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 rotation structure and a guide structure, the driving structure is arranged on the mounting base, and the driving structure is suitable for being in contact with a walking surface so as to drive the mounting base to move on the walking surface; the rotary structure is arranged on the side, away from the walking face, of the mounting base and is suitable for being connected with an AGV body; the guide structure comprises a plurality of guide assemblies and bias pressure assemblies, and all the guide assemblies and the bias pressure assemblies are arranged between the rotary structure and the mounting base so as to be movably connected with the mounting base and the AGV body; under the gravity effect of the AGV body, the rotation structure is suitable for moving towards the mounting base through the guide structure, so that the bias pressure assembly has elastic force for driving the mounting base to move towards the walking face, and the driving structure is made to make contact with the walking face all the time. The driving module with the structure can ensure stable operation of the AGV.

Description

TECHNICAL FIELD

[0001] The utility model relates to AGV technical field, concretely relates to a drive module and AGV. BACKGROUND

[0002] Automatic guided vehicle, abbreviated as AGV, refers to the transport vehicle equipped with electromagnetic or optical automatic guiding device, which can travel along the specified guiding path, has safety protection and various transfer functions.

[0003] In prior art, the general AGV load is usually within 10 tons, and for the load above 10 tons such as dozens of tons to hundreds of tons, heavy load AGV is needed to realize. For AGV, the drive module provides power for AGV advancing, retreating, turning and rotating in place, and is an important power source. For heavy load AGV, it generally uses multiple drive modules to support AGV body and its loaded goods, and provides power for it through these drive modules, so that it can operate normally.

[0004] However, the existing heavy load AGV uses multiple drive modules to operate, which will cause some drive modules not to touch the ground when the ground is uneven, thereby causing the AGV to be unable to operate normally. UTILITY MODEL CONTENTS

[0005] Therefore, the technical problem to be solved by the utility model is to overcome the defects that the existing heavy load AGV uses multiple drive modules to operate, which will cause some drive modules not to touch the ground when the ground is uneven, thereby causing the AGV to be unable to operate normally.

[0006] Therefore, the utility model provides a drive module, which comprises:

[0007] A mounting base and a drive structure, the drive structure is arranged on the mounting base, and the drive structure is adapted to be in contact with a walking surface to drive the mounting base to move on the walking surface;

[0008] A rotating structure, the rotating structure is arranged on the side of the mounting base away from the walking surface, and the rotating structure is adapted to be connected with an AGV body;

[0009] A guide structure, comprising a plurality of guide assemblies and biasing assemblies, all the guide assemblies and the biasing assemblies are arranged between the rotating structure and the mounting base to movably connect the mounting base and the AGV body;

[0010] Under the action of gravity of the AGV body, the rotating structure is adapted to move towards the mounting base through the guide structure, so that the biasing assembly has elastic force to drive the mounting base to move towards the walking surface, and the drive structure is always in contact with the walking surface

[0011] Optionally, the driving module, the biasing assembly comprises a plurality of biasing members, two ends of any of the biasing members are connected with the rotating structure and the mounting base respectively, so as to convert the gravity of the AGV body into elastic force and transmit the elastic force to the mounting base.

[0012] Optionally, the driving module, a plurality of mounting portions are formed on the mounting base, one end of any of the biasing members is inserted into one of the mounting portions, so as to be connected with the mounting base.

[0013] Optionally, the driving module, the guide assembly comprises a guide member and a guide bearing, the guide bearing is arranged on the mounting base, one end of the guide member is connected with the rotating structure, and the other end of the guide member is arranged in the guide bearing.

[0014] Optionally, the driving module, the guide assembly further comprises a buffer member, the buffer member is sleeved on the guide member, and when the rotating structure moves towards the mounting base, the buffer member is arranged between the rotating structure and the mounting base.

[0015] Optionally, the driving module, the rotating structure comprises a rotating support, a first mounting member and a second mounting member which are connected with each other, the first mounting member and the second mounting member are arranged on two sides of the rotating support respectively, the first mounting member is rotatably connected with the rotating support, and the second mounting member is fixedly connected with the rotating support.

