Driving module and heavy-load AGV

Abstract

The utility model discloses a driving module and a heavy load AGV, the driving module comprises a mounting base, a driving structure, a hydraulic cylinder and a rotation structure, the driving structure and the hydraulic cylinder are both arranged on the mounting base, and the driving structure and the hydraulic cylinder are arranged in a mutual avoidance mode; the rotating structure comprises a rotating assembly and a sliding assembly, the rotating assembly is suitable for being connected with the AGV body, a mounting part is arranged on the rotating assembly, and the sliding assembly is arranged in the mounting part in a sliding mode and connected with a piston rod of the hydraulic cylinder; wherein the sliding assembly comprises a sliding unit and a power unit, the sliding unit is arranged in the mounting part in a sliding mode and connected with a piston rod of the hydraulic cylinder, the power unit is arranged on the rotation assembly, and the driving end of the power unit is connected with the sliding unit. According to the driving module of the structure, when the AGV encounters an uneven walking surface, the driving structure is always kept in contact with the walking surface, and the AGV can stably run.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, specifically to a drive module and a heavy-duty AGV. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a prescribed guidance path, and possessing safety protection and various transfer functions.

[0003] In existing technologies, typical AGVs have a load capacity of around 10 tons. For loads exceeding 10 tons, such as tens to hundreds of tons, heavy-duty AGVs are required. For AGVs, the drive module provides power for forward movement, backward movement, turning, and rotation, serving as a crucial power source. Heavy-duty AGVs generally use multiple drive modules to support the AGV body and its loaded cargo, providing power for normal operation.

[0004] However, existing heavy-duty AGVs use multiple drive modules to operate. When the ground is uneven, some drive modules may not touch the ground, causing the AGV to malfunction. Utility Model Content

[0005] Therefore, the technical problem to be solved by this utility model is to overcome the defect that existing heavy-duty AGVs use multiple drive modules to operate, and when the ground is uneven, some drive modules will not touch the ground, thus causing the AGV to fail to operate normally.

[0006] Therefore, this utility model provides a drive module, comprising:

[0007] Mounting base;

[0008] The drive structure and the hydraulic cylinder are both mounted on the mounting base and are arranged to avoid each other.

[0009] A rotary structure includes a rotary assembly and a sliding assembly. The rotary assembly is adapted to be connected to the AGV body, and the rotary assembly has a mounting portion. The sliding assembly is slidably disposed in the mounting portion and connected to the piston rod of the hydraulic cylinder.

[0010] The sliding assembly includes a sliding unit and a power unit. The sliding unit is slidably disposed within the mounting portion and connected to the piston rod of the hydraulic cylinder. The power unit is disposed on the rotary assembly, and the drive end of the power unit is connected to the sliding unit.

[0011] Under the gravity of the AGV body, the power unit has an elastic force that drives the sliding unit to move toward the walking surface, so that the mounting base has a tendency to move toward the walking surface, and the drive structure always keeps in contact with the walking surface.

[0012] Optionally, in the aforementioned drive module, the power unit includes a cover pressing member, several power components, and a connecting member. The cover pressing member is disposed on the rotary assembly, the connecting member is disposed within the mounting portion and connected to the sliding unit, all the power components are disposed between the cover pressing member and the connecting member, and any one of the power components has the elastic force.

[0013] Optionally, in the aforementioned drive module, the sliding unit includes a sliding member and a fixing member. The sliding member is slidably disposed within the mounting portion, and its two ends are respectively connected to the connecting member and the piston rod of the hydraulic cylinder. The fixing member is disposed between the sliding member and the rotary assembly to guide the sliding member.

[0014] Optionally, in the aforementioned drive module, the drive structure includes a first drive component and a second drive component, wherein the first drive component and the second drive component are respectively disposed on both sides of the mounting base and are respectively hinged to the mounting base.

[0015] Optionally, in the above-described drive module, any of the drive components includes a drive member, a drive wheel, and a transmission member. The drive member is disposed on the mounting base, the drive wheel is hinged to the mounting base, and the transmission member is disposed between the drive end of the drive member and the drive wheel. Under the drive of the drive member, the transmission member drives the drive wheel to rotate.

[0016] Optionally, in the above-mentioned drive module, the slewing component includes a slewing support, a first mounting component, and a second mounting component. The first mounting component and the second mounting component are respectively disposed on both sides of the slewing support, and the first mounting component is rotatably connected to the slewing support, while the second mounting component is fixedly connected to the slewing support.

