Intelligent gantry crane AGV power vehicle

Abstract

The application discloses a kind of intelligent gantry crane AGV power car, including gantry, and the left and right sides of the bottom of gantry are respectively fixed with universal wheel and power rudder wheel with driving and steering function, the power rudder wheel of left side is arranged in the middle of the bottom of gantry, the power rudder wheel of right side is arranged in the bottom front side or rear side of gantry, the universal wheel is arranged in the bottom front side or rear side of gantry, the gantry is driven to different directions parallelly under power rudder wheel, the universal wheel is followed under power rudder wheel drive, realize the technical effect of multidirectional flexible movement, in-place steering, heavy load stable bearing and precision angle control, effectively overcome the defects that the moving direction of existing gantry crane is limited, steering is not flexible, vibration impact is big and transmission maintenance is inconvenient.

Description

Technical Field

[0001] This invention relates to the field of gantry crane AGV power vehicle technology, specifically an intelligent gantry crane AGV power vehicle. Background Technology

[0002] Existing gantry cranes or AGV handling equipment mostly employ guide rail-type walking structures or fixed-direction directional wheel walking mechanisms, which limit movement trajectory, require large turning radii for turning, cannot achieve multi-directional translation, and have poor site adaptability. The wheels and frames of existing AGV powered vehicles are mostly rigidly connected, lacking effective shock absorption and buffer structures. When traversing uneven roads or potholes, vibrations are directly transmitted to the frame and the load, affecting handling stability, easily causing frame structural damage, and even posing a risk of tipping over. Existing chain-driven walking mechanisms typically rigidly fix the geared motor to the wheels, making chain tension difficult to adjust. Long-term use leads to chain slack, causing tooth skipping and transmission failure. Furthermore, the transmission components lack effective lubrication, resulting in high frictional resistance, rapid component wear, and high maintenance costs. In addition, the steering control of existing AGV equipment mostly relies on open-loop control or simple mechanical limits, making it impossible to accurately detect the steering angle in real time. This results in low steering accuracy, poor repeatability, and difficulty meeting the path accuracy requirements of intelligent handling. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent gantry crane AGV power vehicle, which can solve the problems in the prior art.

[0004] This invention is achieved through the following technical solution: An intelligent gantry crane AGV power vehicle of this invention includes a gantry frame, with universal wheels and power steering wheels with driving and steering functions fixed on the left and right sides of the bottom of the gantry frame, respectively. The power steering wheel on the left side is located in the middle of the bottom of the gantry frame, and the power steering wheel on the right side is located on the front or rear side of the bottom of the gantry frame. The universal wheels are located on the front or rear side of the bottom of the gantry frame, and the gantry frame moves parallel in different directions under the drive of the power steering wheels.

[0005] A further technical solution includes a rotating support inner ring, which is fixedly connected to the bottom of the gantry frame. A rotating support outer ring is rotatably mounted on the inner ring. A first plate is fixedly connected to the bottom of the outer ring. A second plate is located below the first plate. A pivot assembly is located between the first and second plates. A third plate is located at both the front and rear ends below the second plate. A cylinder is fixed within the third plate. Chain drive wheel assemblies are located at the front and rear ends of the cylinder. A housing is fixed to the outer surface of the cylinder's middle section. The housing is fixedly connected to the second plate. A fourth plate is fixed between the third plates. A shock-absorbing assembly is located between the fourth plate and the second plate.

[0006] In a further technical solution, a groove is provided on the outer surface of the cylinder, and the box body is inserted into the groove and slidably connected.

[0007] In a further technical solution, a side plate is fixed to one side of the first plate, and an angle encoder is rotatably mounted on the side plate. The gear of the angle encoder meshes with the outer ring of the rotation support.

[0008] A further technical solution includes a rotating shaft assembly, a second rotating seat fixed to the top of the second plate, a first rotating seat fixed to the bottom of the first plate, and the rotating shaft passing through the second rotating seat and the first rotating seat for rotational engagement with them.