[0016] The first mounting member is adapted to be connected with the AGV body, and the second mounting member is adapted to be connected with one end of the guide member which is away from the mounting base.

[0017] Optionally, the driving module, a limiting member is arranged on the rotating support, a blocking portion is arranged on the first mounting member, the limiting member and the blocking portion are arranged oppositely, and when the rotating support rotates relative to the first mounting member, the limiting member is adapted to abut against the blocking portion, so as to limit the rotating support.

[0018] Optionally, the driving module, the driving structure comprises a first driving assembly and a second driving assembly, the first driving assembly and the second driving assembly are arranged on two sides of the mounting base respectively and are connected with the mounting base respectively.

[0019] Any of the driving assemblies comprises a driving member, a driving wheel and a transmission member, the driving member is arranged on the mounting base, the driving wheel is connected with the mounting base, and the transmission member is arranged between a driving end of the driving member and the driving wheel, so that the transmission member drives the driving wheel to rotate under the driving of the driving member.

[0020] Optionally, the driving module, the mounting base comprises a rotating seat and at least two fixed seats, the rotating seat is arranged between the two fixed seats, the rotating seat is rotationally connected with the two fixed seats, and the first driving assembly and the second driving assembly are connected with two ends of the rotating seat opposite to each other, and the mounting portion is arranged on the fixed seat.

[0021] A heavy-load AGV comprises the driving module.

[0022] The technical scheme has the following advantages:

[0023] 1. The driving module comprises a driving structure, a rotating structure and a guide structure arranged on the mounting base, wherein the driving structure is arranged on the mounting base and can contact the walking surface, the walking surface is the ground in this embodiment, so that the driving structure can drive the mounting base to move on the walking surface, the rotating structure is arranged on the side of the mounting base away from the walking surface, and the rotating structure can be connected with the AGV body, and the guide structure is arranged between the rotating structure and the mounting base, and the guide structure comprises four guide assemblies and a biasing assembly, the four guide assemblies and the biasing assembly are arranged between the rotating structure and the mounting base, so that the rotating structure and the mounting base are movably connected together through the guide structure, the AGV body is connected with the mounting base through the rotating structure due to the connection of the rotating structure with the AGV body, the driving structure can drive the AGV body to move on the walking surface, and the biasing assembly arranged between the rotating structure and the mounting base is pressed by the rotating structure under the gravity of the AGV body, so that the biasing assembly has an elastic force to drive the mounting base to move towards the walking surface, so that the mounting base always has a tendency to move towards the walking surface, and the driving structure arranged on the mounting base also always has a tendency to move towards the walking surface, so that the driving structure can always contact the walking surface, and the AGV can stably run when encountering uneven walking surfaces. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 A structure schematic view of the driving module provided for the embodiment of the present application is provided.

[0026] Figure 2 A structure schematic view of the rotary structure and the guide structure provided for the embodiment of the present application is provided.

[0027] Figure 3 A structure schematic view of the mounting base and the driving structure provided for the embodiment of the present application is provided.

[0028] Explanation of reference signs:

[0029] 1 - mounting base; 11 - rotary seat; 12 - fixed seat; 121 - mounting part;

[0030] 2 - driving structure; 21 - first driving assembly; 22 - second driving assembly; 221 - driving piece; 222 - driving wheel; 223 - transmission piece;

[0031] 3 - rotary structure; 31 - rotary support; 311 - limiting piece; 32 - first mounting piece; 321 - blocking part; 33 - second mounting piece;

[0032] 4 - guide structure; 411 - guide piece; 412 - guide bearing; 421 - biasing piece; 43 - buffer piece. DETAILED DESCRIPTION

[0033] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0034] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "mounting", "connection" should be broad sense understanding, for example, it can be fixed connection, also can be detachable connection, or integrally connected, it can be mechanical connection, also can be electrical connection, it can be direct connection, also can be indirectly connected through intermediate medium, it can be the communication inside two elements, for ordinary skilled in the art, the specific meaning of the above-mentioned term in the utility model can be understood according to specific circumstances.

