The upper rotary frame 8, the lower swing housing 9, and the lifting cylinder 10 of each rotary lifting drive module 2 form a triangular mechanism with a simple and reliable structure. The specific structure of the hydraulic valve group 11 in this embodiment adopts the existing technology.

[0053] When the AGV chassis is in the walking state, the main controller controls the hydraulic valve group 11 to connect the accumulator A12 with the rodless chamber of the lifting cylinder 10 to form an oil-gas spring structure, which can effectively reduce the impact of ground impact on the vehicle body and cargo. When the AGV chassis is in the walking mode and in a stationary state, the rodless chamber of the lifting cylinder 10 is connected to the hydraulic station, and the main controller can control the hydraulic valve group 11 to make the lifting cylinder 10 extend and retract, thereby realizing the lifting function of the AGV chassis.

[0054] Specifically, in the present embodiment, each lifting cylinder 10 is provided with a stroke sensor, and all the stroke sensors are connected and communicated with the main controller to reliably detect the extension and retraction state of the lifting cylinder 10. The stroke sensor adopts a commercially available product. In the present embodiment, a limit stopper 13 is provided on the lower swing housing 9 of each rotary lifting drive module 2. The limit stopper 13 can be made of rubber or nylon. The setting of the limit stopper 13 is used to prevent the lifting cylinder 10 from over-contracting when the impact is large. At this time, the limit stopper 13 can be blocked between the lower swing housing 9 and the upper rotary frame 8 to avoid damage to the lifting cylinder 10.

[0055] In this embodiment, the accumulator A12 of each rotary lifting drive module 2 is respectively installed on the upper rotary frame 8 of the same rotary lifting drive module 2, and the hydraulic valve group 11 of each rotary lifting drive module 2 is provided with a pressure sensor 14 for detecting the hydraulic oil pressure in the rodless cavity of the lifting cylinder 10 of the same rotary lifting drive module 2, and all pressure sensors 14 are respectively connected to the main controller for communication. The pressure sensor 14 is a commercially available product. Through the setting of the pressure sensor 14, the pressure value of the rodless cavity end of the lifting cylinder 10 can be read, and the weight of the load can be calculated according to the cylinder pressure.

[0056] In this embodiment, an accumulator B15 is provided on the pipeline connecting each hydraulic motor 6 of each rotary lifting drive module 2 and the hydraulic valve group 11 of the same rotary lifting drive module 2, and each accumulator B15 is respectively arranged in the transition tube 4 of the adjacent rotary lifting drive module 2. By providing the accumulator B15, the response of the hydraulic motor 6 can be effectively improved. In this embodiment, the above-mentioned accumulator A12 and accumulator B15 are both commercially available products, and the arrangement method also adopts the existing technology.

[0057] Specifically, if Figure 4-16 As shown, in this embodiment, each driving wheel module 3 includes a support assembly 24, a driving motor 16, a primary reducer 17, a wheel-side reducer 18, a wet hydraulic brake 19, an adapter sleeve 20, a rim 21 and a vacuum tire 22. The support assembly 24 of each driving wheel module 3 is used to connect with the lower swing shell 9 of the corresponding rotary lifting driving module 2.

[0058] The housing of the primary reducer 17 of each driving wheel module 3 is connected to the support assembly 24 of the same driving wheel module 3, the housing of the driving motor 16 of each driving wheel module 3 is fixedly connected to the housing of the primary reducer 17 of the same driving wheel module 3, and the driving end of the driving motor 16 of each driving wheel module 3 is connected to the input shaft of the primary reducer 17 of the same driving wheel module 3. The driving motor 16 serves as the power source of the driving wheel module 3, and its operation is controlled by the main controller of the AGV. In this embodiment, each rotary lifting driving module 2 is connected to two driving wheel modules 3, and the driving motors 16 of the two adjacent driving wheel modules 3 are respectively located inside the lower swing housing 9 of the corresponding rotary lifting driving module 2, and the lower swing housing 9 can provide reliable protection for the driving motor 16.

[0059] The wet hydraulic brake 19 of each driving wheel module 3 has a brake fixing part 1901 and a brake moving end 1902. The brake fixing part 1901 of each driving wheel module 3 is connected to the support assembly 24 of the same driving wheel module 3. The wet hydraulic brake 19 of each driving wheel module 3 is provided with hydraulic oil by the hydraulic station and can also be further controlled by the main controller through the hydraulic valve group 11. The brake moving end 1902 of each driving wheel module 3 is connected to the adapter sleeve 20 of the same driving wheel module 3. The brake moving end 1902 of the wet hydraulic brake 19 can rotate relative to the brake fixing part 1901 of the wet hydraulic brake 19 at ordinary times.

