Hydraulic driving device and heavy-load AGV

Abstract

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

Description

Technical Field

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

[0002] With the rapid development of industrial automation, heavy-duty AGVs (Automated Guided Vehicles) have attracted much attention because they can carry heavy loads and achieve autonomous navigation and transportation. As one of the key components, the steering wheels of heavy-duty AGVs undertake important functions such as driving the heavy-duty AGV to travel and turn. Traditionally, motors are used to provide power to drive the steering wheels to achieve the forward and backward movement of heavy-duty AGVs. Motor drive is easily affected by voltage, and electrical equipment such as voltage stabilizers is required to ensure its normal operation.

[0003] Therefore, as disclosed in Chinese Patent No. CN 117002248 A, a heavy-duty hydraulic drive wheel is provided. The hydraulic motor drives the hydraulic drive wheel to rotate by driving a transmission gear set, so that the transmission kinetic energy of the hydraulic drive wheel increases, and thus the rotation torque of the hydraulic drive wheel increases.

[0004] However, although the above heavy-duty hydraulic drive wheel can improve the load-bearing capacity of the heavy-duty hydraulic drive wheel and avoid the influence of unstable voltage during motor drive, the heavy-duty hydraulic drive wheel has deficiencies in terms of hydraulic drive response speed. Summary of the Utility Model

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

[0006] The purpose of the present disclosure is achieved by the following technical solutions:

[0007] A hydraulic drive device includes a central swivel joint, a hydraulic transmission component, a support swivel component, and two running steering wheels. The support swivel component includes a mounting plate and a steering support gear. The steering support gear is connected to the mounting plate. The central swivel joint is fixedly connected to the mounting plate. The hydraulic transmission component includes a hydraulic motor, a balance valve, a drive gearbox, a running rotating shaft, and an encoder. The running rotating shaft rotatably penetrates through two opposite side walls of the drive gearbox. The two running steering wheels are respectively connected to two ends of the running rotating shaft. The drive gearbox is movably connected to the mounting plate. The hydraulic motor is arranged on the drive gearbox. The driving end of the hydraulic motor is meshed and connected to the power input end of the drive gearbox. The power output end of the drive gearbox is meshed and connected to the running rotating shaft to make the running steering wheels rotate.

[0008] The balance valve is arranged on the hydraulic motor, and both ends of the balance valve are communicated with the oil inlet end and the oil outlet end of the hydraulic motor respectively. The input end of the central rotary joint is used to connect with an external oil tank, and the output end of the central rotary joint is connected to the oil injection end of the balance valve to control the inflow and outflow of hydraulic oil to and from the hydraulic motor. The encoder is arranged on the output shaft of the hydraulic motor. The signal acquisition end of the encoder is connected to the output shaft, and the signal output end of the encoder is used to connect to the input end of the control system. The output end of the control system is also used to connect to the central rotary joint to monitor the rotation speed and displacement of the operating steering wheel.

[0009] In one embodiment, a driving gear is sleeved on the output shaft. The driving gearbox includes a first driven gear and a second driven gear. Both the first driven gear and the second driven gear are rotatably arranged in the driving gearbox. The driving gear is meshed and connected to the first driven gear, the first driven gear is meshed and connected to the second driven gear, and the second driven gear is used to drive the operating steering wheel to rotate.

[0010] In one embodiment, the hydraulic driving device further includes a bevel gear set. The bevel gear set includes a first bevel gear and a second bevel gear that are meshed and connected to each other. The driving gearbox further includes a first rotating shaft and a second rotating shaft. The first rotating shaft and the second rotating shaft are sequentially rotatably arranged in the driving gearbox. The first driven gear is sleeved on the first rotating shaft, one end of the second driven gear is sleeved on the second rotating shaft, and the first bevel gear is sleeved on the other end of the second rotating shaft. The second bevel gear is sleeved on the operating rotating shaft to enable the operating steering wheel to rotate and travel.

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

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

[0013] In one embodiment, the hydraulic driving device further includes a steering motor and a steering speed reducer. The steering motor is arranged on the mounting plate. Among them, the steering speed reducer is of an L-shaped structure. The driving end of the steering motor is connected to the power input end of the steering speed reducer, and the power output end of the steering speed reducer is meshed and connected to the steering support gear to enable the steering motor to drive the operating steering wheel to steer.

