Driving wheel mechanism with lifting function and latent traction AGV

Abstract

The utility model discloses a driving wheel mechanism with a lifting function and a latent traction AGV. The driving wheel mechanism comprises a driving wheel assembly, a manual lifting assembly and an automatic lifting assembly. A lifting plate is fixedly arranged on the driving wheel assembly; the manual lifting assembly comprises a first mounting seat; the lifting rod structure is arranged on the first mounting seat in a sliding and penetrating manner and is in transmission connection with the lifting plate; the rotating handle is rotationally arranged on the first mounting seat and is in transmission connection with the lifting rod structure; the automatic lifting assembly comprises a second mounting seat; the electric push rod is fixedly arranged on the second mounting seat; and the rotating shifting block is rotationally connected to the second mounting seat, is in transmission connection with the electric push rod and can be in transmission connection with the lifting plate. The driving wheel assembly can be lifted through the manual lifting assembly and the automatic lifting assembly, and the problem that a driving wheel mechanism in an existing latent traction AGV is inconvenient to transfer when breaking down is effectively solved.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a drive wheel mechanism with lifting function and a latent traction AGV. Background Technology

[0002] The AGV (Automated Guided Vehicle) is an automated transportation device that can be hidden under the bottom of a cargo trolley. It is mainly used to tow vehicles loaded with goods, operating flexibly in limited spaces to achieve efficient cargo handling. The AGV features intelligent navigation, flexible adaptability, and safety and stability, making it suitable for scenarios such as warehouses and manufacturing. In the future, it will become more intelligent, improving the level of logistics automation.

[0003] When a drive wheel mechanism malfunctions in a tractor-trailer AGV, making it impossible to control or move the AGV, it may cause channel blockage, affecting the normal operation of other tractor-trailer AGVs. Since the drive wheels in the drive wheel mechanism generate significant friction with the ground when they are not working, it is inconvenient to move the malfunctioning tractor-trailer AGV. How to quickly move the malfunctioning AGV is an urgent problem to be solved. Therefore, a drive wheel mechanism with lifting function and a tractor-trailer AGV are provided to solve the above problems. Summary of the Invention

[0004] One of the objectives of this utility model is to provide a drive wheel mechanism with lifting function and a lurking traction AGV, so as to solve the problem that the drive wheel mechanism in the existing lurking traction AGV is inconvenient to move when it fails.

[0005] This utility model discloses a drive wheel mechanism with lifting function and a latent traction AGV, which can be achieved through the following technical solutions:

[0006] This utility model discloses a drive wheel mechanism with a lifting function, comprising a drive wheel assembly with a lifting plate fixedly mounted thereon; a manual lifting assembly including a first mounting base; a lifting rod structure slidably disposed through the first mounting base and pulsatorically connected to the lifting plate; a rotating handle rotatably disposed on the first mounting base and pulsatorically connected to the lifting rod structure; by turning the rotating handle, the lifting rod structure and the lifting plate are sequentially driven upward, thereby achieving the separation of the drive wheel assembly from the ground; and an automatic lifting assembly including a second mounting base; an electric push rod fixedly disposed on the second mounting base; and a rotating lever rotatably connected to the second mounting base and pulsatorically connected to the electric push rod, which is pulsatorically connected to the lifting plate; by the electric push rod driving the rotating lever, the lifting plate is driven upward, thereby achieving the separation of the drive wheel assembly from the ground.

[0007] In one embodiment, the first mounting base includes a mounting base body; a guide cylinder and a support bracket respectively fixedly disposed on the mounting base body; the lifting rod structure slides through the guide cylinder; and the rotating handle is rotatably disposed on the support bracket.

[0008] In one embodiment, the lifting rod structure includes a lifting rod body that is slidably disposed on the guide cylinder; a transmission pin and a lifting block are respectively fixedly disposed on opposite ends of the lifting rod body, the transmission pin being motive-connected to the rotating handle, and the lifting block being motive-connected to the lifting plate.

[0009] In one embodiment, a first inductive switch and a second inductive switch are fixedly mounted on the second mounting base; a first inductive screw and a second inductive screw are fixedly mounted on the rotating block, and the first inductive screw and the second inductive screw are respectively capable of sensing operations with the first inductive switch and the second inductive switch.