[0017] The first mounting component is adapted to be connected to the AGV body, and the mounting portion is formed on the slewing support, the first mounting component, and the second mounting component.

[0018] Optionally, the drive module described above further includes a buffer member disposed on the sliding member, wherein when the sliding member approaches the second mounting member, the buffer member is positioned between the sliding member and the second mounting member.

[0019] Optionally, the aforementioned drive module further includes a limiting structure, which includes an adapter, a limiting member, and an anti-rotation member. The limiting member is disposed on the first mounting member. One end of the adapter is rotatably connected to the piston rod of the hydraulic cylinder. One end of the anti-rotation member is connected to the connecting member, and the other end passes through the limiting member.

[0020] The adapter has an adapter channel that communicates with the piston rod of the hydraulic cylinder. The adapter has an oil pipe connector that connects to the oil pipe. The oil pipe connector communicates with the adapter channel. The limiting member has a limiting part. The end of the anti-rotation member away from the connecting member passes through the limiting part.

[0021] Optionally, the aforementioned drive module further includes a guide structure, which includes several guide components. Each guide component includes a guide member and a guide bearing. The guide bearing is disposed on the mounting base. One end of the guide member passes through the guide bearing, and the other end is connected to the second mounting member.

[0022] A heavy-duty AGV includes the aforementioned drive module.

[0023] The technical solution provided by this utility model has the following advantages:

[0024] 1. The drive module provided by this utility model comprises a drive structure, a hydraulic cylinder, and a rotary structure mounted on a mounting base. Both the drive structure and the hydraulic cylinder are mounted on the mounting base and are arranged to avoid each other, thus ensuring stable operation of the drive structure. This is because the drive structure can contact the walking surface (in this embodiment, the ground) and can move relative to it. The rotary structure includes a rotary assembly and a sliding assembly. The rotary assembly can be connected to the AGV body and has a mounting portion (in this embodiment, a mounting hole). The sliding assembly is slidably disposed within the mounting portion and is also connected to the piston rod of the hydraulic cylinder. This allows the hydraulic cylinder to lift the AGV body via the piston rod, and also connects the AGV body to the mounting base via the rotary assembly and the hydraulic cylinder. Connected together, under the weight of the AGV body, the sliding assembly can slide within the mounting section, driving the hydraulic cylinder and the mounting base to move synchronously. Specifically, the sliding assembly includes a sliding unit and a power unit. The sliding unit is slidably disposed within the mounting section and connected to the piston rod of the hydraulic cylinder. The power unit is disposed on the rotary assembly, and its drive end is connected to the sliding unit. Simultaneously, under the weight of the AGV body, the power unit has an elastic force that drives the sliding unit to move towards the travel surface. Thus, this elastic force drives the mounting base to always have a tendency to move towards the travel surface, thereby ensuring that the drive structure always has pressure in contact with the travel surface. Consequently, when the AGV encounters an uneven travel surface, the drive structure can always maintain contact with the travel surface, enabling the AGV to operate stably. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the drive module provided in an embodiment of the present invention;

[0027] Figure 2 This is a cross-sectional schematic diagram of the drive module provided in an embodiment of this utility model;

[0028] Figure 3 This is a partial cross-sectional schematic diagram of the drive module provided in an embodiment of the present invention;

[0029] Explanation of reference numerals in the attached figures:

[0030] 1-Mounting base; 2-Hydraulic cylinder; 3-Buffer component; 41-First drive assembly; 411-Drive component; 412-Drive wheel; 413-Transmission component; 42-Second drive assembly;

[0031] 5-Rotating structure; 51-Rotating assembly; 511-Rotating support; 512-First mounting component; 513-Second mounting component; 521-Sliding unit; 5211-Sliding component; 5212-Fixing component; 522-Power unit; 5221-Covering component; 5222-Power component; 5223-Connecting component;

[0032] 6-Limiting structure; 61-Adapter; 611-Oil pipe joint; 62-Limiting component; 63-Anti-rotation component; 7-Guiding structure; 711-Guiding component; 712-Guiding bearing. Detailed Implementation

[0033] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0034] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0037] Example 1