[0036] In addition, the technical features involved in the different embodiments of the utility model described below can be combined with each other as long as there is no conflict between them.

[0037] Embodiment 1

[0038] The embodiment provides a kind of drive module, as shown in Figures 1 to 3 It includes mounting base 1, drive structure 2, rotary structure 3 and guide structure 4, drive structure 2 is arranged on mounting base 1, drive structure 2 is suitable for being contacted with walking surface, to drive mounting base 1 moves on walking surface;Rotary structure 3 is arranged on the side of mounting base 1 away from walking surface, rotary structure 3 is suitable for being connected with AGV car body;Guide structure 4 includes several guide components and biasing components, all guide components and biasing components are arranged between rotary structure 3 and mounting base 1, to movably connect mounting base 1 and AGV car body;When under the action of gravity of AGV car body, rotary structure 3 is suitable for moving towards mounting base 1 by guide structure 4, to make biasing component have the elastic force of driving mounting base 1 moves towards walking surface, and make drive structure 2 always contact with walking surface.

[0039] The drive module of the above structure, drive structure 2, rotary structure 3 and guide structure 4 are arranged on mounting base 1, wherein drive structure 2 is arranged on mounting base 1, and drive structure 2 can be contacted with walking surface, walking surface is ground in the embodiment, so that drive structure 2 can drive mounting base 1 to move on walking surface, rotary structure 3 is arranged on the side of mounting base 1 away from walking surface, and rotary structure 3 can be connected with AGV car body together, at the same time, guide structure 4 is arranged between rotary structure 3 and mounting base 1, and guide structure 4 specifically includes four guide components and biasing components, four guide components and biasing components are arranged between rotary structure 3 and mounting base 1, so that rotary structure 3 and mounting base 1 can be movably connected together through guide structure 4, and since rotary structure 3 is connected with AGV car body together, AGV car body and mounting base 1 can be connected through rotary structure 3, and drive structure 2 can drive AGV car body to move on walking surface.

[0040] In addition, under the gravity of the AGV body, the rotating structure 3 is connected with the mounting base 1 through the guide structure 4, so that the rotating structure 3 moves towards the mounting base 1 under the gravity of the AGV body, and the biasing assembly arranged between the rotating structure 3 and the mounting base 1 is pressed, and the biasing assembly can drive the mounting base 1 to move towards the walking surface, so that the mounting base 1 always has a tendency to move towards the walking surface, and the driving structure 2 mounted on the mounting base 1 also always has a tendency to move towards the walking surface, so that the driving structure 2 can always contact the walking surface, and the AGV can stably run when encountering uneven walking surface.

[0041] The driving module provided in the embodiment includes a rotating structure 3, a mounting base 1, a driving structure 2 and a biasing assembly. Figure 2 As shown in the figure, the biasing assembly includes a plurality of biasing members 421, and the two ends of any biasing member 421 are connected with the rotating structure 3 and the mounting base 1 respectively, so as to convert the gravity of the AGV body into elastic force and transmit the elastic force to the mounting base 1.

[0042] The driving module with the above structure includes two biasing members 421, and the biasing members 421 are springs in the embodiment. The two biasing members 421 are arranged between the rotating structure 3 and the mounting base 1 in a spaced manner, and the two ends of each biasing member 421 are connected with the rotating structure 3 and the mounting base 1 respectively, so that under the gravity of the AGV body, the biasing member 421 can convert the gravity of the AGV body into elastic force and transmit the elastic force to the mounting base 1, so that the mounting base 1 always has a tendency to move towards the walking surface, and the driving structure 2 arranged on the mounting base 1 also always has a tendency to move towards the walking surface.

[0043] The driving module provided in the embodiment includes a rotating structure 3, a mounting base 1, a driving structure 2 and a biasing assembly. Figure 3 As shown in the figure, the mounting base 1 is provided with a plurality of mounting portions 121, and one end of any biasing member 421 abutting against the mounting base 1 is inserted into one mounting portion 121 to be connected with the mounting base 1.

