A horizontal drive forklift

Abstract

This utility model relates to the field of mobile robot technology, specifically a horizontal drive system for an AVG forklift, including a steering housing, a slewing bearing, a slewing drive motor, a swing connection component, wheels, and elastic shock absorbers. The slewing bearing is located at the bottom of the steering housing; the bottom of the steering housing is rotatably connected to the swing connection component via the slewing bearing; the slewing drive motor is horizontally mounted on the side of the steering housing, and its power output end is in transmission cooperation with the swing connection component to drive the swing connection component to rotate relative to the robot chassis; the wheels are mounted on the swing connection component. In this horizontal drive system for the AVG forklift, steering rotation and shock-absorbing swing components are decoupled, and the swing connection component is separately hinged, so the steering action and the floating shock absorption of the wheels do not interfere with each other, improving the stability of driving on bumpy roads. The spring is equipped with an adjusting nut with an operating notch, which allows for convenient adjustment of the spring precompression to adapt to different load conditions.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and more specifically, to a horizontal drive for an AVG forklift. Background Technology

[0002] Automated Guided Vehicles (AGVs) and AMR mobile robots are widely used in industrial logistics scenarios, and the drive wheels are the core walking components of the robot chassis. Existing AGV steering wheels are generally equipped with shock absorption mechanisms to adapt to uneven road surfaces. For example, Chinese Patent No. CN206327106U discloses an AGV steering wheel drive shock absorption mechanism and an AGV steering wheel drive device, which uses a floating bracket in conjunction with a spring to achieve up-and-down floating shock absorption of the wheels. However, in this type of structure, the shock absorption components are coupled with the steering and rotation components, and the shock absorption floating action is prone to interfering with the steering motion, making it difficult to decouple the shock absorption swing and steering and rotation motions. At the same time, the spring pre-compression is inconvenient to adjust, the motor wiring on the wheel side lacks wear-resistant protection, and the hinge swing pair lacks reasonable clearance control. Under heavy load and bumpy conditions, problems such as hinge jamming, cable wear, and shock absorption parameters that are difficult to match with the actual load may occur. It is difficult to meet the needs of compact installation of low-profile robot chassis, passability on complex road surfaces, and long-term operational reliability of the mechanism. Utility Model Content

[0003] The purpose of this invention is to provide a horizontal drive for AVG forklifts to solve the problem mentioned in the background art that the shock-absorbing floating action easily interferes with the steering motion and it is difficult to decouple the shock-absorbing oscillation and steering rotation motions.

[0004] To achieve the above objectives, this utility model provides a horizontal drive for an AVG forklift, including a steering housing, a slewing bearing, a slewing drive motor, a swing connection component, wheels, and elastic shock absorbers; the slewing bearing is located at the bottom of the steering housing; the bottom of the steering housing is rotatably connected to the swing connection component via the slewing bearing; the slewing drive motor is horizontally mounted on the side of the steering housing, and its power output end is in transmission cooperation with the swing connection component to drive the swing connection component to rotate relative to the robot chassis; the wheels are mounted on the swing connection component.

[0005] This design features a horizontally mounted rotary drive motor that does not occupy the vertical space of the wheel assembly, which is beneficial for achieving a low-profile overall layout of the drive wheels. The steering housing is fixed to the robot chassis, and the rotary bearing enables the rotational engagement between the steering housing and the swing connection component. The rotary drive motor directly drives the entire swing connection component to rotate, completing the wheel steering action. This provides the basic structural conditions for decoupling the shock-absorbing swing and steering rotation movements.

[0006] Preferably, the swing connection component includes a support frame and a swing member. The upper end of the support frame is connected to a rotary bearing, one end of the swing member is hinged to the lower end of the support frame, and the other end is hinged to the lower end of the elastic damping member.