[0010] In one embodiment, the drive wheel assembly includes a support rotation structure; a drive wheel structure rotatably disposed below the support rotation structure; a swing arm structure rotatably disposed above the support rotation structure and hinged to the body of the lurking AGV; and an angle recognition structure that passes through the swing arm structure and is meshed and driven with the support rotation structure.

[0011] In one embodiment, the supporting rotation structure includes a support plate, and the drive wheel structure is rotatably connected to the support plate; a slewing bearing is disposed on the support plate, the outer ring of the slewing bearing is fixedly connected to the support plate, and its inner ring is fixedly connected to the swing arm structure.

[0012] In one embodiment, the drive wheel structure includes a mounting bracket, which is rotatably connected to the supporting rotating structure via two rotating shaft structures; a first integrated drive wheel and a second integrated drive wheel are respectively fixedly mounted on the mounting bracket.

[0013] In one embodiment, the swing arm structure includes a swing arm body fixedly connected to the inner ring of the slewing bearing; at least one drive spring mechanism and at least two mechanical limiting mechanisms respectively disposed on the upper end of the swing arm body, the mechanical limiting mechanisms being able to contact and connect with the support plate; and a lifting plate fixedly disposed on the swing arm body.

[0014] In one embodiment, the angle recognition structure includes a mounting plate fixedly mounted on the swing arm body; an angle encoder fixedly mounted on the mounting plate, the output shaft of which movably passes through the swing arm body; and a pinion fixedly mounted on the output shaft of the angle encoder and meshing with multiple external gears on the outer ring of the slewing bearing.

[0015] This utility model discloses a submersible traction AGV with lifting function, which includes the drive wheel mechanism described in any of the above-mentioned embodiments.

[0016] This utility model discloses a drive wheel mechanism with lifting function and a latent traction AGV, which can be achieved through the following technical solutions:

[0017] This utility model discloses a drive wheel mechanism with lifting function and a submersible traction AGV. By separately setting up a manual lifting component and an automatic lifting component, both of which can drive the two integrated drive wheels to disengage from the ground through a lifting plate, the user can perform manual or automatic lifting operations according to actual needs. This effectively solves the problem of inconvenient relocation when the drive wheel mechanism fails in existing submersible traction AGVs. When the drive wheel structure drives the outer ring of the slewing bearing to rotate, the outer ring of the slewing bearing sequentially drives the pinion and the output shaft of the angle encoder to rotate, thereby enabling the angle encoder to obtain the position signal of the drive wheel structure rotating along the axial direction of the slewing bearing, realizing the identification of the rotation angle between the drive wheel assembly and the submersible traction AGV body. At the same time, the drive wheel assembly adopts an integrated drive wheel, which reduces the number of parts in the drive wheel assembly, thereby facilitating the assembly operation of the drive wheel assembly. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a structural diagram of a drive wheel mechanism with lifting function according to the present invention, including a drive wheel assembly, a manual lifting assembly, and an automatic lifting assembly;

[0020] Figure 2 yes Figure 1 The diagram shown is a structural schematic diagram of a drive wheel mechanism with lifting function according to this utility model from another perspective.

[0021] Figure 3 yes Figure 1 An exploded view of the drive wheel assembly shown.

[0022] Figure 4 yes Figure 1 The exploded view of the manually lifting component is shown below;

[0023] Figure 5 yes Figure 1 An exploded view of the automatic lifting component shown.

[0024] Figure 6 This is a schematic diagram of the structure of a hidden traction AGV with lifting function according to this utility model.