[0038] This embodiment provides a driving module, such as Figures 1 to 3 As shown, the system includes a mounting base 1, a drive structure, a hydraulic cylinder 2, and a rotating structure 5. Both the drive structure and the hydraulic cylinder 2 are mounted on the mounting base 1, and are arranged to avoid each other. The rotating structure 5 includes a rotating assembly 51 and a sliding assembly. The rotating assembly 51 is adapted to connect to the AGV body, and has a mounting portion. The sliding assembly is slidably disposed within the mounting portion and connected to the piston rod of the hydraulic cylinder 2. The sliding assembly includes a sliding unit 521 and a power unit 522. The sliding unit 521 is slidably disposed within the mounting portion and connected to the piston rod of the hydraulic cylinder 2. The power unit 522 is mounted on the rotating assembly 51, and its drive end is connected to the sliding unit 521. Under the gravity of the AGV body, the power unit 522 has a spring force that drives the sliding unit 521 to move towards the travel surface, causing the mounting base 1 to tend to move towards the travel surface, and ensuring that the drive structure remains in contact with the travel surface.

[0039] The drive module described above comprises a drive structure, a hydraulic cylinder 2, and a rotary structure 5 mounted on a mounting base 1. Both the drive structure and the hydraulic cylinder 2 are mounted on the mounting base 1, and they are arranged to avoid each other, ensuring stable operation of the drive structure. This is because the drive structure can contact the walking surface (in this embodiment, the ground) and can move relative to it. The rotary structure 5 includes a rotary assembly 51 and a sliding assembly. The rotary assembly 51 can connect to the AGV body and has a mounting portion (in this embodiment, a mounting hole). The sliding assembly is slidably mounted within the mounting portion and is also connected to the piston rod of the hydraulic cylinder 2. This allows the hydraulic cylinder 2 to lift the AGV body via the piston rod, and the rotary assembly 51 and the hydraulic cylinder 2 to connect the AGV body and the mounting base 1. Under the weight of the AGV body, the sliding assembly can slide within the mounting portion, causing the hydraulic cylinder 2 and the mounting base 1 to move synchronously.

[0040] Specifically, the sliding assembly includes a sliding unit 521 and a power unit 522. The sliding unit 521 is slidably disposed within the mounting section and is connected to the piston rod of the hydraulic cylinder 2. The power unit 522 is disposed on the rotary assembly 51, and the drive end of the power unit 522 is connected to the sliding unit 521. Under the gravity of the AGV body, the power unit 522 has an elastic force that drives the sliding unit 521 to move toward the walking surface. Thus, the mounting base 1 can always have a tendency to move toward the walking surface through this elastic force, so that the drive structure can always have pressure in contact with the walking surface. This ensures that when the AGV encounters an uneven walking surface, the drive structure can always maintain contact with the walking surface, so that the AGV can operate stably.

[0041] The drive module provided in this embodiment, such as Figure 2 and Figure 3 As shown, the power unit 522 includes a cover pressing member 5221, a plurality of power members 5222 and a connecting member 5223. The cover pressing member 5221 is disposed on the rotary assembly 51, the connecting member 5223 is disposed in the mounting part and connected to the sliding unit 521, and all the power members 5222 are disposed between the cover pressing member 5221 and the connecting member 5223. Each power member 5222 has elasticity.

[0042] The drive module of the above structure includes a power unit 522 comprising a cover pressure member 5221, six power members 5222, and a connecting member 5223. In this embodiment, the cover pressure member 5221, the power members 5222, and the connecting member 5223 are respectively a cover pressure plate, a spring, and a connecting plate. The cover pressure member 5221 is mounted on the rotary assembly 51, and the connecting member 5223 is mounted inside the mounting part and connected to the sliding unit 521. All the power members 5222 are spaced apart between the cover pressure member 5221 and the connecting member 5223. Each power member 5222 can have elastic force under the gravity of the AGV body, and this elastic force can be transmitted to the mounting base 1 through the sliding unit 521 and the hydraulic cylinder 2, and then to the drive structure through the mounting base 1. In this way, the drive structure can always have pressure in contact with the walking surface.

[0043] The drive module provided in this embodiment, such as Figure 2 and Figure 3 As shown, the sliding unit 521 includes a sliding member 5211 and a fixing member 5212. The sliding member 5211 is slidably disposed in the mounting part, and its two ends are respectively connected to the connecting member 5223 and the piston rod of the hydraulic cylinder 2. The fixing member 5212 is disposed between the sliding member 5211 and the rotating assembly 51 to guide the sliding member 5211.