[0007] This design separates the swing connection component into a split hinged structure consisting of a support frame and a swing element. The support frame serves as the load-bearing base for steering rotation, while the swing element can swing relative to the support frame, providing the wheels with a vertical floating damping stroke. This physically separates the steering rotation motion from the damping swing motion, preventing the two motions from interfering with each other.

[0008] Preferably, a travel drive motor is installed on the inner side of the middle part of the swing member, and the drive shaft of the travel drive motor is connected to the shaft at the center of the wheel.

[0009] This design integrates the drive motor into the inner side of the swing component, allowing it to perform shock-absorbing floating motion together with the swing component. This shortens the transmission path from the motor to the wheel axle, resulting in a high degree of structural integration. It can directly drive the wheels to rotate, enabling the entire vehicle to move.

[0010] Preferably, the swing member has a central hole in its middle, through which the wiring of the walking drive motor passes outward.

[0011] This feature involves creating a central hole in the middle of the swing component to allow the wiring of the drive motor to be led out, thus centrally and neatly arranging the cables and preventing them from being scattered outside the wheel assembly, thereby reducing the risk of the cables being scratched by surrounding components.

[0012] Preferably, the elastic damping component includes a spring and a damping structure. The damping structure includes a damping sleeve and a damping rod that are interlocked. The upper end of the damping sleeve is hinged to the support frame, and the lower end of the damping rod is hinged to one end of the swinging component.

[0013] This feature incorporates a combination of springs and damping structures for the elastic shock absorbers. The springs provide shock absorption and cushioning, while the damping structures suppress the reciprocating oscillations of the springs, reducing wheel vibration caused by road bumps and improving the smoothness of the robot's movement. The damping sleeves and damping rods are interlocked to accommodate the swing stroke of the swinging components.

[0014] Preferably, the spring is sleeved on the outside of the damping structure, the outer wall of the damping sleeve is threaded with an adjusting nut, the outer wall of the damping rod is fixedly connected with a retaining ring, the upper end of the spring abuts against the adjusting nut, and the lower end of the spring abuts against the retaining ring.

[0015] This design features a spring sleeve mounted outside the damping structure, resulting in a compact structure that simultaneously protects the damping structure. By rotating the adjusting nut, the axial position of the adjusting nut on the damping sleeve can be changed, thereby adjusting the pre-compression of the spring. This allows for flexible matching of damping stiffness according to different load conditions. The retaining ring provides reliable contact and limitation to the lower end of the spring, ensuring the stability of the spring's force-bearing position.

[0016] Preferably, the top of the steering box is connected to the robot chassis via a flange structure.

[0017] This design features a flange structure on the top of the steering gearbox, which is assembled with the robot chassis. The flange connection has a large contact area, ensuring a firm and reliable connection, and is easy to disassemble and assemble, facilitating the overall disassembly and modular replacement of the drive wheel module.

[0018] Preferably, a wear-resistant protective ring is provided at the edge of the central hole, and the wiring of the walking drive motor passes through the wear-resistant protective ring.

[0019] This feature involves adding a wear-resistant protective ring along the edge of the central hole to isolate the cable from the hard wall of the central hole. When the cable reciprocates due to the continuous vibration of the wheel, it reduces the frictional wear of the cable sheath, extends the cable's service life, and lowers the probability of line damage.

[0020] Preferably, the adjusting nut has several evenly distributed operating notches on its outer periphery, which are used for tool engagement.

[0021] This feature includes evenly distributed operating notches on the outer circumference of the adjusting nut, facilitating the engagement and positioning of tools such as wrenches. It also allows operators to easily rotate the adjusting nut to adjust the spring pre-compression, making assembly, debugging, and subsequent maintenance convenient.

[0022] Preferably, the hinge joint clearance between the support frame and the swing member is set to 0.02~0.08mm.