[0060] The wheel-side reducer 18 of each driving wheel module 3 has a power input end, a fixed connection flange portion 1801 and an output rotation flange portion 1802. The power input end of the wheel-side reducer 18 of each driving wheel module 3 is connected to the output shaft of the primary reducer 17 of the same driving wheel module 3 through a universal joint transmission shaft 23. The fixed connection flange portion 1801 of the wheel-side reducer 18 of each driving wheel module 3 is connected to the support assembly 24 of the same driving wheel module 3. The output rotation flange portion 1802 of the wheel-side reducer 18 of each driving wheel module 3 is respectively connected to the rim 21 and the adapter sleeve 20 of the same driving wheel module 3. The vacuum tire 22 of each driving wheel module 3 is arranged on the periphery of the rim 21 of the same driving wheel module 3. The above-mentioned wheel-side reducer 18 in this embodiment adopts a commercially available product, and the structures of the rim 21 and the vacuum tire 22 respectively adopt the existing technology.

[0061] In this embodiment, the axial center line of the drive motor 16, the axial center line of the primary reducer 17, the axial center line of the wheel reducer 18, the axial center line of the wet hydraulic brake 19 and the axial center line of the adapter sleeve 20 are all collinear. In this embodiment, the output rotating flange 1802 of the wheel reducer 18 is connected to two rims 21, and the two rims 21 are symmetrically arranged with each other. The axial center lines of the two rims 21 are all collinear with the axial center line of the wheel reducer 18, which is convenient for installation and installation. By adopting vacuum tires 22 to replace traditional solid wheel discs, the wheel group adhesion, shock absorption performance, service life, and road protection ability are better than the existing technology, and are more suitable for outdoor paved road conditions.

[0062] The driving motor 16 drives the wheel rim 21 to rotate through the primary reducer 17 and the wheel-side reducer 18, thereby driving the vacuum tire 22 to rotate, so as to realize the movement of the AGV chassis. By controlling the rotation direction and speed of the vacuum tire 22 of different driving wheel modules 3, the steering control of the AGV chassis is realized. When the driving wheel module 3 needs to be braked, the brake moving end 1902 of the wet hydraulic brake 19 is locked and cannot rotate relative to the brake fixing part 1901 of the wet hydraulic brake 19, thereby achieving the function of locking the output rotating flange part 1802 of the wheel-side reducer 18 and the rotation of the connected wheel rim 20. In this embodiment, the above-mentioned wet hydraulic brake 19 adopts a commercially available wet hydraulic brake product with normally closed parking brake and normally open driving brake functions, which has large braking force and long service life. The normally closed parking brake can also replace the execution brake in an emergency.

[0063] In this embodiment, a circulating water cooling radiator 25 is installed on the upper rotating frame 8 of each rotary lifting drive module 2, and the specific structure of the circulating water cooling radiator 25 adopts the existing technology. The driving motor 16 of each driving wheel module 3 is a commercially available high-power water-cooled motor product, and the driving motor 16 of each driving wheel module 3 has a motor water cooling interface 1601. The primary reducer 17 of each driving wheel module 3 adopts a water-cooled reducer of the existing technology, and the primary reducer 17 of each driving wheel module 3 has a primary reducer water cooling interface 1701.

[0064] The motor water cooling interfaces 1601 of all the driving motors 16 of the two driving wheel modules 3 corresponding to each rotary lifting driving module 2 are respectively connected to the circulating water cooling radiator 25 on the upper rotary frame 8 of the rotary lifting driving module 2 through pipelines, and the primary reducer water cooling interfaces 1701 of all the primary reducers 17 of the two driving wheel modules 3 corresponding to each rotary lifting driving module 2 are respectively connected to the circulating water cooling radiator 25 on the upper rotary frame 8 of the rotary lifting driving module 2 through pipelines.