[0025] The diagram shows: 10, drive wheel mechanism; 11, drive wheel assembly; 111, support rotation structure; 1111, support plate; 11111, hinge seat; 1112, slewing bearing; 11121, external gear; 112, drive wheel structure; 1121, mounting bracket. 1122, First integrated drive wheel; 1123, Second integrated drive wheel; 1124, Rotating shaft structure; 113, Swing arm structure; 1131, Swing arm body; 11311, Hinge hole; 1132, Drive spring mechanism; 1133, Mechanical limit mechanism; 1134, Lifting plate; 114, Angle recognition structure; 1141, Mounting plate; 1142, Angle encoder; 1143, Pinion; 12, Manual lifting assembly; 121, First mounting base; 1211, Mounting base body; 12111, First fixing hole; 1212, Guide cylinder; 1213, Support bracket; 12131, Fixing screw; 12132, Rotating pin ; 122, Lifting rod structure; 1221, Lifting rod body; 1222, Transmission pin; 1223, Lifting lever; 123, Rotating handle; 1231, First rotating hole; 1232, Second rotating hole; 13, Automatic lifting assembly; 131, Second mounting base; 1311, Second fixing hole; 1312, Third fixing hole; 1313, Third rotating hole; 1314, First inductive switch; 1315, Second inductive switch; 132, Electric push rod; 1321, Fastening screw; 133, Rotating lever; 1331, First rotating shaft; 1332, Second rotating shaft; 1333, First sensing screw; 1334, Second sensing screw. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can typically be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] Please see Figure 1 and Figure 2 As shown, the present invention provides a drive wheel mechanism 10 with lifting function, which includes a drive wheel assembly 11, a manual lifting assembly 12, and an automatic lifting assembly 13. The drive wheel assembly 11 is rotatably mounted on the body of the lurking AGV. The manual lifting assembly 12 and the automatic lifting assembly 13 are respectively fixedly mounted on the side of the drive wheel assembly 11 and are respectively connected to the drive wheel assembly 11 in a transmission manner. Both of them can drive the drive wheel body in the drive wheel assembly 11 to disengage from the contact connection with the ground.

[0029] Please see Figures 1-3 As shown, in this embodiment, the drive wheel assembly 11 includes a supporting rotation structure 111, a drive wheel structure 112, a swing arm structure 113, and an angle recognition structure 114. The supporting rotation structure 111 serves as the main support. The drive wheel structure 112 is rotatably disposed below the supporting rotation structure 111, and its two ends can float up and down relative to the supporting rotation structure 111. The swing arm structure 113 is rotatably disposed above the supporting rotation structure 111 and hinged to the lurking AGV body, and can rotate relative to the supporting rotation structure 111. The angle recognition structure 114 is disposed through the swing arm structure 113 and meshes with the supporting rotation structure 111, and can monitor the rotation angle between the drive wheel assembly 11 and the lurking AGV body in real time.

[0030] Please see Figure 2 and Figure 3As shown, in this embodiment, the supporting rotation structure 111 includes a support plate 1111 and a slewing bearing 1112; the support plate 1111 is the main support body, and the drive wheel structure 112 is rotatably connected to the support plate 1111; the slewing bearing 1112 is disposed on the support plate 1111 and its outer ring is fixedly connected to the support plate 1111, and its inner ring is fixedly connected to the swing arm structure 113, and the swing arm structure 113 can rotate relative to the support plate 1111 through the slewing bearing 1112. Specifically, two hinge seats 11111 are symmetrically arranged at the lower end of the support plate 1111, and the drive wheel structure 112 is rotatably connected to the two hinge seats 11111 respectively; the support plate 1111 is provided with multiple fixing holes, and the outer ring of the slewing bearing 1112 is fixedly connected to the support plate 1111 through the multiple fixing holes; multiple external gears 11121 are arranged around the outer side of the slewing bearing 1112, and the angle recognition structure 114 is meshed and connected to the multiple external gears 11121 for transmission.

[0031] Please see Figure 2 and Figure 3 As shown, in this embodiment, the drive wheel structure 112 includes a mounting bracket 1121, a first integrated drive wheel 1122, a second integrated drive wheel 1123, and two rotating shaft structures 1124. The mounting bracket 1121 is rotatably connected to the support plate 1111 via the two rotating shaft structures 1124. The first integrated drive wheel 1122 and the second integrated drive wheel 1123 are respectively fixedly mounted on the mounting bracket 1121 and electrically connected to the electronic control mechanism on the vehicle body of the lurking AGV, thereby enabling the lurking AGV to move or turn. The first integrated drive wheel 1122 and the second integrated drive wheel 1123 both adopt existing technology, so their specific structures and working processes are not described in detail here, as long as they meet the requirements of this application. Specifically, the rotating shaft structure 1124 includes an oil-free bushing and a rotating shaft body. The oil-free bushing is fixedly installed in the mounting hole on the mounting bracket 1121. The rotating shaft body is fixedly installed through the hinge seat 11111 and through the oil-free bushing. The mounting bracket 1121 rotates relative to the rotating shaft body through the oil-free bushing, thereby realizing the up-and-down floating operation of the first integrated drive wheel 1122 and the second integrated drive wheel 1123 relative to the support plate 1111.