[0023] This setting limits the fit clearance between the support frame and the hinge pair of the swing component to the range of 0.02~0.08mm. If the clearance is too large, it will cause the wheel set to wobble and produce a lot of impact noise. If the clearance is too small, the hinge is prone to jamming due to temperature changes and the entry of impurities. This clearance range takes into account both swing flexibility and motion stability, effectively reducing the risk of hinge jamming and abnormal wear under bumpy conditions.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows: In the horizontal drive system of this AVG forklift, steering and swing are decoupled from the shock-absorbing sway mechanism. The sway connection components are arranged in separate hinged configurations, ensuring that steering actions and wheel floating shock absorption do not interfere with each other, thus improving stability on bumpy roads. The springs are equipped with adjusting nuts with operating notches, allowing for easy adjustment of spring precompression to adapt to different load conditions. Wear-resistant protective rings are added along the edge of the central hole to reduce cable sheath friction damage during shock absorption and floating, lowering the risk of line faults. The hinge joint between the support frame and the swing component has a clearance of 0.02~0.08mm, balancing the flexibility of the hinge swing with structural stability, effectively avoiding problems such as hinge jamming, shaking, and abnormal noise. Meanwhile, the slewing drive motor is horizontally mounted on the side, minimizing the vertical space occupied by the wheel assembly, facilitating modular assembly of low-profile AGV / AMR chassis. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a side view of the present invention. Figure 3 This is a schematic diagram of the swing connection component in this utility model; Figure 4 This is a schematic diagram of the damping structure in this utility model; The meanings of the labels in the diagram are as follows: 1. Steering housing; 2. Slewing bearing; 3. Slewing drive motor; 4. Swing connection component; 41. Support frame; 42. Swing component; 421. Center hole; 5. Wheel; 6. Elastic shock absorber; 61. Spring; 62. Damping structure; 621. Damping sleeve; 622. Damping rod; 6221. Retaining ring; 623. Adjusting nut. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] This utility model provides a horizontal drive for an AVG forklift, such as Figures 1-4 As shown, it includes a steering box 1, a rotary bearing 2, a rotary drive motor 3, a swing connection component 4, wheels 5, and elastic shock absorbers 6, all located on the robot chassis. The steering housing 1 is located on the lower side of the robot chassis, serving to support the rotary bearing 2 and the rotary drive motor 3 and to achieve a fixed connection with the robot chassis. The rotary bearing 2 is mounted at the bottom of the steering housing 1, enabling relative rotation between the steering housing 1 and the swing connection component 4. The swing connection component 4 is mounted on the lower side of the rotary bearing 2, serving to support the wheel 5 and the elastic shock absorber 6, while transmitting the steering torque output by the rotary drive motor 3. The wheel 5 is mounted on the swing connection component 4, providing walking support for the robot. The elastic shock absorber 6 is mounted inside the swing connection component 4, absorbing the impact of road bumps and achieving floating shock absorption for the wheel 5.

[0028] By disassembling the horizontal drive of the AVG forklift into six major components—steering housing 1, slewing bearing 2, slewing drive motor 3, swing connection component 4, wheels 5, and elastic shock absorbers 6—a modular layout of the drive wheels is achieved. Each component has a clear function, making assembly and maintenance convenient. The steering housing 1 is fixed to the robot chassis. The slewing bearing 2 acts as a rotational intermediary, isolating the stationary steering housing 1 from the rotatable swing connection component 4. The slewing drive motor 3 outputs torque to drive the swing connection component 4 to rotate as a whole, completing the steering action. The elastic shock absorbers 6 work in conjunction with the swing connection component 4 to achieve floating shock absorption for the wheels 5. The shock-absorbing swing motion and the steering rotation motion are decoupled, avoiding interference between the two types of motion and improving the robot's operational stability when driving on bumpy roads.