[0044] The driving module with the above structure includes two mounting portions 121 provided on the mounting base 1, and the mounting portion 121 is a mounting hole in the embodiment. When one end of the biasing member 421 is connected with the mounting base 1, the one end of the biasing member 421 is inserted into the mounting portion 121, so that the biasing member 421 is connected with the mounting base 1, and at the same time, the installation stability of the biasing member 421 can be improved by inserting part of the biasing member 421 into the mounting portion 121 of the mounting base 1.

[0045] The driving module provided in the embodiment includes a rotating structure 3, a mounting base 1, a driving structure 2 and a biasing assembly. Figure 2 and Figure 3As shown, the guiding assembly comprises a guiding member 411 and a guiding bearing 412, the guiding bearing 412 is arranged on the mounting base 1, one end of the guiding member 411 is connected with the rotating structure 3, and the other end is arranged in the guiding bearing 412.

[0046] The driving module with the above structure, by arranging the guiding assembly comprising a guiding member 411 and a guiding bearing 412, the guiding member 411 is a guiding shaft in this embodiment, wherein the guiding bearing 412 is arranged on the mounting base 1, one end of the guiding member 411 is arranged in the guiding bearing 412, and the other end is connected with the rotating structure 3, so that when the rotating structure 3 moves relative to the mounting base 1, the guiding member 411 can be telescopic in the guiding bearing 412 to guide the movement of the rotating structure 3.

[0047] The driving module provided by the embodiment, as shown in Figure 2 As shown, the guiding assembly further comprises a buffer member 43, the buffer member 43 is sleeved on the guiding member 411, and when the rotating structure 3 moves towards the mounting base 1, the buffer member 43 is between the rotating structure 3 and the mounting base 1.

[0048] The driving module with the above structure, by arranging the guiding assembly further comprising a buffer member 43, the buffer member 43 is a polyurethane block in this embodiment, and the buffer member 43 is specifically sleeved on the guiding member 411, so that when the rotating structure 3 moves towards the mounting base 1, the buffer member 43 can be between the rotating structure 3 and the mounting base 1, and can separate the rotating structure 3 and the mounting base 1, so as to avoid the rotating structure 3 directly contacting with the mounting base 1, thereby avoiding the damage of the rotating structure 3 and the mounting base 1.

[0049] The driving module provided by the embodiment, as shown in Figure 2 As shown, the rotating structure 3 comprises a rotating support 31, a first mounting member 32 and a second mounting member 33 connected with each other, the first mounting member 32 and the second mounting member 33 are arranged on two sides of the rotating support 31 respectively, and the first mounting member 32 is rotatably connected with the rotating support 31, and the second mounting member 33 is fixedly connected with the rotating support 31; the first mounting member 32 is adapted to be connected with the AGV vehicle body, and the second mounting member 33 is adapted to be connected with one end of the guiding member 411 away from the mounting base 1.

[0050] The driving module with the above structure is provided with the rotating structure 3 including the rotating support 31, the first mounting member 32 and the second mounting member 33 which are connected with each other, and the first mounting member 32 and the second mounting member 33 are respectively the first mounting plate and the second mounting plate in the embodiment. The first mounting member 32 and the second mounting member 33 are arranged at two sides of the rotating support 31 respectively, and the first mounting member 32 is rotatably connected with the rotating support 31, and the second mounting member 33 is fixedly connected with the rotating support 31. In this way, when the mounting base 1 rotates under the driving of the driving structure 2, the mounting base 1 drives the rotating support 31 to rotate relative to the first mounting member 32. Since the first mounting member 32 is connected with the AGV vehicle body, the rotating support 31 can rotate relative to the AGV vehicle body. In this way, the AGV can rotate normally. In addition, the second mounting member 33 can be connected with the one end of the guide member 411 which is away from the mounting base 1. In this way, the rotating structure 3 can be connected with the mounting base 1 through the guide structure 4, and can move relative to the mounting base 1 through the guide structure 4.