[0032] Please see Figure 2 and Figure 3As shown, the swing arm structure 113 includes a swing arm body 1131, at least one drive spring mechanism 1132, at least two mechanical limiting mechanisms 1133, and a lifting plate 1134. The swing arm body 1131 is fixedly connected to the inner ring of the slewing bearing 1112. At least one drive spring mechanism 1132 is disposed at the upper end of the swing arm body 1131. The lurking AGV body is connected to at least one drive spring mechanism 1132. The lurking AGV body transmits the elastic force synchronously to the first integrated drive wheel 1122 and the second integrated drive wheel 1123 through at least one drive spring mechanism 1132, thereby increasing the normal pressure of the first integrated drive wheel 1122 and the second integrated drive wheel 1123 on the ground. At least two mechanical limiting mechanisms 1133 are respectively fixedly disposed through the swing arm body 1131 and can respectively contact and connect with the support plate 1111, thereby realizing the limiting operation of the floating angle of the first integrated drive wheel 1122 and the second integrated drive wheel 1123. In this embodiment, two drive spring mechanisms 1132 are respectively disposed at the upper end of the swing arm body 1131; two mechanical limiting mechanisms 1133 are respectively fixedly disposed through the swing arm body 1131 and can respectively contact and connect with the support plate 1111; the lifting plate 1134 is fixedly disposed on one side of the swing arm body 1131 and is disposed opposite to the hinge part of the lurking AGV body. Specifically, two hinge holes 11311 are provided through the swing arm body 1131, and the lurking AGV body is hinged to the swing arm body 1131 through the two hinge holes 11311.

[0033] Please see Figure 3 As shown, specifically, the drive spring mechanism 1132 includes a fixing pin and a spring body. The fixing pin is fixedly mounted on the swing arm body 1131. One end of the spring body is mounted on the fixing pin, and the other end is submerged and connected to the AGV body. Specifically, the mechanical limiting mechanism includes a fixing plate and a limiting pin. The fixing plate is fixedly mounted on the swing arm body 1131. The limiting pin is fixedly mounted through the fixing plate and through the swing arm body 1131, and can contact and connect with the support plate 1111, thereby realizing the limiting operation of the floating angle of the first integrated drive wheel 1122 and the second integrated drive wheel 1123.

[0034] Please see Figure 3 As shown, in this embodiment, the angle recognition structure 114 includes a mounting plate 1141, an angle encoder 1142, and a pinion 1143. The mounting plate 1141 is fixedly mounted on the swing arm body 1131. The angle encoder 1142 is fixedly mounted on the mounting plate 1141, and its output shaft movably passes through the swing arm body 1131, and is electrically connected to the electronic control mechanism on the lurking AGV body. The pinion 1143 is fixedly mounted on the output shaft of the angle encoder 1142 and meshes with multiple external gears 11121 on the outer ring of the slewing bearing 1112 for transmission.

[0035] Please see Figure 1 , Figure 2 and Figure 4 As shown, in this embodiment, the manual lifting assembly 12 includes a first mounting base 121, a lifting rod structure 122, and a rotating handle 123. The first mounting base 121 is fixedly installed in the body of the lurking AGV. The lifting rod structure 122 is slidably disposed on the first mounting base 121 and is connected to the lifting plate 1134. The rotating handle 123 is rotatably disposed on the first mounting base 121 and is connected to the lifting rod structure 122. By turning the rotating handle 123, the lifting rod structure 122 is driven by the first mounting base 121 to drive the lifting plate 1134 to move upward, thereby causing the first integrated drive wheel 1122 and the second integrated drive wheel 1123 to disengage from contact with the ground.

[0036] Please see Figure 4 As shown, in this embodiment, the first mounting base 121 includes a mounting base body 1211, a guide cylinder 1212, and a support bracket 1213; the mounting base body 1211 is fixedly installed in the body of the lurking AGV; the guide cylinder 1212 and the support bracket 1213 are respectively fixedly installed on the mounting base body 1211, the lifting rod structure 122 slides through the guide cylinder 1212, the guide cylinder 1212 guides the lifting movement of the lifting rod structure 122, and the rotating handle 123 is rotatably installed on the support bracket 1213. Specifically, the mounting base body 1211 has multiple first fixing holes 12111 through it, and the mounting base body 1211 is fixedly installed in the body of the lurking AGV through the multiple first fixing holes 12111; the two ends of the support bracket 1213 are respectively fixedly installed on the guide cylinder 1212 by fixing screws 12131; the upper end of the support bracket 1213 is provided with a rotating pin 12132, and the rotating handle 123 is rotatably mounted on the support bracket 1213 through the rotating pin 12132.