[0044] The drive module of the above structure includes a sliding unit 521 comprising a sliding member 5211 and a fixing member 5212. In this embodiment, the sliding member 5211 and the fixing member 5212 are a sleeve and a copper sleeve, respectively. The sliding member 5211 is slidably disposed in the mounting part, and both ends of the sliding member 5211 are connected to the connecting member 5223 and the piston rod of the hydraulic cylinder 2, respectively. In this way, the elastic force of all the power members 5222 can be transmitted to the sliding member 5211 through the connecting member 5223. The fixing member 5212 is specifically disposed between the sliding member 5211 and the rotary assembly 51, so that when the sliding member 5211 slides in the mounting part, the fixing member 5212 can provide a guiding function for the sliding member 5211.

[0045] The drive module provided in this embodiment, such as Figure 1 and Figure 2 As shown, the drive structure includes a first drive component 41 and a second drive component 42. The first drive component 41 and the second drive component 42 are respectively disposed on both sides of the mounting base 1 and are respectively hinged to the mounting base 1.

[0046] The drive module of the above structure includes a first drive component 41 and a second drive component 42. The first drive component 41 and the second drive component 42 are respectively disposed on both sides of the mounting base 1, and both the first drive component 41 and the second drive component 42 can contact the walking surface. In this way, the mounting base 1 can move on the walking surface through the first drive component 41 and the second drive component 42.

[0047] In addition, the first drive assembly 41 and the second drive assembly 42 are respectively hinged to the mounting base 1. Thus, when the AGV encounters a large pit on the walking surface, the first drive assembly 41 and the second drive assembly 42 can rotate relative to the mounting base 1 and contact the inner surface of the pit. At this time, the inner surface of the pit is part of the walking surface, which ensures that the drive structure can always contact the walking surface.

[0048] The drive module provided in this embodiment, such as Figure 1 As shown, any drive component includes a drive member 411, a drive wheel 412, and a transmission member 413. The drive member 411 is mounted on the mounting base 1, the drive wheel 412 is hinged to the mounting base 1, and the transmission member 413 is disposed between the drive end of the drive member 411 and the drive wheel 412. Under the drive of the drive member 411, the transmission member 413 drives the drive wheel 412 to rotate.

[0049] The drive module described above includes a drive component 411, a drive wheel 412, and a transmission component 413 for each drive component. In this embodiment, the drive component 411 and the transmission component 413 are a drive motor and a transmission chain, respectively. The drive component 411 is mounted on the mounting base 1, the drive wheel 412 is hinged to the mounting base 1, and the transmission component 413 is located between the drive end of the drive component 411 and the drive wheel 412. This allows the drive wheel 412 to rotate under the drive of the drive end of the drive component 411. Since the drive wheel 412 is in contact with the walking surface, it can rotate on the walking surface and move relative to the walking surface, thereby allowing the mounting base 1 to move relative to the walking surface.

[0050] The drive module provided in this embodiment, such as Figure 1 and Figure 2 As shown, the slewing assembly 51 includes a slewing support 511, a first mounting member 512, and a second mounting member 513. The first mounting member 512 and the second mounting member 513 are respectively disposed on both sides of the slewing support 511, and the first mounting member 512 is rotatably connected to the slewing support 511, while the second mounting member 513 is fixedly connected to the slewing support 511. The first mounting member 512 is adapted to be connected to the AGV body, and the mounting portion is formed on the slewing support 511, the first mounting member 512, and the second mounting member 513.

[0051] The drive module of the above structure includes a rotary component 51 comprising a rotary support 511, a first mounting member 512, and a second mounting member 513. In this embodiment, the first mounting member 512 and the second mounting member 513 are respectively a first mounting plate and a second mounting plate. The first mounting member 512 and the second mounting member 513 are respectively disposed on both sides of the rotary support 511, and the first mounting member 512 is fixedly connected to the rotary support 511, while the second mounting member 513 is rotatably connected to the rotary support 511.