[0051] The driving module provided in the embodiment can be used for Figure 1 As shown in the figure, the rotating support 31 is provided with the limiting member 311, and the first mounting member 32 is provided with the blocking part 321. The limiting member 311 and the blocking part 321 are arranged oppositely. When the rotating support 31 rotates relative to the first mounting member 32, the limiting member 311 is suitable for abutting against the blocking part 321 to limit the rotating support 31.

[0052] The driving module with the above structure is provided with the limiting member 311 arranged on the rotating support 31 and the blocking part 321 arranged on the first mounting member 32. The limiting member 311 is a limiting block in the embodiment, and the blocking part 321 is a blocking block protruding from the first mounting member 32 in the embodiment. Meanwhile, the limiting member 311 and the blocking part 321 are arranged oppositely. When the rotating support 31 rotates relative to the first mounting member 32, the limiting member 311 can abut against the blocking part 321 to limit the rotation of the rotating support 31, so as to avoid excessive rotation of the rotating support. In addition, the blocking part 321 can be provided with a wire protection coil, so that the wire protection coil can be used to protect the cable arranged on the rotating support 31.

[0053] The driving module provided in the embodiment can be used for Figure 3As shown, the driving structure 2 comprises a first driving assembly 21 and a second driving assembly 22, which are respectively arranged at two sides of the mounting base 1 and are respectively connected with the mounting base 1; any driving assembly comprises a driving member 221, a driving wheel 222 and a transmission member 223, the driving member 221 is arranged on the mounting base 1, the driving wheel 222 is connected with the mounting base 1, and the transmission member 223 is arranged between the driving end of the driving member 221 and the driving wheel 222, under the driving of the driving member 221, the transmission member 223 drives the driving wheel 222 to rotate.

[0054] The driving module with the above structure can drive the mounting base 1 to move on the walking surface through the first driving assembly 21 and the second driving assembly 22.

[0055] Specifically, each driving assembly comprises a driving member 221, a driving wheel 222 and a transmission member 223, the driving member 221 and the transmission member 223 are respectively a driving motor and a transmission chain in the embodiment, wherein the driving member 221 is arranged on the mounting base 1, the driving wheel 222 is connected with the mounting base 1, and the transmission member 223 is arranged between the driving end of the driving member 221 and the driving wheel 222, so that the driving wheel 222 can rotate under the driving of the driving end of the driving member 221, and since the driving wheel 222 is in contact with the walking surface, the driving wheel 222 can rotate on the walking surface and move relative to the walking surface, thereby enabling the mounting base 1 to move relative to the walking surface.

[0056] The driving module provided in the embodiment can drive the mounting base 1 to move on the walking surface through the first driving assembly 21 and the second driving assembly 22. Figure 3 As shown, the mounting base 1 comprises a rotating seat 11 and at least two fixed seats 12, the rotating seat 11 is arranged between the two fixed seats 12, the rotating seat 11 is rotationally connected with the two fixed seats 12, and the first driving assembly 21 and the second driving assembly 22 are respectively connected with two opposite ends of the rotating seat 11, and the mounting portion 121 is arranged on the fixed seat 12.

[0057] The driving module with the above structure is provided with the mounting base 1 including the rotating seat 11 and two fixed seats 12, the rotating seat 11 is arranged between the two fixed seats 12, and the rotating seat 11 is rotationally connected with the two fixed seats 12, so that the rotating seat 11 can rotate relative to the two fixed seats 12 under the action of an external force, and the first driving assembly 21 and the second driving assembly 22 are respectively connected with two ends of the rotating seat 11 opposite to each other, so that when the rotating seat 11 rotates relative to the two fixed seats 12, the first driving assembly 21 and the second driving assembly 22 can also be driven to rotate by the rotating seat 11, so that when the AGV encounters an uneven running surface, the first driving assembly 21 and the second driving assembly 22 can rotate through the rotating seat 11, and the first driving assembly 21 and the second driving assembly 22 can always be in contact with the running surface, so as to ensure that the AGV can run stably.