[0065] In this embodiment, the motor water cooling interface 1601 of the drive motor 16 and the first-stage reducer water cooling interface 1701 of the first-stage reducer 17 are respectively connected to the circulating water cooling radiator 25, and the drive motor 16 and the first-stage reducer 17 can be circulated and cooled during use to achieve a reliable heat dissipation effect. In addition, in this embodiment, a two-stage reduction transmission form of a first-stage reducer 17 and a wheel-side reducer 18 is adopted, which can reduce the reduction ratio of the wheel-side reducer 18, so that a relatively simplified and relatively small wheel-side reducer product can be used, effectively ensuring the overall installation space and improving the overall heat dissipation conditions of the transmission mechanism.

[0066] In this embodiment, the support assembly 24 of each driving wheel module 3 includes a hollow support sleeve 2401 , an outer connecting disk 2402 , and an inner connecting disk 2403 .

[0067] A hollow channel is formed inside the hollow support sleeve 2401 of each support assembly 24 for the universal joint transmission shaft 23 to pass through, and openings are formed at both axial ends of the hollow support sleeve 2401 of each support assembly 24 respectively, which are connected to the hollow channel of the hollow support sleeve 2401, and one axial end of the hollow support sleeve 2401 of each support assembly 24 extends toward the periphery to form an annular mounting flange A 24011 and an annular mounting flange B 24012 which are arranged in a stepped manner from the inside to the outside, and the annular mounting flange A 24011 of the hollow support sleeve 2401 of each support assembly 24 is fixedly connected to the brake fixing portion 1901 of the wet hydraulic brake 19 of the same driving wheel module 3 by screws, and the annular mounting flange B 24012 of the hollow support sleeve 2401 of each support assembly 24 is fixedly connected to the brake fixing portion 1901 of the wet hydraulic brake 19 of the same driving wheel module 3 by screws. 24012 is directly used to connect with the corresponding lower swing housing 9 of the rotary lifting drive module 2 through bolts and nuts, and the end surface of the other axial end of the hollow support sleeve 2401 of each support assembly 24 is evenly provided with threaded holes A24013 along the circumferential direction.

[0068] The outer connecting disk 2402 of each support assembly 24 is divided into a central tube sleeve portion 24021 and an annular mounting flange C 24022 which are connected together. The interior of the central tube sleeve portion 24021 of the outer connecting disk 2402 of each support assembly 24 is hollow. The annular mounting flange C 24022 of the outer connecting disk 2402 of each support assembly 24 is located at the outer periphery of the central tube sleeve portion 24021 of the outer connecting disk 2402. The annular mounting flange C 24022 of the outer connecting disk 2402 of each support assembly 24 is connected to the fixed connecting flange portion 1801 of the wheel side reducer 18 of the same driving wheel module 3 through screws. Threaded holes B 24023 are evenly arranged along the circumferential direction on the end face of the central tube sleeve portion 24021 of the outer connecting disk 2402 of each support assembly 24 at one end away from the driving motor 16 of the same driving wheel module 3.

[0069] The interior of the inner connecting disk 2403 of each support component 24 is hollow, and screw through holes A 24031 are respectively opened on the inner connecting disk 2403 of each support component 24 corresponding to each threaded hole A 24013 on the hollow support sleeve 2401 of the same support component 24, and screw through holes B 24032 are respectively opened on the inner connecting disk 2403 of each support component 24 corresponding to each threaded hole B 24023 on the outer connecting disk 2402 of the same support component 24, each screw through hole A 24031 is penetrated by a fixing screw A, and each fixing screw A is respectively connected to the corresponding threaded hole A 24013 by thread, and each screw through hole B 24032 is penetrated by a fixing screw B, and each fixing screw B is respectively connected to the corresponding threaded hole B 24023 by thread.

[0070] The opening of the other axial end of the hollow support sleeve 2401 of each support assembly 24 is extended inwardly to be provided with three positioning clamping inner flanges 24014, and the three positioning clamping inner flanges 24014 of the hollow support sleeve 2401 of each support assembly 24 are evenly arranged along the circumference of the hollow support sleeve 2401, and a clamping tooth passing gap is formed between every two adjacent positioning clamping inner flanges 24014 of each hollow support sleeve 2401, and the inner connection disk 2403 of each support assembly 24 is close to the same drive wheel module. An annular clamping convex edge 24033 is convexly provided at the middle part of one side surface of the driving motor 16 of 3, and three positioning clamping teeth 24034 are evenly arranged on the outer circumferential surface of the annular clamping convex edge 24033 of the inner connecting disk 2403 of each support assembly 24 in the circumferential direction, and the arrangement positions of the three positioning clamping teeth 24034 on the annular clamping convex edge 24033 of the inner connecting disk 2403 of each support assembly 24 correspond to the arrangement positions of the three positioning clamping inner flanges 24014 of the hollow supporting sleeve 2401 of the same support assembly 24.