[0052] Furthermore, the first mounting member 512 can be connected to the AGV body. Thus, under the action of external force, the slewing bearing can drive the second mounting member 513 to rotate relative to the first mounting member 512. Therefore, when the AGV turns, due to the differential operation between the first drive assembly 41 and the second drive assembly 42, when the mounting base 1 rotates, the slewing bearing 511 can avoid interfering with the rotation of the mounting base 1 by rotating relative to the first mounting member 512. At the same time, the mounting part is specifically formed on the slewing bearing 511, the first mounting member 512 and the second mounting member 513, so that the sliding structure can be set between the slewing bearing 511, the first mounting member 512 and the second mounting member 513.

[0053] The drive module provided in this embodiment, such as Figure 3As shown, it also includes a buffer 3, which is disposed on the sliding member 5211. When the sliding member 5211 is close to the second mounting member 513, the buffer 3 is located between the sliding member 5211 and the second mounting member 513.

[0054] The drive module with the above structure, by setting a buffer 3 on the sliding member 5211, which is a polyurethane board in this embodiment, allows the buffer 3 to be positioned between the sliding member 5211 and the second mounting member 513 when the sliding member 5211 slides toward the second mounting member 513 in the mounting part. This avoids direct contact between the sliding member 5211 and the second mounting member 513, which helps to reduce the probability of damage to the sliding member 5211 and the second mounting member 513 and improves the service life of the sliding member 5211 and the second mounting member 513.

[0055] The drive module provided in this embodiment, such as Figures 1 to 3 As shown, it also includes a limiting structure 6, which includes a converter 61, a limiting member 62, and an anti-rotation member 63. The limiting member 62 is disposed on the first mounting member 512. One end of the converter 61 is rotatably connected to the piston rod of the hydraulic cylinder 2. One end of the anti-rotation member 63 is connected to the connecting member 5223, and the other end passes through the limiting member 62. The converter 61 has a conversion channel that communicates with the piston rod of the hydraulic cylinder 2. The converter 61 has an oil pipe connector 611 that is connected to the oil pipe. The oil pipe connector 611 communicates with the conversion channel. The limiting member 62 has a limiting part. The end of the anti-rotation member 63 away from the connecting member 5223 passes through the limiting part.

[0056] The drive module of the above structure uses a limiting structure 6 set on the first mounting member 512. The limiting structure 6 specifically includes a connector 61, a limiting member 62, and an anti-rotation member 63. In this embodiment, the connector 61, the limiting member 62, and the anti-rotation member 63 are a connector tube, a limiting plate, and an anti-rotation shaft, respectively. The limiting member 62 is set on the first mounting member 512. One end of the connector 61 is rotatably connected to the piston rod of the hydraulic cylinder 2. One end of the anti-rotation member 63 is connected to the connector 5223, and the other end passes through the limiting member 62. In this way, when the piston rod of the hydraulic cylinder 2 lifts the AGV body, the anti-rotation member 63 can move relative to the limiting member 62. And because the anti-rotation member 63 passes through the limiting member 62, the sliding component will not rotate relative to the piston rod of the hydraulic cylinder 2.

[0057] Specifically, the adapter 61 has an adapter channel that communicates with the piston rod of the hydraulic cylinder 2, and the adapter 61 is provided with an oil pipe connector 611 that connects to the oil pipe, so that external hydraulic oil can be delivered to the hydraulic cylinder 2 through the adapter 61. Since the adapter 61 is rotatably connected to the piston rod of the hydraulic cylinder 2, when the mounting base 1 rotates, the piston rod of the hydraulic cylinder 2 can rotate relative to the adapter 61, thereby preventing the oil pipe from rotating and causing hydraulic oil leakage. The limiting member 62 is provided with a limiting part, which is a limiting hole in this embodiment. The end of the anti-rotation member 63 away from the connecting member 5223 passes through the limiting part. In this way, the anti-rotation member 63 can move relative to the limiting member 62 through the limiting part, and the limiting part can restrict the rotation of the sliding component.

[0058] The drive module provided in this embodiment, such as Figure 1 and Figure 2 As shown, it also includes a guide structure 7, which includes several guide components. Each guide component includes a guide member 711 and a guide bearing 712. The guide bearing 712 is disposed on the mounting base 1. One end of the guide member 711 passes through the guide bearing 712, and the other end is connected to the second mounting member 513.