[0037] Please see Figure 4 As shown, specifically, the lifting rod structure 122 includes a lifting rod body 1221, a transmission pin 1222, and a lifting block 1223. The lifting rod body 1221 is slidably disposed on the guide cylinder 1212. The transmission pin 1222 and the lifting block 1223 are respectively fixedly disposed on opposite ends of the lifting rod body 1221. The transmission pin 1222 is connected to the rotating handle 123, and the lifting block 1223 can contact and be connected to the lifting plate 1134, thereby causing the first integrated drive wheel 1122 and the second integrated drive wheel 1123 to disengage from contact with the ground. Specifically, the rotating handle 123 is provided with two first rotating holes 1231 and two second rotating holes 1232. The two first rotating holes 1231 are respectively connected to the corresponding transmission pins 1222, and the two second rotating holes 1232 are respectively rotatably disposed on the corresponding rotating pins 12132.

[0038] Please see Figure 1 , Figure 2 and Figure 5 As shown, in this embodiment, the automatic lifting assembly 13 includes a second mounting base 131, an electric push rod 132, and a rotating block 133. The second mounting base 131 is fixedly installed in the body of the lurking AGV. The electric push rod 132 is fixedly mounted on the second mounting base 131 and electrically connected to the electronic control mechanism on the lurking AGV body. The rotating block 133 is rotatably connected to the second mounting base 131 and is driven by the electric push rod 132. The rotating block 133 can be driven by the lifting plate 1134. The electric push rod 132 drives the rotating block 133 to move the lifting plate 1134, thereby causing the first integrated drive wheel 1122 and the second integrated drive wheel 1123 to disengage from contact with the ground. Specifically, the electric push rod 132 adopts existing technology, so its specific structure and working process will not be described in detail here, as long as it meets the requirements of this application.

[0039] Please see Figure 5 As shown, specifically, the second mounting base 131 is provided with multiple second fixing holes 1311 and two third fixing holes 1312. The second mounting base 131 is fixedly installed in the body of the lurking AGV through the multiple second fixing holes 1311. The electric push rod 132 is fixedly installed on the second mounting base 131 through the cooperation of the fastening screw 1321 and the two third fixing holes 1312. The second mounting base 131 is provided with a third rotating hole 1313. The rotating block 133 is rotatably mounted on the second mounting base 131 through the third rotating hole 1313. The second mounting base 131 is also fixedly installed with a first induction switch 1314 and a second induction switch 1315. The rotation position of the rotating block 133 is sensed and limited by the first induction switch 1314 and the second induction switch 1315, respectively. Specifically, the rotating block 133 is provided with a first rotating shaft 1331 and a second rotating shaft 1332, which are respectively connected to the second mounting base 131 and the electric push rod 132. The rotating block 133 is fixedly provided with a first sensing screw 1333 and a second sensing screw 1334, which can respectively perform sensing operations with the first sensing switch 1314 and the second sensing switch 1315, thereby realizing the sensing and limiting operation of the rotation position of the rotating block 133.

[0040] Please see Figure 6 As shown, the present invention provides a hidden traction AGV with lifting function, which includes the drive wheel mechanism 10 of any of the above-mentioned components.

[0041] It should be noted that the specific working process of the drive wheel mechanism with lifting function and the lurking AGV of this utility model is as follows: When the drive wheel assembly 11 malfunctions, but the control system can work normally, the electric push rod 132 drives the rotating block 133 to rotate, thereby making the rotating block 133 contact the lifting plate 1134 for transmission. Since the swing arm body 1311 is hinged to the body of the lurking AGV, the first integrated drive wheel 1122 and the second integrated drive wheel 1123 are disengaged from the ground, realizing the operation of automatically lifting the drive wheel assembly 11, making it convenient and easy to move the lurking AGV; When both the drive wheel assembly 11 and the control system malfunction, by turning the rotating handle 123, the lifting rod structure 122 and the lifting plate 1134 are driven upward in sequence. Since the swing arm body 1311 is hinged to the body of the lurking AGV, the first integrated drive wheel 1122 and the second integrated drive wheel 1123 are disengaged from the ground, realizing the operation of manually lifting the drive wheel assembly 11, making it convenient and easy to move the lurking AGV.