[0071] An inner connecting disk inlay groove matching the outer circumferential shape of the inner connecting disk 2403 of the same support assembly 24 is formed on the side surface of the outer connecting disk 2402 of the whole of each support assembly 24 away from the drive motor 16 of the same drive wheel module 3, and the other axial end of the hollow support sleeve 2401 of each support assembly 24 extends toward the periphery to form an outer spline surface portion 24015, and an inner spline surface portion 24024 matching and connected to the outer spline surface portion 24015 of the hollow support sleeve 2401 of the same support assembly 24 is formed on the inner circumferential surface of the central tube sleeve portion 24021 of the outer connecting disk 2402 of each support assembly 24.

[0072] When installing the support assembly 24, first make the outer spline surface 24015 of the hollow support sleeve 2401 cooperate with the inner spline surface 24024 of the outer connecting disk 2402; embed the inner connecting disk 2403 into the inner connecting disk inlay groove of the outer connecting disk 2402, and after the three positioning teeth 24034 of the inner connecting disk 2403 pass through the gaps formed between the three positioning clamping inner flanges 24014, rotate the inner connecting disk 2403 so that the three positioning teeth 24034 are aligned and clamped with the three positioning clamping inner flanges 24014 of the hollow support sleeve 2401; then install the fixing screws A and the fixing screws B to achieve reliable connection between the inner connecting disk 2403 and the hollow support sleeve 2401 and the outer connecting disk 2402 respectively. The outer spline surface 24015 of the hollow support sleeve 2401 and the inner spline surface 24024 of the outer connecting disk 2402 are matched to realize reliable radial limiting between the hollow support sleeve 2401 and the outer connecting disk 2402, and can effectively bear the driving torque. After the inner connecting disk 2403 is connected with the hollow support sleeve 2401 and the outer connecting disk 2402, it can limit the hollow support sleeve 2401 and the outer connecting disk 2402 in the axial direction. Through the above structure, even if there are only a few screws left on the inner connecting disk 2403 and they still remain in the state of not falling off, the hollow support sleeve 2401, the outer connecting disk 2402, and the inner connecting disk 2403 can still form a reliable connection and bear radial, axial and torsional loads by relying on the spline and flange tooth structure.

[0073] Working principle:

[0074] When the AGV is working, the inner gear ring of the slewing bearing 7 is driven to rotate by controlling the action of the hydraulic motor 6, and then the upper slewing frame 8 drives the lower swing housing 9 with the driving wheel module 3 to rotate as a whole. By controlling the action of the driving motor 16, the vacuum tire 22 is driven to rotate through the primary reducer 17, the wheel side reducer 18, the rim 21, etc., so as to realize the movement of the AGV chassis. By controlling the rotation direction and speed of the vacuum tire 22 of different driving wheel modules 3, the steering control of the AGV chassis is realized. When the AGV chassis is in the walking state, the main controller controls the hydraulic valve group 11 to connect the accumulator A12 with the rodless chamber of the lifting cylinder 10 to form an oil-gas spring structure, which can effectively reduce the impact of ground impact on the vehicle body and cargo. When the AGV chassis is in the walking mode and in a stationary state, the rodless chamber of the lifting cylinder 10 is connected to the hydraulic station, and the main controller can control the action of the hydraulic valve group 11 to make the lifting cylinder 10 retract, thereby realizing the lifting function of the AGV chassis.