[0059] The drive module of the above structure uses a guide structure 7 disposed between the mounting base 1 and the second mounting member 513. The guide structure 7 specifically includes several guide components, each of which includes a guide member 711 and a guide bearing 712. In this embodiment, the guide member 711 is a guide shaft. The guide bearing 712 is disposed on the mounting base 1. One end of the guide member 711 passes through the guide bearing 712, and the other end is connected to the second mounting member 513. Thus, when the second mounting member 513 moves relative to the mounting base 1, the guide member 711 can extend and retract within the guide bearing 712 to guide the movement of the second mounting member 513.

[0060] The drive module provided by this utility model comprises a drive structure, a hydraulic cylinder 2, and a rotary structure 5 mounted on a mounting base 1. Both the drive structure and the hydraulic cylinder 2 are mounted on the mounting base 1, and they are arranged to avoid each other, thus ensuring stable operation of the drive structure. This is because the drive structure can contact the walking surface (in this embodiment, the ground) and can move relative to it. The rotary structure 5 includes a rotary assembly 51 and a sliding assembly. The rotary assembly 51 can be connected to the AGV body and has a mounting portion (in this embodiment, a mounting hole). The sliding assembly is slidably mounted within the mounting portion and is also connected to the piston rod of the hydraulic cylinder 2. This allows the hydraulic cylinder 2 to lift the AGV body via the piston rod, and the rotary assembly 51 and the hydraulic cylinder 2 can connect the AGV body to the mounting base 1. Under the weight of the AGV body, the sliding assembly can slide within the mounting section, driving the hydraulic cylinder 2 and the mounting base 1 to move synchronously. Specifically, the sliding assembly includes a sliding unit 521 and a power unit 522. The sliding unit 521 is slidably disposed within the mounting section and is connected to the piston rod of the hydraulic cylinder 2. The power unit 522 is disposed on the rotary assembly 51, and the drive end of the power unit 522 is connected to the sliding unit 521. Under the weight of the AGV body, the power unit 522 has a spring force that drives the sliding unit 521 to move toward the travel surface. Thus, the mounting base 1 can always have a tendency to move toward the travel surface through this spring force, so that the drive structure can always have pressure in contact with the travel surface. This ensures that when the AGV encounters an uneven travel surface, the drive structure can always maintain contact with the travel surface, so that the AGV can operate stably.

[0061] Example 2

[0062] This embodiment provides a heavy-duty AGV, such as Figures 1 to 3As shown, the above-mentioned drive module is included. The heavy-duty AGV with the above structure includes the aforementioned drive module, namely, a drive structure, a hydraulic cylinder 2, and a rotary structure 5 mounted on the mounting base 1. Both the drive structure and the hydraulic cylinder 2 are mounted on the mounting base 1, and they are arranged to avoid each other, thus ensuring stable operation of the drive structure. This is because the drive structure can contact the walking surface (in this embodiment, the ground) and can move relative to it. The rotary structure 5 includes a rotary assembly 51 and a sliding assembly. The rotary assembly 51 can be connected to the AGV body and has a mounting portion (in this embodiment, a mounting hole). The sliding assembly is slidably disposed within the mounting portion and is also connected to the piston rod of the hydraulic cylinder 2. This allows the hydraulic cylinder 2 to lift the AGV body via the piston rod, and the AGV body and mounting base 1 can be connected via the rotary assembly 51 and the hydraulic cylinder 2. Together, under the gravity of the AGV body, the sliding assembly can slide within the mounting part, driving the hydraulic cylinder 2 and the mounting base 1 to move synchronously. Specifically, the sliding assembly includes a sliding unit 521 and a power unit 522. The sliding unit 521 is slidably disposed within the mounting part and is connected to the piston rod of the hydraulic cylinder 2. The power unit 522 is disposed on the rotary assembly 51, and the drive end of the power unit 522 is connected to the sliding unit 521. At the same time, under the gravity of the AGV body, the power unit 522 has an elastic force that drives the sliding unit 521 to move toward the walking surface. In this way, the mounting base 1 can always have a tendency to move toward the walking surface through this elastic force, so that the drive structure can always have pressure in contact with the walking surface. Therefore, when the AGV encounters an uneven walking surface, the drive structure can always maintain contact with the walking surface, so that the AGV can operate stably.