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

[0015] In one embodiment, the hydraulic driving device further includes two bearings and two swing seats. Each of the swing seats is arranged on the mounting plate facing the running steering wheel. A bearing is sleeved in the mounting hole of each swing seat. A swing shaft is provided at each end of the driving gearbox. Each swing shaft is movably inserted through each bearing correspondingly, so that the running steering wheel swings left and right.

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

[0017] In one embodiment, the hydraulic driving device further includes a shock-absorbing buffer plate. The shock-absorbing buffer plate is arranged on the bottom of the mounting plate facing the driving gearbox, and is used to prevent the driving gearbox from colliding with the mounting plate when swinging.

[0018] A heavy-duty AGV includes the hydraulic driving device according to any one of the above embodiments.

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

[0020] 1) In the hydraulic driving device of the present disclosure, since the encoder is arranged on the output shaft of the hydraulic motor, the encoder collects the driving speed of the output shaft of the hydraulic motor, calculates the rotation speed and displacement of the running steering wheel according to the driving speed, realizes the real-time feedback of the position and rotation speed of the running steering wheel by the control system. At the same time, the control system can adjust the supply of hydraulic oil to the center swivel joint in time according to the information feedback of the encoder, so as to realize the fast response of hydraulic drive. Also, since the input end of the center swivel joint is connected to the external oil tank, both ends of the balance valve are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor. The center swivel joint inputs hydraulic oil through the external oil tank, and the output end of the center swivel joint is connected to the oil injection end of the balance valve, ensuring that the balance valve can adjust the hydraulic oil flowing in and out of the hydraulic motor in real time, and realizes the control of the braking force of the running steering wheel by adjusting the hydraulic oil inlet and outlet pressure. Moreover, the setting of the balance valve ensures that the running steering wheel has a small braking inertia, a short braking distance and good sensitivity, thereby improving the hydraulic drive response effect of the running steering wheel.

[0021] 2) In the hydraulic drive device of the present disclosure, since the drive end of the hydraulic motor is meshed and connected to the power input end of the drive gearbox, and the power output end of the drive gearbox is meshed and connected to the operating rotating shaft, compared with other transmission methods such as chain drive, the transmission method through gear meshing can transmit power more effectively, improving the transmission efficiency from the hydraulic motor to the operating rotating shaft, ensuring that the operating steering wheel can move at an appropriate speed. Also, since both ends of the balance valve are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor, and the output end of the central rotary joint is connected to the oil injection end of the balance valve to control the inflow and outflow of the hydraulic oil of the hydraulic motor, it ensures that the balance valve can effectively control the flow rate and pressure of the hydraulic oil, guaranteeing the stable operation of the hydraulic motor, thereby effectively improving the transmission efficiency of the hydraulic motor. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present disclosure, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0023] Figure 1 Structural schematic diagram of the hydraulic drive device according to an embodiment of the present disclosure;

[0024] Figure 2 For Figure 1 Structural schematic diagram of the disassembled hydraulic drive device shown;

[0025] Figure 3 For Figure 1 Cross-sectional view of the hydraulic drive device shown in one direction;

[0026] Figure 4 For Figure 1 Cross-sectional view of the hydraulic drive device shown in another direction;

[0027] Figure 5 For Figure 1 Structural schematic diagram of the hydraulic drive device shown in another direction;

[0028] Figure 6 Structural schematic diagram of the shock absorption and buffer plate in the hydraulic drive device according to another embodiment of the present disclosure;

[0029] Figure 7 For Figure 6 Flow chart of the design of the shock absorption and buffer plate shown;

[0030] Figure 8 Structural schematic diagram of the shock absorption and buffer plate according to another embodiment of the present disclosure.

[0031] Reference numerals: 10, hydraulic drive device; 100, central swivel joint; 200, hydraulic transmission assembly; 210, hydraulic motor; 211, output shaft; 212, driving gear; 220, balance valve; 230, drive gearbox; 231, first driven gear; 232, second driven gear; 233, first rotating shaft; 234, second rotating shaft; 235, swing shaft; 240, running rotating shaft; 250, encoder; 260, input pipeline; 270, output pipeline; 300, support swivel assembly; 310, mounting plate; 311, swivel hole; 320, steering support gear; 321, accommodation hole; 400, running rudder wheel; 500, bevel gear set; 510, first bevel gear; 520, second bevel gear; 600, steering motor; 700, steering speed reducer; 810, bearing; 820, swing seat; 820a, mounting hole; 821, first accommodation groove; 822, second accommodation groove; 900, shock absorption buffer plate; 910, main shock absorption part; 920, secondary shock absorption part; 930, first clamping groove; 940, second clamping groove. Detailed implementation mode

[0032] To facilitate the understanding of the present disclosure, the present disclosure will be described more comprehensively below with reference to the relevant drawings. The preferred embodiments of the present disclosure are shown in the drawings. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure content of the present disclosure more thorough and comprehensive.