[0009] A further technical solution includes a chain drive wheel assembly comprising a hub rotatably disposed on both sides of the outer surface of the cylinder, a wheel disposed on the outer side of the hub, a driven sprocket fixed on one side of the hub, a fifth plate disposed on one side of the third plate, a reduction motor fixed inside the fifth plate, a drive sprocket fixed on the output shaft of the reduction motor, a chain connecting the drive sprocket and the driven sprocket being wound around their outer surfaces, a fixing structure for fixing the fifth plate after sliding adjustment being provided on the third plate, and a lubricated bearing structure being provided between the hub and the cylinder.

[0010] A further technical solution includes a fixing structure comprising a plurality of first adjustment holes formed in the third plate, wherein a positioning bolt is inserted in the first adjustment hole and the positioning bolt is threadedly connected to the fifth plate for fixing, and a mating nut is fixed on the side of the third plate, wherein a clamping bolt is threadedly connected to the mating nut and the clamping bolt abuts against the end face of the side of the fifth plate.

[0011] In a further technical solution, the fifth plate is connected and fixed to the reduction motor by a fixing bolt. After the fixing bolt passes through the fifth plate and the reduction motor, a nut is set on the outer surface of the fixing bolt to connect and fix the fifth plate and the reduction motor. A second adjustment hole is opened in the third plate, and the fixing bolt nut is located in the second adjustment hole.

[0012] A further technical solution includes a lubricating bearing structure comprising a bearing rotatably mounted on the outer surface of the cylinder, the bearing being rotatably connected to the hub, a second locking block being threadedly connected to the side of the cylinder, the second locking block pressing against the inner ring of the bearing, a cover being fixed to one side of the hub, the cover sealing the mounting hole, the second locking block and the bearing, a first oil hole being provided at the end of the cylinder, a second oil hole being connected to one side of the first oil hole, and the second oil hole communicating with the internal cavity of the hub.

[0013] A further technical solution includes a shock-absorbing component comprising a limiting block fixed to the top of the fourth plate and the bottom of the second plate, and a spring sleeved between the upper and lower limiting blocks, the spring elastically abutting against the second plate and the fourth plate.

[0014] The beneficial effects of the present invention are as follows: First, the intelligent gantry crane AGV power vehicle of the present invention, through the combination of a power steering wheel and a universal wheel at the bottom of the gantry frame, and in conjunction with the rotating shaft seat assembly, chain power wheel assembly and shock absorption assembly inside the power steering wheel, achieves the technical effects of flexible movement in multiple directions, turning on the spot, stable bearing under heavy load and precise angle control, effectively overcoming the defects of existing gantry cranes such as limited movement direction, inflexible turning, large vibration and impact and inconvenient transmission maintenance.

[0015] Second, the power steering wheel adopts a dual-wheel chain drive structure. By controlling the speed and direction of the two power steering wheels separately, the gantry can be moved in a straight line or diagonally in parallel. It does not rely on guide rails or a large turning radius, has strong site adaptability, and its mobility is significantly better than existing guide rail or directional wheel gantry.

[0016] Third, an angle encoder is installed on the power steering wheel. The gear of the angle encoder meshes with the outer ring of the rotating support, which can read the rotation angle of the power steering wheel in real time and feed it back to the control system. This changes the steering control from open loop to closed loop, making the steering angle precise and controllable, and improving the path tracking accuracy and repeatability accuracy.

[0017] Fourth, the shock absorption assembly is elastically abutted between the second and fourth plates by springs, and the springs are guided and limited by the limiting blocks, which transforms the rigid connection between the power steering wheel and the gantry into an elastic connection. This effectively isolates the transmission of ground bumps and vibrations to the gantry, avoids the risk of shaking and overturning during cargo handling, and reduces the damage to the frame structure caused by impact stress.