[0042] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0043] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A drive wheel mechanism with lifting function, characterized in that, include: A drive wheel assembly, on which a lifting plate is fixedly mounted; A manual lifting assembly includes a first mounting base; a lifting rod structure slidably disposed on the first mounting base and pulsatorically connected to the lifting plate; a rotating handle rotatably disposed on the first mounting base and pulsatorically connected to the lifting rod structure; by turning the rotating handle, the lifting rod structure and the lifting plate are sequentially driven upward, thereby achieving the disengagement of the drive wheel assembly from the ground; An automatic lifting assembly includes a second mounting base; an electric push rod fixedly mounted on the second mounting base; and a rotating paddle block rotatably connected to the second mounting base and driven by the electric push rod, which is driven by the lifting plate. The electric push rod drives the rotating paddle block to move the lifting plate upward, thereby disengaging the drive wheel assembly from the ground.

2. The drive wheel mechanism with lifting function according to claim 1, characterized in that, The first mounting base includes a mounting base body; a guide cylinder and a support bracket respectively fixedly disposed on the mounting base body; the lifting rod structure slides through the guide cylinder; and the rotating handle is rotatably disposed on the support bracket.

3. A drive wheel mechanism with lifting function according to claim 2, characterized in that, The lifting rod structure includes a lifting rod body that is slidably disposed on the guide cylinder; a transmission pin and a lifting block are respectively fixedly disposed on opposite ends of the lifting rod body; the transmission pin is pulsatorically connected to the rotating handle; and the lifting block is pulsatorically connected to the lifting plate.

4. A drive wheel mechanism with lifting function according to claim 1, characterized in that, The second mounting base is fixedly mounted with a first inductive switch and a second inductive switch respectively; the rotating block is fixedly mounted with a first inductive screw and a second inductive screw respectively, and the first inductive screw and the second inductive screw can respectively perform sensing operation with the first inductive switch and the second inductive switch.

5. A drive wheel mechanism with lifting function according to claim 1, characterized in that, The drive wheel assembly includes a support rotation structure; a drive wheel structure rotatably disposed below the support rotation structure; a swing arm structure rotatably disposed above the support rotation structure and hinged to the body of the lurking AGV; and an angle recognition structure that is disposed through the swing arm structure and meshes with the support rotation structure for transmission.

6. A drive wheel mechanism with lifting function according to claim 5, characterized in that, The supporting rotation structure includes a support plate, and the drive wheel structure is rotatably connected to the support plate; a slewing bearing is disposed on the support plate, the outer ring of the slewing bearing is fixedly connected to the support plate, and its inner ring is fixedly connected to the swing arm structure.

7. A drive wheel mechanism with lifting function according to claim 5, characterized in that, The drive wheel structure includes a mounting bracket, which is rotatably connected to the supporting rotating structure via two rotating shaft structures; a first integrated drive wheel and a second integrated drive wheel are respectively fixedly mounted on the mounting bracket.

8. A drive wheel mechanism with lifting function according to claim 6, characterized in that, The swing arm structure includes a swing arm body, which is fixedly connected to the inner ring of the slewing bearing; at least one drive spring mechanism and at least two mechanical limiting mechanisms are respectively disposed on the upper end of the swing arm body, the mechanical limiting mechanisms being able to contact and connect with the support plate; the lifting plate is fixedly disposed on the swing arm body.

9. A drive wheel mechanism with lifting function according to claim 8, characterized in that, The angle recognition structure includes a mounting plate, which is fixedly mounted on the swing arm body; an angle encoder fixedly mounted on the mounting plate, the output shaft of which movably passes through the swing arm body; and a pinion fixedly mounted on the output shaft of the angle encoder and meshing with multiple external gears on the outer ring of the slewing bearing.

10. A latent traction AGV with lifting function, characterized in that, Includes the drive wheel mechanism according to any one of claims 1-9.

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