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

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

[0035] The present disclosure provides a hydraulic driving device, which includes a central swivel joint, a hydraulic transmission assembly, a support swivel assembly, and two running steering wheels. The support swivel assembly includes a mounting plate and a steering support gear. The steering support gear is connected to the mounting plate, and the central swivel joint is fixedly connected to the mounting plate. The hydraulic transmission assembly includes a hydraulic motor, a balance valve, a driving gearbox, a running rotating shaft, and an encoder. The running rotating shaft rotatably penetrates through two opposite side walls of the driving gearbox, and the two running steering wheels are respectively connected to both ends of the running rotating shaft. The driving gearbox is movably connected to the mounting plate, the hydraulic motor is arranged on the driving gearbox, the driving end of the hydraulic motor is meshed and connected to the power input end of the driving gearbox, and the power output end of the driving gearbox is meshed and connected to the running rotating shaft to make the running steering wheels rotate. The balance valve is arranged on the hydraulic motor, and both ends of the balance valve are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor. The input end of the central swivel joint is used for connecting to an external oil tank, and the output end of the central swivel joint is connected to the oil injection end of the balance valve to control the hydraulic oil flowing into and out of the hydraulic motor. The encoder is arranged on the output shaft of the hydraulic motor, the signal acquisition end of the encoder is connected to the output shaft, and the signal output end of the encoder is used for connecting to the input end of the control system. The output end of the control system is also used for connecting to the central swivel joint to monitor the rotation speed and displacement of the running steering wheels.

[0036] Since the encoder is arranged on the output shaft of the hydraulic motor, the encoder calculates the rotation speed and displacement of the running steering wheels by collecting the driving speed of the output shaft of the hydraulic motor according to the driving speed, realizing the real-time feedback of the position and rotation speed of the running steering wheels by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil to the central swivel joint according to the information feedback of the encoder, so as to achieve the fast response of hydraulic driving. Also, since the input end of the central swivel joint is connected to the external oil tank, both ends of the balance valve are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor. The central swivel joint inputs hydraulic oil through the external oil tank, and is connected to the oil injection end of the balance valve through the output end of the central swivel joint, ensuring that the balance valve can adjust the hydraulic oil flowing into and out of the hydraulic motor in real time, and controlling the braking force of the running steering wheels by adjusting the inlet and outlet oil pressures of the hydraulic oil. Moreover, the setting of the balance valve ensures that the braking inertia of the running steering wheels is small, the braking distance is short, and the sensitivity is good, thereby improving the hydraulic driving response effect of the running steering wheels.

[0037] Since the driving end of the hydraulic motor is meshingly connected to the power input end of the driving gearbox, and the power output end of the driving gearbox is meshingly connected to the operating rotating shaft, compared with other transmission methods such as chain drive, the transmission method through gear meshing can transmit power more effectively, improving the transmission efficiency from the hydraulic motor to the operating rotating shaft, ensuring that the operating steering wheel can move at an appropriate speed. Also, since both ends of the balance valve are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor, and the output end of the central rotary joint is connected to the oil injection end of the balance valve to control the inflow and outflow of the hydraulic oil of the hydraulic motor, ensuring that the balance valve can effectively control the flow rate and pressure of the hydraulic oil and guaranteeing the stable operation of the hydraulic motor, thus effectively improving the transmission efficiency of the hydraulic motor.

[0038] To better understand the technical solutions and beneficial effects of the present disclosure, the following further elaborates on the present disclosure in detail with specific embodiments:

[0039] As Figure 1 and Figure 2 shown, a hydraulic drive device 10 of an embodiment includes a central rotary joint 100, a hydraulic transmission assembly 200, a support rotary assembly 300, and two operating steering wheels 400. The support rotary assembly 300 includes a mounting plate 310 and a steering support gear 320. The steering support gear 320 is connected to the mounting plate 310. The central rotary joint 100 is fixedly connected to the mounting plate 310. The hydraulic transmission assembly 200 includes a hydraulic motor 210, a balance valve 220, a driving gearbox 230, an operating rotating shaft 240, and an encoder 250. The operating rotating shaft 240 rotatably penetrates through two opposite side walls of the driving gearbox 230. The two operating steering wheels 400 are respectively connected to both ends of the operating rotating shaft 240. The driving gearbox 230 is movably connected to the mounting plate 310. The hydraulic motor 210 is disposed on the driving gearbox 230. The driving end of the hydraulic motor 210 is meshingly connected to the power input end of the driving gearbox 230. The power output end of the driving gearbox 230 is meshingly connected to the operating rotating shaft 240 to rotate the operating steering wheel 400. The balance valve 220 is disposed on the hydraulic motor 210, and both ends of the balance valve 220 are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor 210. The input end of the central rotary joint 100 is used to connect to an external oil tank. The output end of the central rotary joint 100 is connected to the oil injection end of the balance valve 220 to control the inflow and outflow of the hydraulic oil of the hydraulic motor 210. The encoder 250 is disposed on the output shaft 211 of the hydraulic motor 210. The signal acquisition end of the encoder 250 is connected to the output shaft 211. The signal output end of the encoder 250 is used to connect to the input end of the control system. The output end of the control system is also used to connect to the central rotary joint 100 to monitor the rotation speed and displacement of the operating steering wheel 400.

[0040] It can be understood that since the encoder 250 is provided on the output shaft 211 of the hydraulic motor 210, the encoder 250 calculates the rotation speed and displacement of the running steering wheel 400 according to the driving speed by collecting the driving speed of the output shaft 211 of the hydraulic motor 210, so as to realize the real-time feedback of the position and rotation speed of the running steering wheel 400 by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil by the central swivel joint 100 according to the information feedback of the encoder 250, so as to realize the fast response of hydraulic drive. Also, since the input end of the central swivel joint 100 is connected to the external oil tank, both ends of the balance valve 220 are communicated with the oil inlet end and the oil outlet end of the hydraulic motor 210 respectively. The central swivel joint 100 inputs hydraulic oil through the external oil tank, and the output end of the central swivel joint 100 is connected to the oil injection end of the balance valve 220, ensuring that the balance valve 220 can adjust the hydraulic oil flowing in and out of the hydraulic motor 210 in real time, and realizing the control of the braking force of the running steering wheel 400 by adjusting the inlet and outlet oil pressures of the hydraulic oil. Moreover, the setting of the balance valve 220 ensures that the running steering wheel 400 has a small braking inertia, a short braking distance and good sensitivity, thus improving the hydraulic drive response effect of the running steering wheel 400.

[0041] It can also be understood that since the driving end of the hydraulic motor 210 is meshed and connected to the power input end of the driving gearbox 230, and the power output end of the driving gearbox 230 is meshed and connected to the running rotating shaft 240, compared with other transmission methods such as chain drive, the transmission method by gear meshing can transmit power more effectively, improving the transmission efficiency from the hydraulic motor 210 to the running rotating shaft 240, ensuring that the running steering wheel 400 can move at an appropriate speed. Also, since both ends of the balance valve 220 are communicated with the oil inlet end and the oil outlet end of the hydraulic motor 210 respectively, the output end of the central swivel joint 100 is connected to the oil injection end of the balance valve 220 to control the inflow and outflow of the hydraulic oil of the hydraulic motor 210, ensuring that the balance valve 220 can effectively control the flow rate and pressure of the hydraulic oil, guaranteeing the stable operation of the hydraulic motor 210, and thus effectively improving the transmission efficiency of the hydraulic motor 210.

[0042] Further, please refer to Figure 1 and Figure 3 In one embodiment, the balance valve 220 and the hydraulic motor 210 are of an integrally formed structure, so that the communication pipes formed by both ends of the balance valve 220 and the oil inlet end and the oil outlet end of the hydraulic motor 210 respectively are accommodated in the connection space between the balance valve 220 and the hydraulic motor 210, avoiding the leakage of the balance valve 220 when controlling the inflow and outflow of the hydraulic oil of the hydraulic motor 210, thus improving the output power of the hydraulic motor 210 and further improving the transmission efficiency of the hydraulic motor 210. Specifically, the balance valve 220 and the hydraulic motor 210 are integrally cast.