[0018] 5. The chain drive wheel assembly achieves reliable power transmission through the cooperation of the geared motor, drive sprocket, chain, and driven sprocket. An adjustable fixing structure is set between the fifth plate and the third plate to facilitate the adjustment of tension according to the chain wear and prevent tooth skipping. The lubrication bearing structure adds lubricating oil to the inside of the hub through oil holes, realizing continuous lubrication of the bearing and transmission parts, reducing frictional resistance, and extending the service life of the parts.

[0019] VI. The rotating shaft assembly connects the first plate and the second plate through a rotating shaft, and uses a sliding bearing to separate the rotating shaft from the rotating seat, avoiding hard contact. This allows the power steering wheel to rotate flexibly and with low resistance during steering. At the same time, the first locking block axially limits both ends of the rotating shaft, preventing the rotating shaft from moving or loosening, and improving the reliability of the connection.

[0020] 7. Heavy-duty casters are selected as the main load-bearing structure to support the weight of the gantry and the cargo. Combined with the drive steering function of the power steering wheel, the whole vehicle can meet the heavy load requirements while having flexible mobility. An electric hoist is fixed on the top of the gantry to realize the hoisting and release of cargo and expand the handling function of the equipment. Attached Figure Description

[0021] For ease of explanation, the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of an intelligent gantry crane AGV power vehicle according to the present invention; Figure 2 for Figure 1 A front view structural diagram of the equipment in the middle; Figure 3 for Figure 1 A side view of the equipment. Figure 4 for Figure 1 Top view of the equipment structure; Figure 5 This is a schematic diagram of the angle encoder structure; Figure 6 This is a schematic diagram of the structure of the power steering wheel; Figure 7 for Figure 6 A schematic diagram at point A in the middle; Figure 8 This is a schematic diagram of the rear structure of the power steering wheel; Figure 9 for Figure 8 A schematic diagram at point B in the middle; Figure 10 This is a schematic diagram of the first vertical section of the powered steering wheel; Figure 11 This is a schematic diagram of the second vertical section of the powered steering wheel; Figure 12 This is a schematic diagram of the third vertical section of the powered steering wheel; Figure 13 for Figure 12 A schematic diagram at point C in the middle; Figure 14 This is a schematic diagram of the powered steering wheel from a low angle. In the diagram, the components are: third plate 11, drive sprocket 12, chain 13, positioning bolt 14, first adjusting hole 15, fixing bolt 16, second adjusting hole 17, fifth plate 21, clamping bolt 22, mating nut 23, geared motor 25, slide groove 31, cylinder 32, fourth plate 33, housing 34, spring 35, limit block 36, outer ring of rotating support 37, inner ring of rotating support 38, rotating shaft 39, first plate 41, second rotating seat 42, first rotating seat 43, side plate 44, second plate 45, first locking block 46, sliding bearing 47, wheel 51, bearing 52, second locking block 53, second oil hole 54, oil plug 55, first oil hole 56, cover 57, mounting hole 58, hub 59, mating bolt 61, driven sprocket 63, angle encoder 71, top frame 81, bracket 82, base plate 83, universal wheel 84, power steering wheel 85, and electric hoist 86. Detailed Implementation

[0023] like Figures 1-14 As shown, the present invention will be described in detail. For ease of description, the directions mentioned below are defined as follows: the directions of up, down, left, right, front, and back mentioned below are the same as... Figure 1 The directions of the projection relationship are consistent in all directions: up, down, left, right, front, and back.

[0024] In Embodiment 1, an intelligent gantry crane AGV power vehicle of the present invention includes a gantry frame. Universal wheels 84 and power steering wheels 85 with driving and steering functions are fixed to the left and right sides of the bottom of the gantry frame, respectively. The left power steering wheel 85 is located in the middle of the bottom of the gantry frame, and the right power steering wheel 85 is located at the front or rear side of the bottom of the gantry frame. The universal wheels 84 are located at the front or rear side of the bottom of the gantry frame. The two power steering wheels 85 operate at different speeds, causing the power steering wheels 85 to rotate around their rotation axes. Then, the gantry frame moves parallel to the adjusted direction under the drive of the power steering wheels 85, and the universal wheels 84 follow the movement driven by the power steering wheels 85.