[0058] Specifically, since the first driving assembly 21 and the second driving assembly 22 can always be in contact with the running surface, the first driving assembly 21 and the second driving assembly 22 can provide support force for the AGV vehicle body, so that the first driving assembly 21 and the second driving assembly 22 can provide support for the stable running of the AGV, and the mounting portion 121 is arranged on the fixed seat 12, because the rotating seat 11 rotates, and the fixed seat 12 is fixed, so that the biasing member 421 can transmit elastic force more stably.

[0059] The utility model provides a drive module, through setting drive structure 2, rotary structure 3 and guide structure 4 on the mounting base 1, wherein, drive structure 2 sets up on the mounting base 1, and drive structure 2 can be contacted with walking surface, and walking surface is ground in this embodiment, thereby drive structure 2 can drive mounting base 1 to move on walking surface, and rotary support 31 sets up on the side of mounting base 1 away from walking surface, and rotary support 31 can be connected together with AGV car body, simultaneously, guide structure 4 sets up between rotary structure 3 and mounting base 1, and guide structure 4 specifically includes four guide assemblies and biasing assembly, and four guide assemblies and biasing assembly set up between rotary structure 3 and mounting base 1, thereby can through guide structure 4 and make rotary structure 3 and mounting base 1 swing together, and because rotary structure 3 is connected together with AGV car body, and then can through rotary structure 3 and make AGV car body and mounting base 1 connect, and drive structure 2 can drive AGV car body to move on walking surface, in addition, under the gravity of AGV car body, because rotary structure 3 and mounting base 1 are swing together through guide structure 4, thereby make rotary structure 3 move towards mounting base 1 under the gravity of AGV car body, and then make rotary structure 3 extrude biasing assembly set up between rotary structure 3 and mounting base 1, and make biasing assembly can have the elastic force of drive mounting base 1 to move towards walking surface, so that, make mounting base 1 always have the tendency of moving towards walking surface, and make drive structure 2 installed on mounting base 1 also always have the tendency of moving towards walking surface, thereby guarantee drive structure 2 can always be contacted with walking surface, and when AGV meets uneven walking surface, AGV can also stably run.

[0060] Example 2

[0061] The embodiment provides a heavy-load AGV, such as Figures 1 to 3As shown, the heavy-load AGV comprises the driving module. The heavy-load AGV with the above structure is provided with the driving module, i.e. the driving structure 2, the rotating structure 3 and the guiding structure 4 arranged on the mounting base 1. The driving structure 2 is arranged on the mounting base 1 and can contact the walking surface, which is the ground in this embodiment, so that the driving structure 2 can drive the mounting base 1 to move on the walking surface. The rotating support 31 is arranged on the side of the mounting base 1 away from the walking surface and can be connected with the AGV body. The guiding structure 4 is arranged between the rotating structure 3 and the mounting base 1 and comprises four guiding assemblies and a biasing assembly. The rotating structure 3 and the mounting base 1 are movably connected by the guiding structure 4. Since the rotating structure 3 is connected with the AGV body, the AGV body is connected with the mounting base 1 by the rotating structure 3. The driving structure 2 can drive the AGV body to move on the walking surface. When the AGV body is under the action of gravity, the rotating structure 3 moves towards the mounting base 1 under the action of gravity, so that the rotating structure 3 presses the biasing assembly arranged between the rotating structure 3 and the mounting base 1 and the biasing assembly has an elastic force to drive the mounting base 1 to move towards the walking surface. Thus, the mounting base 1 always has a tendency to move towards the walking surface, and the driving structure 2 arranged on the mounting base 1 also always has a tendency to move towards the walking surface, so that the driving structure 2 can always contact the walking surface. When the AGV encounters a rough walking surface, the AGV can stably run.

[0062] Obviously, the above-mentioned embodiments are only examples for clearly illustrating the present application, and are not intended to limit the present application. Based on the above description, those skilled in the art can make other different forms of changes or modifications. Here, all the embodiments are not required to be exhausted, and the obvious changes or modifications derived therefrom are still within the protection scope of the present application.