[0043] Such as Figure 3As shown, in one embodiment, a driving gear 212 is sleeved on an output shaft 211. The driving gearbox 230 includes a first driven gear 231 and a second driven gear 232. Both the first driven gear 231 and the second driven gear 232 are rotatably disposed within the driving gearbox 230. The driving gear 212 is meshed and connected to the first driven gear 231, the first driven gear 231 is meshed and connected to the second driven gear 232, and the second driven gear 232 is used to drive the running rudder wheel 400 to rotate. In this embodiment, a driving gear 212 is sleeved on the outer peripheral wall of the output shaft 211 of the hydraulic motor 210. The driving gear 212 is meshed and connected to the first driven gear 231, and the first driven gear 231 is meshed and connected to the second driven gear 232, ensuring that the output power of the hydraulic motor 210 is transmitted to the running rudder wheel 400 successively through the first driven gear 231 and the second driven gear 232, and ensuring that the running rudder wheel 400 is under the two-stage gear transmission of the driving gearbox 230, guaranteeing the efficiency of the power transmission of the hydraulic motor 210.

[0044] Further, as Figure 1 , Figure 3 and Figure 4 shown, in one embodiment, the hydraulic driving device 10 further includes a bevel gear set 500. The bevel gear set 500 includes a first bevel gear 510 and a second bevel gear 520 that are meshed and connected to each other. The driving gearbox 230 further includes a first rotating shaft 233 and a second rotating shaft 234. The first rotating shaft 233 and the second rotating shaft 234 are rotatably disposed within the driving gearbox 230 in sequence. The first driven gear 231 is sleeved on the first rotating shaft 233, one end of the second driven gear 232 is sleeved on the second rotating shaft 234, and the first bevel gear 510 is sleeved on the other end of the second rotating shaft 234. The second bevel gear 520 is sleeved on the running rotating shaft 240 to enable the running rudder wheel 400 to rotate and travel.

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

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

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

[0048] As Figure 1As shown, in one embodiment, the hydraulic drive device 10 further includes a steering motor 600 and a steering speed reducer 700. The steering motor 600 is disposed on the mounting plate 310. Among them, the steering speed reducer 700 has an L-shaped structure. The driving end of the steering motor 600 is connected to the power input end of the steering speed reducer 700, and the power output end of the steering speed reducer 700 is meshed and connected to the steering support gear 320, so that the steering motor 600 drives the running steering wheel 400 to turn. In this embodiment, since the steering speed reducer 700 has an L-shaped structure, it is ensured that the steering speed reducer 700 can adapt to the limited installation space, making the spatial structure more compact. Also, since the steering motor 600 provides steering power for the running steering wheel 400, the driving end of the steering motor 600 is connected to the power input end of the steering speed reducer 700, and the power output end of the steering speed reducer 700 is meshed and connected to the steering support gear 320, so that under the deceleration of the steering speed reducer 700 by the steering motor 600, the steering torque is increased, ensuring the stability of the running steering wheel 400 when turning. Specifically, the steering motor 600 is a servo motor, and the servo motor provides steering power for the running steering wheel 400, effectively adjusting the steering angle and speed, thereby realizing accurate steering operation. Further, in one embodiment, the total speed ratio of the steering speed reducer 700 is 15.

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

[0050] Please refer to Figure 2 , in one embodiment, the hydraulic drive device 10 further includes two bearings 810 and two swing seats 820. Each swing seat 820 is disposed on the mounting plate 310 facing the running steering wheel 400. A bearing 810 is sleeved in the mounting hole 820a of each swing seat 820. A swing shaft 235 is provided at both ends of the drive gearbox 230, and each swing shaft 235 is movably inserted through each bearing 810 one by one, so that the running steering wheel 400 swings left and right. In this embodiment, since the swing shafts 235 at both ends of the drive gearbox 230 are movably inserted through the bearings 810, the drive gearbox 230 can swing left and right under the setting of the bearings 810. When the running steering wheel 400 travels on an uneven ground, the running steering wheel 400 can swing left and right according to the unevenness of the ground, automatically adjusting the angle to adapt to the ground change situation, thereby ensuring the stability of the running steering wheel 400 when traveling.

[0051] Further, in one embodiment, the bearing 810 is a nylon bearing. The nylon bearing has good lubrication performance, and the nylon bearing can absorb part of the vibration energy to play a role in vibration reduction, thereby ensuring the stability and good shock absorption effect when the drive gearbox 230 drives the running steering wheel 400 to swing left and right.