[0029] In this embodiment, the top of the steering box 1 is fixedly connected to the robot chassis through a flange structure. The upper part of the rotary bearing 2 is installed at the bottom of the steering box 1, and the lower part of the rotary bearing 2 is fixedly assembled with the upper end of the support frame 41 of the swing connection component 4. The rotary drive motor 3 is horizontally and side-mounted on the outside of the side wall of the steering box 1. The power output end of the rotary drive motor 3 is connected to the swing connection component 4 for transmission. The upper end of the support frame 41 of the swing connection component 4 rotates synchronously with the inner ring of the rotary bearing 2. The swing component 42 can swing up and down at a small angle relative to the support frame 41. The wheel 5 is fixedly installed on the outer side of the swing component 42.

[0030] In this embodiment, the steering box 1 is connected to the robot chassis via a top flange structure. The flange has a large contact area and high connection rigidity after the bolts are tightened, which facilitates the disassembly and replacement of the entire drive wheel module. The slewing bearing 2 connects the steering box 1 and the swing connection component 4 respectively, realizing the rotational isolation of the moving and stationary components. The slewing drive motor 3 is arranged horizontally on the side, which does not occupy the vertical installation space of the drive wheel module, which helps to reduce the height of the entire drive wheel and adapt to the assembly requirements of low-profile AGV and AMR robot chassis.

[0031] Specifically, the swing connection component 4 includes a support frame 41 and a swing member 42. The upper end of the support frame 41 is rigidly connected to the slewing bearing 2. One end of the swing member 42 is hinged to the lower end of the support frame 41, and the other end of the swing member 42 is hinged to the lower end of the elastic damping member 6. The hinge joint clearance between the support frame 41 and the swing member 42 is set to 0.02~0.08mm.

[0032] Specifically, the swing connection component 4 adopts a structure in which the support frame 41 and the swing component 42 are hinged separately. The support frame 41, as the load-bearing base for steering rotation, rotates synchronously with the slewing bearing 2. The swing component 42 can swing up and down around the hinge position, providing shock-absorbing floating stroke for the wheel 5. The gap of the hinge pair is controlled in the range of 0.02~0.08mm, which can not only ensure that the swing action of the swing component 42 is flexible and smooth, avoiding the problem of hinge jamming caused by impurities intrusion and temperature changes, but also suppress wheel set shaking and impact noise caused by excessive gap, taking into account the reliability of shock absorption and operation noise control.

[0033] Furthermore, a travel drive motor is installed on the inner side of the middle part of the swing member 42. The drive shaft of the travel drive motor is connected to the shaft at the center of the wheel 5. A central hole 421 is also provided in the middle part of the swing member 42. The wiring of the travel drive motor passes out through the central hole 421. A wear-resistant protective ring is provided at the edge of the central hole 421. The wiring of the travel drive motor passes through the inner side of the wear-resistant protective ring.

[0034] Furthermore, the walking drive motor is integrated into the inner side of the middle of the swing component 42. The motor as a whole follows the swing component 42 to complete the shock absorption and floating synchronously, shortening the transmission chain from the motor output shaft to the wheel 5 shaft and reducing the gap loss in the transmission link. The power supply wiring is centrally led out from the central hole 421, and the wear-resistant protective ring isolates the cable from the hard hole wall of the central hole 421. During the repeated up and down floating of the wheel 5, the cable will not directly rub against the edge of the hole when it moves back and forth with the wheel set, reducing the risk of cable sheath wear and improving the service life of the motor wiring.

[0035] Furthermore, the elastic damping component 6 includes a spring 61 and a damping structure 62. The damping structure 62 includes a damping sleeve 621 and a damping rod 622 that are interlocked. The upper end of the damping sleeve 621 is hinged to the support frame 41, and the lower end of the damping rod 622 is hinged to one end of the swing component 42. The spring 61 is sleeved on the outside of the damping structure 62. An adjusting nut 623 is threadedly connected to the outer wall of the damping sleeve 621. A retaining ring 6221 is fixedly installed on the outer wall of the damping rod 622. The upper end of the spring 61 abuts against the adjusting nut 623, and the lower end of the spring 61 abuts against the retaining ring 6221.