[0063] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A driving module, characterized by, include: Mounting base (1); The drive structure and the hydraulic cylinder (2) are both mounted on the mounting base (1) and are arranged to avoid each other. The rotary structure (5) includes a rotary assembly (51) and a sliding assembly. The rotary assembly (51) is adapted to be connected to the AGV vehicle body, and the rotary assembly (51) is provided with a mounting part. The sliding assembly is slidably disposed in the mounting part and connected to the piston rod of the hydraulic cylinder (2). The sliding assembly includes a sliding unit (521) and a power unit (522). The sliding unit (521) is slidably disposed in the mounting part and connected to the piston rod of the hydraulic cylinder (2). The power unit (522) is disposed on the rotary assembly (51), and the drive end of the power unit (522) is connected to the sliding unit (521). Under the gravity of the AGV vehicle body, the power unit (522) has an elastic force that drives the sliding unit (521) to move toward the walking surface, so that the mounting base (1) has a tendency to move toward the walking surface, and the drive structure always keeps in contact with the walking surface.

2. The driving module according to claim 1, wherein, The power unit (522) includes a cover (5221), a plurality of power components (5222) and a connector (5223). The cover (5221) is disposed on the rotary assembly (51). The connector (5223) is disposed in the mounting portion and connected to the sliding unit (521). All of the power components (5222) are disposed between the cover (5221) and the connector (5223). Each of the power components (5222) has the elastic force.

3. The drive module of claim 2, wherein, The sliding unit (521) includes a sliding member (5211) and a fixing member (5212). The sliding member (5211) is slidably disposed in the mounting part, and its two ends are respectively connected to the connecting member (5223) and the piston rod of the hydraulic cylinder (2). The fixing member (5212) is disposed between the sliding member (5211) and the rotary assembly (51) to guide the sliding member (5211).

4. The drive module of claim 3, wherein, The drive structure includes a first drive component (41) and a second drive component (42), the first drive component (41) and the second drive component (42) are respectively disposed on both sides of the mounting base (1) and are respectively hinged to the mounting base (1).

5. The drive module of claim 4, wherein, Each of the drive components includes a drive member (411), a drive wheel (412), and a transmission member (413). The drive member (411) is disposed on the mounting base (1), the drive wheel (412) is hinged to the mounting base (1), and the transmission member (413) is disposed between the drive end of the drive member (411) and the drive wheel (412). Under the drive of the drive member (411), the transmission member (413) drives the drive wheel (412) to rotate.

6. The drive module of claim 5, wherein, The slewing assembly (51) comprises a slewing support (511), a first mounting member (512) and a second mounting member (513), the first mounting member (512) and the second mounting member (513) are respectively arranged on two sides of the slewing support (511), and the first mounting member (512) is rotationally connected with the slewing support (511), and the second mounting member (513) is fixedly connected with the slewing support (511); The first mounting member (512) is adapted to be connected with an AGV vehicle body, and the mounting portion is formed on the slewing support (511), the first mounting member (512) and the second mounting member (513).

7. The drive module of claim 6, wherein, Further comprising a buffer member (3), the buffer member (3) is arranged on the sliding member (5211), when the sliding member (5211) is close to the second mounting member (513), the buffer member (3) is between the sliding member (5211) and the second mounting member (513).

8. The drive module of claim 7, wherein, Further comprising a limiting structure (6), the limiting structure (6) comprises an adapter (61), a limiting member (62) and an anti-rotation member (63), the limiting member (62) is arranged on the first mounting member (512), one end of the adapter (61) is rotationally connected with the piston rod of the hydraulic cylinder (2), one end of the anti-rotation member (63) is connected with the connecting member (5223), and the other end penetrates through the limiting member (62) and is arranged; The adapter (61) has an adapter channel in communication with the piston rod of the hydraulic cylinder (2), an oil pipe joint (611) connected with an oil pipe is arranged on the adapter (61), the oil pipe joint (611) is in communication with the adapter channel, a limiting portion is arranged on the limiting member (62), and one end of the anti-rotation member (63) away from the connecting member (5223) penetrates into the limiting portion.

9. The drive module of claim 8, wherein, Further comprising a guide structure (7), the guide structure (7) comprises a plurality of guide assemblies, any guide assembly comprises a guide member (711) and a guide bearing (712), the guide bearing (712) is arranged on the mounting base (1), one end of the guide member (711) penetrates into the guide bearing (712), and the other end is connected with the second mounting member (513).

10. A heavy load AGV, characterized by, The drive module comprises the drive module according to any one of claims 1-9. The drive module comprises the drive module according to any one of claims 1-9.

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