[0052] Further, as Figure 2 and Figure 5 shown, in one embodiment, a first receiving groove 821 and a second receiving groove 822 are formed at one end of the swing seat 820 adjacent to the mounting plate 310. One end of the central rotary joint 100 sequentially passes through the receiving hole 321 of the steering support gear 320 and the rotary hole 311 of the mounting plate 310; the hydraulic transmission assembly 200 further includes an input pipeline 260 and an output pipeline 270. The input pipeline 260 is fixedly installed in the first receiving groove 821, and the output pipeline 270 is fixedly installed in the second receiving groove 822. Wherein, one end of the input pipeline 260 is connected to an external oil tank, the other end of the input pipeline 260 is connected to the input end of the central rotary joint 100, one end of the output pipeline 270 is connected to the oil injection end of the balance valve 220, and the other end of the output pipeline 270 is connected to the output end of the central rotary joint 100. In this embodiment, by fixedly installing the input pipeline 260 and the output pipeline 270 in the first receiving groove 821 and the second receiving groove 822 of the swing seat 820 respectively, on the one hand, the firmness of the installation of the input pipeline 260 and the output pipeline 270 is ensured, preventing the input pipeline 260 and the output pipeline 270 from loosening and misaligning when the running steering wheel 400 is driving and steering, and on the other hand, the first receiving groove 821 and the second receiving groove 822 provided on the swing seat 820 improve the space utilization rate of the hydraulic drive device 10, thereby ensuring the reliability when the running steering wheel 400 is moving and steering.

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

[0054] Further, as Figure 1 、 Figure 2 and Figure 6As shown, in one embodiment, the hydraulic driving device 10 further includes a shock absorption buffer plate 900. The shock absorption buffer plate 900 is disposed towards the driving gearbox 230 at the bottom of the mounting plate 310, and is used to prevent the driving gearbox 230 from colliding with the mounting plate 310 when swinging. In this embodiment, specifically, both ends of the shock absorption buffer plate 900 are detachably connected to the bottom of the mounting plate 310 through positioning pins. The added shock absorption buffer plate 900 prevents the driving gearbox 230 from directly colliding with the mounting plate 310 when the driving gearbox 230 swings left and right within the swing seat 820. The shock absorption buffer plate 900 plays a role in buffering and shock absorption, and further improves the service life of the driving gearbox 230 and the mounting plate 310. In one embodiment, the shock absorption buffer plate 900 is a silica gel plate.

[0055] Further, as Figure 2 and Figure 6 shown, in one embodiment, the shock absorption buffer plate 900 includes a main shock absorption portion 910 and two sub-shock absorption portions 920 respectively connected to both ends of the main shock absorption portion 910. The thickness of each sub-shock absorption portion 920 gradually decreases from the connection portion of the sub-shock absorption portion 920 and the main shock absorption portion 910 towards the end away from the main shock absorption portion 910. In this embodiment, when the operating steering wheel 400 travels on an uneven ground, the driving gearbox 230 swings left and right during driving. The driving gearbox 230 will first collide with the main shock absorption portion 910. The shock absorption force of the main shock absorption portion 910 is relatively large. Then, both sides of the driving gearbox 230 collide with the sub-shock absorption portions 920 during left and right swinging. Since the thickness of the sub-shock absorption portion 920 gradually decreases from the connection portion of the sub-shock absorption portion 920 and the main shock absorption portion 910 towards the end away from the main shock absorption portion 910, the shock absorption force gradually weakens from the main shock absorption portion 910 to the sub-shock absorption portion 920, preventing the shock absorption force of the sub-shock absorption portion 920 from being too large during the steering action of the operating steering wheel 400, and avoiding the steering of the operating steering wheel 400 being blocked due to the relatively large shock absorption force of the shock absorption buffer plate 900. Further, in one embodiment, the sub-shock absorption portion 920 has an arc structure.

[0056] Further, in one embodiment, a plurality of grooves (not shown in the figure) are provided on the outer surface of each shock-absorbing portion 920, and the side of the secondary shock-absorbing portion 920 provided with the grooves is used for contacting when the driving gearbox 230 swings left and right. In this embodiment, when the driving gearbox 230 swings left and right, the edge of the housing of the driving gearbox 230 directly contacts the secondary shock-absorbing portion 920. Since the edge of the housing is relatively sharp, if the outer surface of the secondary shock-absorbing portion 920 is too smooth, the contact area between the edge of the housing of the driving gearbox 230 and the secondary shock-absorbing portion 920 is small, which easily causes the secondary shock-absorbing portion 920 to be punctured, thereby affecting the shock-absorbing effect of the shock-absorbing buffer plate 900. However, a plurality of grooves are provided on the outer surface of the secondary shock-absorbing portion 920, making the outer surface of the secondary shock-absorbing portion 920 rougher, preventing the secondary shock-absorbing portion 920 from being punctured by the edge of the housing of the driving gearbox 230, and thus improving the shock-absorbing effect of the shock-absorbing buffer plate 900. In other embodiments, a plurality of protrusions (not shown in the figure) are provided on the outer surface of each secondary shock-absorbing portion 920.