Claims

1. An outdoor heavy-duty AGV chassis with built-in lifting function, characterized by: It comprises a vehicle frame body (1), a rotary lifting drive module (2), a drive wheel module (3), a hydraulic station, and an electric control cabinet; The hydraulic station and the electric control cabinet are respectively arranged on the frame body (1); a main controller is arranged in the electric control cabinet; the hydraulic station is controlled by the main controller; and a rotary lifting drive module (2) is respectively arranged at the lower front part and the lower rear part of the frame body (1); Each of the rotary lifting drive modules (2) comprises a transition tube (4), a rotary reducer (5), a hydraulic motor (6), a rotary bearing (7), an upper rotary frame (8), a lower swing housing (9), a lifting cylinder (10), a hydraulic valve group (11), and an accumulator A (12); the top of the transition tube (4) of each of the rotary lifting drive modules (2) is respectively fixedly connected to the frame body (1); the housing of the rotary reducer (5) of each of the rotary lifting drive modules (2) is respectively installed in the transition tube (4) of the same rotary lifting drive module (2); the housing of the hydraulic motor (6) of each of the rotary lifting drive modules (2) is respectively connected to the corresponding rotary reducer (5) of the same rotary lifting drive module (2); The outer shell of the speed reducer (5) is fixedly connected to the outer shell of the speed reducer (5), the driving end of the hydraulic motor (6) of each of the rotary lifting drive modules (2) is respectively connected to the input end of the corresponding rotary speed reducer (5) of the same rotary lifting drive module (2), and the output end of the rotary speed reducer (5) of each of the rotary lifting drive modules (2) is provided with a driving gear, the outer ring of the rotary bearing (7) of each of the rotary lifting drive modules (2) is fixedly connected to the bottom of the transition cylinder (4) of the same rotary lifting drive module (2), and the inner gear ring of the rotary bearing (7) of each of the rotary lifting drive modules (2) is respectively meshed with the driving gears connected to the rotary speed reducers (5) of the same rotary lifting drive module (2), and each of the rotary lifting drive modules (2) is provided with a driving gear. The inner gear rings of the slewing bearing (7) of the module (2) are respectively fixed to the top surface of the upper slewing frame (8) of the same slewing lifting drive module (2); one end of the upper slewing frame (8) of each slewing lifting drive module (2) forms an articulated seat A; the other end of the upper slewing frame (8) of each slewing lifting drive module (2) forms an articulated seat B; the articulated seat A of the upper slewing frame (8) of each slewing lifting drive module (2) is articulated to one end of the lower swing housing (9) of the same slewing lifting drive module (2); the other end of the lower swing housing (9) of each slewing lifting drive module (2) is articulated to the cylinder rod of the lifting cylinder (10) of the same slewing lifting drive module (2); The cylinder body of the lifting cylinder (10) of the lifting drive module (2) is hinged to the hinge seat B of the upper rotating frame (8) of the same rotating lifting drive module (2); the left and right sides of the lower swing housing (9) of each of the rotating lifting drive modules (2) are respectively provided with a driving wheel module (3); the hydraulic motors (6) and the lifting cylinder (10) of each of the rotating lifting drive modules (2) are respectively connected to the hydraulic valve group (11) of the same rotating lifting drive module (2) through pipelines; the hydraulic valve groups (11) of the two rotating lifting drive modules (2) are respectively connected to the hydraulic station through pipelines; the hydraulic valve groups (11) of the two rotating lifting drive modules (2) are respectively controlled by the main controller.The accumulator A (12) of each rotary lifting drive module (2) is respectively connected to the hydraulic valve group (11) of the same rotary lifting drive module (2) through a pipeline. The hydraulic valve group (11) of each rotary lifting drive module (2) is used to control the action of the hydraulic motor (6) of the same rotary lifting drive module (2). The hydraulic valve group (11) of each rotary lifting drive module (2) is also used to control the rodless chamber of the lifting cylinder (10) of the same rotary lifting drive module (2) to be connected to the accumulator A (12) of the same rotary lifting drive module (2) or to be connected to the hydraulic station.

2. The outdoor heavy-duty AGV chassis with built-in lifting function according to claim 1 is characterized by: Each of the lifting cylinders (10) is provided with a stroke sensor, and all of the stroke sensors are connected to the main controller for communication.

3. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 1 is characterized in that: A limit stopper (13) is provided on the lower swing housing (9) of each rotary lifting drive module (2).

4. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 1 is characterized in that: The accumulator A (12) of each of the rotary lifting drive modules (2) is respectively installed on the upper rotary frame (8) of the same rotary lifting drive module (2), and the hydraulic valve group (11) of each of the rotary lifting drive modules (2) is provided with a pressure sensor (14) for detecting the hydraulic oil pressure in the rodless chamber of the lifting cylinder (10) of the same rotary lifting drive module (2), and all of the pressure sensors (14) are respectively connected to the main controller for communication.