[0025] Advantageously, two casters 84 are provided on the left side and are located at the bottom front and rear sides of the gantry.

[0026] Beneficially, an electric hoist 86 is fixed to the top of the gantry frame.

[0027] Advantageously, the gantry includes a top frame 81, with a left and a right bracket 82 fixed at the bottom of the top frame 81, and a base plate 83 fixed at the bottom of the bracket 82. A caster wheel 84 and a power steering wheel 85 are located at the bottom of the base plate 83.

[0028] Compared to existing technologies, the gantry crane equipped with a powered steering wheel 85 and swivel casters 84 has multi-directional movement capabilities. Compared to rail-mounted or directional wheel-mounted gantry cranes, it offers more flexible movement and transportation functions, possessing lateral translation, diagonal translation, and on-site rotation capabilities not found in traditional gantry cranes. The electric hoist 86 can lift goods after operation, and release the goods after the gantry crane moves to another location.

[0029] The 84 swivel casters are heavy-duty swivel casters, which serve as the main load-bearing structure to support the weight of the gantry and the goods themselves.

[0030] Example 2, based on Example 1, further defines the following: The power steering wheel 85 includes a rotating support inner ring 38, which is fixedly connected to the bottom of the gantry frame. A rotating support outer ring 37 is rotatably provided on the rotating support inner ring 38. A first plate 41 is fixedly connected to the bottom of the rotating support outer ring 37. A second plate 45 is provided on the lower side of the first plate 41. A pivot seat assembly is provided between the first plate 41 and the second plate 45. A third plate 11 is provided on the lower side of the second plate 45, with one at the front and one at the rear. A cylinder 32 is fixed in the third plate 11. A chain drive wheel assembly is provided at the front and rear ends of the cylinder 32. A housing 34 is fixed on the outer surface of the middle of the cylinder 32. The housing 34 is fixedly connected to the second plate 45. A fourth plate 33 is fixed between the third plates 11. A shock-absorbing assembly is provided between the fourth plate 33 and the second plate 45.

[0031] Advantageously, the inner ring 38 of the rotating support is fixedly connected to the base plate 83 by fasteners, and is fixed by bolts passing through the base plate 83 and threadedly connected to the threaded hole in the inner ring 38 of the rotating support.

[0032] Advantageously, the outer ring 37 of the rotating support is connected to the first plate 41 by fasteners, and is fixed by bolts passing through the first plate 41 and threadedly connected to the threaded hole in the outer ring 37 of the rotating support.

[0033] Advantageously, the outer surface of the cylinder 32 is provided with a groove 31, and the box body 34 is inserted into the groove 31 and slidably connected.

[0034] Advantageously, the housing 34 and the second plate 45 are connected by fasteners, with bolts passing through the top of the housing 34 and then threadedly engaging with the second plate 45. Beneficially, the fourth plate 33, the third plate 11, and the cylinder 32 are welded together to form an integral structure.

[0035] By incorporating a pivot bearing assembly, the chain drive wheel assemblies on both sides can roll and resist the ground simultaneously, preventing them from being suspended in the air and thus unable to output power. By setting up two chain drive wheel assemblies and controlling their speed and direction separately, the power steering wheel 85 can be steered in one direction or moved in the same direction simultaneously. A shock-absorbing assembly provides elastic shock absorption between the second plate 45 and the fourth plate 33, preventing the gantry from easily overturning when the power steering wheel 85 traverses bumpy or potholed surfaces, which would be a problem with a direct rigid connection. This also isolates ground vibrations from the gantry body, preventing excessive stress at the bottom of the gantry and thus structural damage.