[0057] Please refer to Figure 2 , Figure 6 and Figure 7 , in one embodiment, the design of the shock-absorbing buffer plate 900 includes the following specific process:

[0058] S110. The surface of the shock-absorbing buffer plate 900 facing the mounting plate 310 is flat. It can be understood that the flat surface of the shock-absorbing buffer plate 900 ensures the adaptability of the shock-absorbing buffer plate 900 when mounted on the mounting plate 310, so that the shock-absorbing buffer plate 900 is closely attached to the mounting plate 310.

[0059] S120. A main shock-absorbing portion 910 is formed on the surface of the shock-absorbing buffer plate 900 facing the driving gearbox 230.

[0060] S130. The main shock-absorbing portion 910 on the surface of the shock-absorbing buffer plate 900 facing the driving gearbox 230 extends towards both ends respectively to form a secondary shock-absorbing portion 920.

[0061] S140. An arc transition portion (not shown in the figure) is formed at the connection where the two secondary shock-absorbing portions 920 extend along the direction of the main shock-absorbing portion 910. It can be understood that the arc transition portion ensures that when the driving gearbox 230 swings left and right, after the driving gearbox 230 collides with the main shock-absorbing portion 910, it gradually buffers and absorbs shock along the arc transition portion towards the secondary shock-absorbing portion 920, ensuring a good shock-absorbing effect.

[0062] S150. A plurality of grooves or a plurality of protrusions are provided on the outer surfaces of the two secondary shock-absorbing portions 920.

[0063] Further, as Figure 2 , Figure 3 and Figure 8As shown, in one embodiment, a first clamping groove 930 is provided on one side of the shock-absorbing buffer plate 900 facing the encoder 250. The first clamping groove 930 is engaged with the outer peripheral wall of the encoder 250. Further, a second clamping groove 940 is provided on one side of the shock-absorbing buffer plate 900 facing the central swivel joint 100. The second clamping groove 940 is engaged with the part of the rotary hole 311 of the central swivel joint 100 protruding from the mounting plate 310. In this embodiment, the first clamping groove 930 and the second clamping groove 940 of the shock-absorbing buffer plate 900 are respectively engaged with the encoder 250 and the central swivel joint 100, ensuring the firm fixation of the shock-absorbing buffer plate 900 to the mounting plate 310, and avoiding the loosening of the shock-absorbing buffer plate 900 caused by the collision of the drive gearbox 230 with the shock-absorbing buffer plate 900 when the operating steering wheel 400 travels straight or turns, thereby improving the shock-absorbing and buffering effect of the shock-absorbing buffer plate 900.

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

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

[0066] 1) In the hydraulic drive device 10 of the present disclosure, since the encoder 250 is provided on the output shaft 211 of the hydraulic motor 210, the encoder 250 calculates the rotation speed and displacement of the operating steering wheel 400 by collecting the drive speed of the output shaft 211 of the hydraulic motor 210, realizes the real-time feedback of the position and rotation speed of the operating steering wheel 400 by the control system. At the same time, the control system can timely adjust the supply of hydraulic oil by the central swivel joint 100 according to the information feedback of the encoder 250, thereby realizing the fast response of hydraulic drive. Also, since the input end of the central swivel joint 100 is connected to an external oil tank, both ends of the balance valve 220 are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor 210. The central swivel joint 100 inputs hydraulic oil through the external oil tank, and the output end of the central swivel joint 100 is connected to the oil injection end of the balance valve 220, ensuring that the balance valve 220 can adjust the hydraulic oil flowing in and out of the hydraulic motor 210 in real time, and realizing the control of the braking force of the operating steering wheel 400 by adjusting the inlet and outlet oil pressures of the hydraulic oil. Moreover, the setting of the balance valve 220 ensures that the braking inertia of the operating steering wheel 400 is small, the braking distance is short, and the sensitivity is good, thereby improving the hydraulic drive response effect of the operating steering wheel 400.