Claims

1. A driving module, characterized by, The application relates to an AGV (Automatic Guided Vehicle) device, which comprises the following components: a mounting base (1) and a driving structure (2) arranged on the mounting base (1), the driving structure (2) being adapted to contact a walking surface to drive the mounting base (1) to move on the walking surface; a rotating structure (3) arranged on the side of the mounting base (1) away from the walking surface, the rotating structure (3) being adapted to be connected with an AGV body; a guide structure (4) comprising a plurality of guide components and biasing components, all the guide components and the biasing components being arranged between the rotating structure (3) and the mounting base (1) to movably connect the mounting base (1) and the AGV body; when the AGV body is under the action of gravity, the rotating structure (3) is adapted to move towards the mounting base (1) through the guide structure (4) to make the biasing components have elastic force to drive the mounting base (1) to move towards the walking surface, and make the driving structure (2) always contact the walking surface.

2. The driving module according to claim 1, wherein, The biasing components comprise a plurality of biasing pieces (421), both ends of any biasing piece (421) being connected with the rotating structure (3) and the mounting base (1) respectively to convert the gravity of the AGV body into elastic force and transmit the elastic force to the mounting base (1).

3. The drive module of claim 2, wherein, A plurality of mounting portions (121) are formed in the mounting base (1), one end of any biasing piece (421) abutting against the mounting base (1) being inserted into one mounting portion (121) to be connected with the mounting base (1).

4. The drive module of claim 3, wherein, The guide components comprise a guide piece (411) and a guide bearing (412), the guide bearing (412) being arranged on the mounting base (1), one end of the guide piece (411) being connected with the rotating structure (3) and the other end being arranged in the guide bearing (412).

5. The drive module of claim 4, wherein, The guide components further comprise a buffer piece (43), the buffer piece (43) being sleeved on the guide piece (411), when the rotating structure (3) moves towards the mounting base (1), the buffer piece (43) is arranged between the rotating structure (3) and the mounting base (1).

6. The drive module of claim 4 or 5, wherein, The rotating structure (3) comprises a rotating support (31), a first mounting piece (32) and a second mounting piece (33) connected with each other, the first mounting piece (32) and the second mounting piece (33) being arranged on the two sides of the rotating support (31) respectively, the first mounting piece (32) being rotatably connected with the rotating support (31), and the second mounting piece (33) being fixedly connected with the rotating support (31); the first mounting piece (32) being adapted to be connected with the AGV body, and the second mounting piece (33) being adapted to be connected with one end of the guide piece (411) away from the mounting base (1).

7. The drive module of claim 6, wherein, The rotary support (31) is provided with a limiting piece (311), the first mounting piece (32) is provided with a blocking part (321), the limiting piece (311) and the blocking part (321) are oppositely arranged, and when the rotary support (31) rotates relative to the first mounting piece (32), the limiting piece (311) is suitable for abutting against the blocking part (321) to limit the rotary support (31).

8. The drive module of claim 7, wherein, The driving structure (2) comprises a first driving assembly (21) and a second driving assembly (22), and the first driving assembly (21) and the second driving assembly (22) are arranged on two sides of the mounting base (1) and connected with the mounting base (1) respectively. Any one of the driving assemblies comprises a driving piece (221), a driving wheel (222) and a transmission piece (223), the driving piece (221) is arranged on the mounting base (1), the driving wheel (222) is connected with the mounting base (1), and the transmission piece (223) is arranged between a driving end of the driving piece (221) and the driving wheel (222), under the driving of the driving piece (221), the transmission piece (223) drives the driving wheel (222) to rotate.

9. The drive module of claim 8, wherein, The mounting base (1) comprises a rotating seat (11) and at least two fixed seats (12), the rotating seat (11) is arranged between the two fixed seats (12), the rotating seat (11) is rotationally connected with the two fixed seats (12), and the first driving assembly (21) and the second driving assembly (22) are connected with two opposite ends of the rotating seat (11) respectively, and the mounting part (121) is arranged on the fixed seat (12).

10. A heavy load AGV, characterized by, The driving module comprises any one of claims 1-9. The driving module comprises any one of claims 1-9.

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