[0036] Advantageously, a side plate 44 is fixed to one side of the first plate 41, and an angle encoder 71 is rotatably mounted on the side plate 44. The gear of the angle encoder 71 meshes with the outer ring 37 of the rotation support, and the angle encoder 71 is used to read the rotation angle.

[0037] In Example 3, based on any one of Examples 1 to 2, the following further details are defined: the rotating shaft assembly includes a rotating shaft 39, a second rotating seat 42 is fixed to the top of the second plate 45, a first rotating seat 43 is fixed to the bottom of the first plate 41, and the rotating shaft 39 passes through the second rotating seat 42 and the first rotating seat 43 and is rotatably connected to them.

[0038] Advantageously, a sliding bearing 47 is provided inside the second rotating seat 42, and the sliding bearing 47 is sleeved on the outer surface of the rotating shaft 39.

[0039] Advantageously, the outer surfaces of both ends of the rotating shaft 39 are threaded with a first locking block 46, which abuts against one side of the shaft shoulder of the rotating shaft 39 and is used to limit the rotation of the rotating shaft 39 on both sides.

[0040] The sliding bearing 47 is used to separate the rotating shaft 39 and the second rotating seat 42 to avoid hard contact. The rotating shaft 39, the sliding bearing 47, the second rotating seat 42, the first locking block 46, the first rotating seat 43 and the first plate 41 are provided to rotatably connect the first plate 41 and the second plate 45.

[0041] Example 4, based on any one of Examples 1 to 3, further defines the following: The chain drive wheel assembly includes a hub 59 rotatably disposed on both sides of the outer surface of the cylinder 32, a wheel 51 disposed on the outer side of the hub 59, a driven sprocket 63 fixed on one side of the hub 59, a fifth plate 21 disposed on one side of the third plate 11, a reduction motor 25 fixed inside the fifth plate 21, a drive sprocket 12 fixed on the output shaft of the reduction motor 25, a chain 13 connecting the drive sprocket 12 and the driven sprocket 63 is wound around the outer surfaces of the drive sprocket 12 and the driven sprocket 63, a fixing structure is provided on the third plate 11 to fix the fifth plate 21 after sliding adjustment, and a lubricated bearing structure is provided between the hub 59 and the cylinder 32.

[0042] Advantageously, the hub 59 has a mounting hole 58, and a mating bolt 61 passes through the mounting hole 58. The mating bolt 61 is threadedly connected and fixed to the driven sprocket 63.

[0043] Advantageously, the fixing structure includes a plurality of first adjustment holes 15 opened in the third plate 11, a positioning bolt 14 passing through the first adjustment hole 15, the positioning bolt 14 being threadedly connected and fixed to the fifth plate 21, a mating nut 23 being fixed on the side of the third plate 11, a clamping bolt 22 being threadedly connected to the mating nut 23, and the clamping bolt 22 abutting against the side end face of the fifth plate 21.

[0044] By sliding the positioning bolt 14 to the first adjusting hole 15, a guiding function is provided, allowing the fifth plate 21 and the reduction motor 25 to be movably connected to one side of the third plate 11. After the positioning bolt 14 is tightened, the fifth plate 21 is fixedly connected to the third plate 11. The clamping bolt 22 abuts against the side of the fifth plate 21, limiting and fixing the side of the fifth plate 21. This structural design allows the fifth plate 21 to be fixed after movement and adjustment.

[0045] Advantageously, the fifth plate 21 and the geared motor 25 are connected and fixed by a fixing bolt 16. After the fixing bolt 16 passes through the fifth plate 21 and the geared motor 25, a nut is set on the outer surface of the fixing bolt 16 to connect and fix the fifth plate 21 and the geared motor 25. A second adjustment hole 17 is opened in the third plate 11. The nut of the fixing bolt 16 is located in the second adjustment hole 17, so that when the fifth plate 21 and the geared motor 25 move, the fixing bolt 16 moves in the second adjustment hole 17 to avoid motion interference.