[0067] 2) For the hydraulic drive device 10 of the present disclosure, since the drive end of the hydraulic motor 210 is meshed and connected to the power input end of the drive gearbox 230, and the power output end of the drive gearbox 230 is meshed and connected to the operating rotating shaft 240, compared with other transmission methods such as chain drive, the transmission method through gear meshing can transmit power more effectively, improving the transmission efficiency from the hydraulic motor 210 to the operating rotating shaft 240 and ensuring that the operating rudder wheel 400 can move at an appropriate speed. Also, since both ends of the balance valve 220 are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor 210, and the output end of the central swivel joint 100 is connected to the oil injection end of the balance valve 220 to control the inflow and outflow of the hydraulic oil of the hydraulic motor 210, it is ensured that the balance valve 220 can effectively control the flow rate and pressure of the hydraulic oil, guaranteeing the stable operation of the hydraulic motor 210, thereby effectively improving the transmission efficiency of the hydraulic motor 210.

[0068] The above-described embodiments merely represent several implementation manners of the present disclosure. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can still be made, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure patent shall be subject to the appended claims.

Claims

1. A hydraulic drive device, comprising a central swivel joint, a hydraulic transmission assembly, a support swivel assembly, and two running rudder wheels. The support swivel assembly includes a mounting plate and a steering support gear, and the steering support gear is connected to the mounting plate. The central swivel joint is fixedly connected to the mounting plate. It is characterized in that the hydraulic transmission assembly includes a hydraulic motor, a balance valve, a drive gearbox, a running rotating shaft, and an encoder. The running rotating shaft rotatably penetrates through two opposite side walls of the drive gearbox, and the two running rudder wheels are respectively connected to both ends of the running rotating shaft. The drive gearbox is movably connected to the mounting plate, the hydraulic motor is arranged on the drive gearbox, the driving end of the hydraulic motor is meshed and connected to the power input end of the drive gearbox, and the power output end of the drive gearbox is meshed and connected to the running rotating shaft to make the running rudder wheels rotate; the balance valve is arranged on the hydraulic motor, and both ends of the balance valve are respectively communicated with the oil inlet end and the oil outlet end of the hydraulic motor. The input end of the central swivel joint is used to be connected to an external oil tank, and the output end of the central swivel joint is connected to the oil injection end of the balance valve to control the hydraulic oil flowing in and out of the hydraulic motor. The encoder is arranged on the output shaft of the hydraulic motor, the signal acquisition end of the encoder is connected to the output shaft, and the signal output end of the encoder is used to be connected to the input end of a control system. The output end of the control system is also used to be connected to the central swivel joint to monitor the rotation speed and displacement of the running rudder wheels.

2. The hydraulic drive device according to claim 1, characterized in that, A driving gear is sleeved on the output shaft. The drive gearbox includes a first driven gear and a second driven gear. The first driven gear and the second driven gear are both rotatably arranged in the drive gearbox. The driving gear is meshed and connected to the first driven gear, the first driven gear is meshed and connected to the second driven gear, and the second driven gear is used to drive the running rudder wheels to rotate.

3. The hydraulic drive device according to claim 2, characterized in that, The hydraulic drive device further includes a bevel gear set, which includes a first bevel gear and a second bevel gear that are meshed and connected to each other. The drive gearbox further includes a first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are sequentially rotatably arranged in the drive gearbox. The first driven gear is sleeved on the first rotating shaft, the second driven gear is sleeved on one end of the second rotating shaft, and the first bevel gear is sleeved on the other end of the second rotating shaft. The second bevel gear is sleeved on the running rotating shaft to make the running rudder wheels rotate and travel.

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

4.

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

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

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

5.

8. The hydraulic drive device according to claim 1, characterized in that The hydraulic driving device further includes two bearings and two swing seats. Each swing seat is arranged on the mounting plate facing the running rudder wheel. A bearing is sleeved in the mounting hole of each swing seat. A swing shaft is arranged at both ends of the driving gear box. Each swing shaft is movably penetrated through each bearing correspondingly, so that the running rudder wheel swings left and right.

9. The hydraulic drive device according to claim 1, wherein, The balance valve and the hydraulic motor are of an integrally formed structure; and / or, The hydraulic driving device further includes a shock-absorbing buffer plate. The shock-absorbing buffer plate is arranged at the bottom of the mounting plate facing the driving gear box, and is used to prevent the driving gear box from colliding with the mounting plate when swinging.

10. An overloaded AGV, characterized in that, Comprising the hydraulic driving device according to any one of claims 1 to 9.

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