5. The outdoor heavy-duty AGV chassis with built-in lifting function according to claim 1 is characterized by: An accumulator B (15) is provided on the pipeline connecting each hydraulic motor (6) of each rotary lifting drive module (2) and the hydraulic valve group (11) of the same rotary lifting drive module (2), and each accumulator B (15) is respectively arranged in the transition tube (4) of the adjacent rotary lifting drive module (2).

6. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 1 is characterized by: Each of the driving wheel modules (3) comprises a support assembly (24), a driving motor (16), a primary reducer (17), a wheel-side reducer (18), a wet hydraulic brake (19), an adapter sleeve (20), a wheel rim (21) and a vacuum tire (22), and the support assembly (24) of each of the driving wheel modules (3) is used to connect to the lower swing housing (9) of the corresponding rotary lifting driving module (2); The housing of the primary reducer (17) of each of the driving wheel modules (3) is connected to the support assembly (24) of the same driving wheel module (3); the housing of the driving motor (16) of each of the driving wheel modules (3) is fixedly connected to the housing of the primary reducer (17) of the same driving wheel module (3); the driving end of the driving motor (16) of each of the driving wheel modules (3) is connected to the input shaft of the primary reducer (17) of the same driving wheel module (3); and the action of the driving motor (16) of each of the driving wheel modules (3) is controlled by the main controller; Each of the wet hydraulic brakes (19) of the driving wheel module (3) has a brake fixing portion (1901) and a brake moving end (1902); the brake fixing portion (1901) of each of the wet hydraulic brakes (19) of the driving wheel module (3) is connected to a support assembly (24) of the same driving wheel module (3); each of the wet hydraulic brakes (19) of the driving wheel module (3) is provided with hydraulic oil by the hydraulic station and is controlled by the main controller; and the brake moving end (1902) of each of the wet hydraulic brakes (19) of the driving wheel module (3) is connected to an adapter sleeve (20) of the same driving wheel module (3); The wheel-side reducer (18) of each driving wheel module (3) comprises a power input end, a fixed connection flange portion (1801) and an output rotation flange portion (1802); the power input end of the wheel-side reducer (18) of each driving wheel module (3) is connected to the output shaft of the primary reducer (17) of the same driving wheel module (3) via a universal joint transmission shaft (23); the fixed connection flange portion (1801) of the wheel-side reducer (18) of each driving wheel module (3) is connected to the support assembly (24) of the same driving wheel module (3); the output rotation flange portion (1802) of the wheel-side reducer (18) of each driving wheel module (3) is respectively connected to the rim (21) and the adapter sleeve (20) of the same driving wheel module (3); and the vacuum tire (22) of each driving wheel module (3) is arranged on the outer periphery of the rim (21) of the same driving wheel module (3).

7. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 6 is characterized by: A circulating water cooling radiator (25) is installed on the upper rotating frame (8) of each rotating lifting drive module (2); The drive motor (16) of each of the drive wheel modules (3) is a water-cooled motor, and each of the drive motors (16) of the drive wheel modules (3) has a motor water-cooling interface (1601); The primary reducer (17) of each of the driving wheel modules (3) is a water-cooled reducer, and each of the primary reducer (17) of the driving wheel module (3) has a primary reducer water-cooling interface (1701); The motor water cooling interfaces (1601) of all the driving motors (16) of the two driving wheel modules (3) corresponding to each of the rotary lifting drive modules (2) are respectively connected to the circulating water cooling radiator (25) on the upper rotary frame (8) of the rotary lifting drive module (2) through pipelines, and the primary reducer water cooling interfaces (1701) of all the primary reducers (17) of the two driving wheel modules (3) corresponding to each of the rotary lifting drive modules (2) are respectively connected to the circulating water cooling radiator (25) on the upper rotary frame (8) of the rotary lifting drive module (2) through pipelines.

8. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 6 is characterized by: The support assembly (24) of each driving wheel module (3) comprises a hollow support sleeve (2401), an outer connecting plate (2402), and an inner connecting plate (2403); The hollow support sleeve (2401) of each support assembly (24) has a hollow passage formed inside thereof for the universal joint transmission shaft (23) to pass through, and openings communicating with the hollow passage of the hollow support sleeve (2401) are formed at both axial ends of the hollow support sleeve (2401) of each support assembly (24), and one axial end of the hollow support sleeve (2401) of each support assembly (24) extends toward the outer circumference to form an annular mounting convex edge A (24011) and an annular mounting convex edge B (24012) arranged in a stepped manner from the inside to the outside, and each support assembly (2401) is provided with a plurality of hollow support sleeves (2401) and a plurality of hollow support sleeves (2401) disposed on the inner side of the support assembly (24). 4) is fixedly connected to the brake fixing portion (1901) of the wet hydraulic brake (19) of the same driving wheel module (3) by means of screws, and the annular mounting protrusion B (24012) of the hollow supporting sleeve (2401) of each of the support components (24) is directly used to connect with the lower swing housing (9) of the corresponding rotary lifting driving module (2), and the end surface of the other axial end of the hollow supporting sleeve (2401) of each of the support components (24) is uniformly provided with threaded holes A (24013) along the circumferential direction; The outer connecting plate (2402) of each support assembly (24) is divided into a central tube sleeve portion (24021) and an annular mounting flange C (24022) which are connected together. The inner part of the central tube sleeve portion (24021) of each outer connecting plate (2402) of the support assembly (24) is hollow. The annular mounting flange C (24022) of each outer connecting plate (2402) of the support assembly (24) is located on the outer periphery of the central tube sleeve portion (24021) of the outer connecting plate (2402). The annular mounting protrusion C (24022) of the outer connecting disk (2402) of each of the support components (24) is connected to the fixed connecting flange (1801) of the wheel side reducer (18) of the same driving wheel module (3) by means of screws, and threaded holes B (24023) are uniformly provided along the circumferential direction on the end surface of the central tube sleeve (24021) of the outer connecting disk (2402) of each of the support components (24) at one end away from the driving motor (16) of the same driving wheel module (3); The interior of the inner connecting plate (2403) of each support component (24) is hollow, and screw through holes A (24031) are respectively provided on the inner connecting plate (2403) of each support component (24) at positions corresponding to the threaded holes A (24013) on the hollow support sleeve (2401) of the same support component (24), and screw through holes A (24031) are respectively provided on the inner connecting plate (2403) of each support component (24) at positions corresponding to the threaded holes A (24013) on the hollow support sleeve (2401) of the same support component (24). A screw through hole B (24032) is respectively provided at the corresponding position of each threaded hole B (24023), each of the screw through holes A (24031) is provided with a fixing screw A, and each of the fixing screws A is respectively connected to the corresponding threaded hole A (24013) by threading, and each of the screw through holes B (24032) is provided with a fixing screw B, and each of the fixing screws B is respectively connected to the corresponding threaded hole B (24023) by threading.

9. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 8, characterized in that: The opening of the other axial end of the hollow support sleeve (2401) of each support assembly (24) is provided with three positioning clamping inner flanges (24014) extending inwardly, the three positioning clamping inner flanges (24014) of the hollow support sleeve (2401) of each support assembly (24) are evenly arranged along the circumference of the hollow support sleeve (2401), and a clamping tooth passing gap is formed between every two adjacent positioning clamping inner flanges (24014) of each hollow support sleeve (2401), and the inner connection disk (2403) of each support assembly (24) is close to the same drive wheel module (3 ) is provided with an annular clamping ridge (24033) in the middle of one side surface of the driving motor (16), and three positioning teeth (24034) are evenly arranged on the outer peripheral surface of the annular clamping ridge (24033) of the inner connecting disk (2403) of each support assembly (24), and the setting positions of the three positioning teeth (24034) on the annular clamping ridge (24033) of the inner connecting disk (2403) of each support assembly (24) correspond one to one to the setting positions of the three positioning clamping inner flanges (24014) of the hollow supporting sleeve (2401) of the same support assembly (24).

10. The outdoor heavy-duty AGV chassis with a self-lifting function according to claim 8, characterized in that: An inner connecting disk embedding groove matching the outer peripheral shape of the inner connecting disk (2403) of the same supporting assembly (24) is formed on a side surface of the outer connecting disk (2402) of each supporting assembly (24) as a whole away from the driving motor (16) of the same driving wheel module (3), and the other axial end of the hollow supporting sleeve (2401) of each supporting assembly (24) extends outward to form an outer spline surface portion (24015), and an inner spline surface portion (24024) that is matched and connected to the outer spline surface portion (24015) of the hollow supporting sleeve (2401) of the same supporting assembly (24) is formed on the inner peripheral surface of the central tube sleeve portion (24021) of the outer connecting disk (2402) of each supporting assembly (24).

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