[0046] Advantageously, the lubricating bearing structure includes a bearing 52 rotatably disposed on the outer surface of the cylinder 32, the bearing 52 being rotatably connected to the hub 59, a second locking block 53 being threadedly connected to the side of the cylinder 32, the second locking block 53 pressing against the inner ring of the bearing 52, a cover 57 being fixed on one side of the hub 59, the cover 57 closing the mounting hole 58, the second locking block 53 and the bearing 52, a first oil hole 56 being opened at the end of the cylinder 32, a second oil hole 54 being connected to one side of the first oil hole 56, and the second oil hole 54 being connected to the internal cavity of the hub 59.

[0047] An oil plug 55 is provided inside the cover 57, and the oil plug 55 is threadedly connected to the first oil hole 56. After the oil plug 55 is turned open, lubricating oil is added to the first oil hole 56 and the second oil hole 54. The lubricating oil overflows into the internal cavity of the hub 59, lubricating the bearing 52, the second locking block 53, and the driven sprocket 63, reducing friction.

[0048] The working principle of the power steering wheel 85 is as follows: After the reduction motor 25 is working, it drives the active sprocket 12 to rotate, which in turn drives the driven sprocket 63 to rotate through the chain 13. Since the driven sprocket 63 is connected and fixed to the hub 59, it can drive the wheel 51 to rotate, thereby realizing the movement function.

[0049] Example 5, based on any one of Examples 1 to 4, further defines the following: the shock absorption assembly includes a limiting block 36 fixed to the top of the fourth plate 33 and the bottom of the second plate 45, and a spring 35 is sleeved between the upper and lower limiting blocks 36, and the spring 35 elastically abuts against the second plate 45 and the fourth plate 33.

[0050] Advantageously, bolts are provided inside the limiting block 36, and the bolts pass through the limiting block 36 and are threadedly connected and fixed to the second plate 45 and the fourth plate 33.

[0051] By setting a limit block 36, the spring 35 is limited to prevent it from moving randomly.

[0052] When the gantry crane is translating, the two powered steering wheels 85 move in the same direction, thus translating the gantry crane. When the gantry crane is translating in different directions, the two powered steering wheels 85 first need to be steered. When the powered steering wheels 85 are steered, the wheels 51 on both sides of the powered steering wheel 85 rotate differentially to achieve the angular rotation of the powered steering wheel 85. The angle encoder collects the steering angle in real time. When the preset angle is reached, the powered steering wheel 85 stops running. Then, the powered steering wheel 85 maintains this direction, so that all the wheels 51 drive in the same direction, thus realizing the function of diagonal parallel movement.

[0053] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions conceived without creative effort should be included within the scope of protection of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. An intelligent gantry crane AGV power vehicle, comprising a gantry frame, characterized in that, The bottom left and right sides of the gantry are respectively fixed with casters (84) and power steering wheels (85) with driving and steering functions. The power steering wheel (85) on the left side is located in the middle of the bottom of the gantry, and the power steering wheel (85) on the right side is located at the front or rear of the bottom of the gantry. The casters (84) are located at the front or rear of the bottom of the gantry. The gantry moves parallel to each other in different directions under the drive of the power steering wheel (85), and the casters (84) follow the drive of the power steering wheel (85).

2. The intelligent gantry crane AGV power vehicle according to claim 1, characterized in that: The power steering wheel (85) includes a rotating support inner ring (38), which is fixedly connected to the bottom of the gantry frame. The rotating support inner ring (38) is rotatably provided with a rotating support outer ring (37). The bottom of the rotating support outer ring (37) is fixedly connected to a first plate (41). A second plate (45) is provided on the lower side of the first plate (41). A rotating shaft seat assembly is provided between the first plate (41) and the second plate (45). A third plate (11) is provided on the lower side of the second plate (45) at the front and rear. A cylinder (32) is fixed in the third plate (11). A chain power wheel assembly is provided at the front and rear ends of the cylinder (32). A box (34) is fixed on the outer surface of the middle of the cylinder (32). The box (34) is fixedly connected to the second plate (45). A fourth plate (33) is fixed between the third plates (11). A shock-absorbing assembly is provided between the fourth plate (33) and the second plate (45).

3. The intelligent gantry crane AGV power vehicle according to claim 2, characterized in that: The outer surface of the cylinder (32) is provided with a groove (31), and the box (34) is inserted into the groove (31) and slidably connected.

4. The intelligent gantry crane AGV power vehicle according to claim 2, characterized in that: A side plate (44) is fixed on one side of the first plate (41), and an angle encoder (71) is rotatably mounted on the side plate (44). The gear of the angle encoder (71) meshes with the outer ring (37) of the rotation support.

5. The intelligent gantry crane AGV power vehicle according to claim 2, characterized in that: The rotating shaft assembly includes a rotating shaft (39), a second rotating seat (42) fixed to the top of the second plate (45), and a first rotating seat (43) fixed to the bottom of the first plate (41). The rotating shaft (39) passes through the second rotating seat (42) and the first rotating seat (43) and is rotatably connected to them.

6. The intelligent gantry crane AGV power vehicle according to claim 2, characterized in that: The chain drive wheel assembly includes a hub (59) rotatably disposed on both sides of the outer surface of the cylinder (32). A wheel (51) is disposed on the outer side of the hub (59). A driven sprocket (63) is fixed on one side of the hub (59). A fifth plate (21) is disposed on one side of the third plate (11). A geared motor (25) is fixed inside the fifth plate (21). A drive sprocket (12) is fixed on the output shaft of the geared motor (25). A chain (13) connecting the drive sprocket (12) and the driven sprocket (63) is wound around their outer surfaces. A fixing structure is provided on the third plate (11) to fix the fifth plate (21) after sliding adjustment. A lubricated bearing structure is provided between the hub (59) and the cylinder (32).

7. The intelligent gantry crane AGV power vehicle according to claim 6, characterized in that: The fixing structure includes a plurality of first adjustment holes (15) opened in the third plate (11), and a positioning bolt (14) is inserted in the first adjustment hole (15). The positioning bolt (14) is threadedly connected to the fifth plate (21). A mating nut (23) is fixed on the side of the third plate (11). A clamping bolt (22) is threadedly connected to the mating nut (23). The clamping bolt (22) abuts against the side end face of the fifth plate (21).

8. The intelligent gantry crane AGV power vehicle according to claim 7, characterized in that: The fifth plate (21) and the geared motor (25) are connected and fixed by a fixing bolt (16). After the fixing bolt (16) passes through the fifth plate (21) and the geared motor (25), the fixing bolt (16) and the nut are used to connect and fix the fifth plate (21) and the geared motor (25). The third plate (11) has a second adjustment hole (17) and the nut of the fixing bolt (16) is located in the second adjustment hole (17).

9. The intelligent gantry crane AGV power vehicle according to claim 6, characterized in that: The lubricated bearing structure includes a bearing (52) rotatably mounted on the outer surface of the cylinder (32), the bearing (52) being rotatably connected to the hub (59), a second locking block (53) being threadedly connected to the side of the cylinder (32), the second locking block (53) pressing against the inner ring of the bearing (52), a cover (57) being fixed to one side of the hub (59), the cover (57) sealing the mounting hole (58), the second locking block (53) and the bearing (52), a first oil hole (56) being opened at the end of the cylinder (32), a second oil hole (54) being connected to one side of the first oil hole (56), and the second oil hole (54) being connected to the internal cavity of the hub (59).

10. The intelligent gantry crane AGV power vehicle according to claim 2, characterized in that: The shock absorption assembly includes a limiting block (36) fixed to the top of the fourth plate (33) and the bottom of the second plate (45), and a spring (35) is sleeved between the upper and lower limiting blocks (36), and the spring (35) elastically abuts against the second plate (45) and the fourth plate (33).

Images