[0036] Furthermore, the elastic damping component 6 adopts a combination of spring 61 and damping structure 62. Spring 61 provides the elastic buffer force required for the floating of wheel 5. Damping sleeve 621 and damping rod 622 are interlocked and move in relative extension and contraction with the swing of swing component 42. Damping structure 62 suppresses the reciprocating oscillation of spring 61 after being impacted by the road surface, reduces wheel set vibration, and improves the smoothness of robot driving. Spring 61 is sleeved on the outside of damping structure 62, and spring 61 forms external protection for damping structure 62 to prevent gravel and debris from directly hitting the damping component. Adjusting nut 623 can change axial position by means of thread, thereby adjusting the pre-compression of spring 61. Retaining ring 6221 forms a positioning and abutment on the lower end of spring 61 to ensure that the force position of spring 61 is stable and reliable.

[0037] Furthermore, the outer periphery of the adjusting nut 623 is provided with several evenly distributed operating notches, which are used for external tools to engage. Rotating the adjusting nut 623 can change the axial assembly position of the adjusting nut 623 on the outer wall of the damping sleeve 621.

[0038] Furthermore, the adjusting nut 623 has evenly distributed operating notches on its outer periphery. Wrench-like tools can be inserted into the notches to apply torque. The adjusting nut 623 can be rotated without additional special tooling, which facilitates the adjustment of the pre-compression of the spring 61 during the assembly and debugging stage and later maintenance. It can match the corresponding damping stiffness for different load conditions of the robot and broaden the applicable load range of the drive wheel.

[0039] Furthermore, the rotary drive motor 3 is horizontally and side-mounted on the outer wall of the steering box 1. The power output end of the rotary drive motor 3 and the support frame 41 of the swing connection component 4 are in transmission cooperation. The steering box 1 remains fixed. The steering torque output by the rotary drive motor 3 is transmitted to the support frame 41 through the transmission pair, which drives the support frame 41, the swing component 42, the elastic damping component 6 and the wheel 5 to rotate around the axis of the rotary bearing 2.

[0040] Furthermore, the rotary drive motor 3 is mounted on the side wall of the steering housing 1, and the power is directly output to the support frame 41 to realize the rotary steering of the entire wheel set. The steering housing 1 is fixed to the chassis and remains stationary. All rotary components of the wheel set are arranged on the underside of the rotary bearing 2. The rotary motion of the wheel set and the damping swing motion of the swing component 42 are independently decoupled. The damping floating action will not interfere with the rotary steering of the wheel 5, ensuring that the steering control logic is simple and reliable.

[0041] When using the horizontal drive of the AVG forklift of this utility model, firstly, align the flange face of the top of the steering housing 1 with the preset mounting position on the robot chassis, and tighten the bolts through the flange to complete the fixed installation of the steering housing 1 on the robot chassis; then assemble the slewing bearing 2 to the bottom of the steering housing 1, ensuring that the outer ring of the slewing bearing 2 is rigidly fixed to the bottom of the steering housing 1; then, lock and assemble the upper end of the support frame 41 of the swing connection component 4 with the inner ring of the slewing bearing 2 to complete the connection between the support frame 41 and the slewing bearing 2; then, horizontally fix the slewing drive motor 3 to the side wall of the steering housing 1, and assemble the power output end of the slewing drive motor 3 with the support frame 41 for transmission cooperation; finally, complete the hinge between the support frame 41 and the swing component 42. During the assembly of the joint, the clearance of the hinge joint is controlled to be between 0.02 and 0.08 mm. The travel drive motor is installed and fixed to the inner side of the middle of the swing member 42. The drive shaft of the travel drive motor is connected to the shaft of the wheel 5. The wiring of the travel drive motor passes through the central hole 421 in the middle of the swing member 42 and the wear-resistant protective ring at the edge of the hole and leads outward. The upper end of the damping sleeve 621 of the elastic shock absorber 6 is hinged to the support frame 41, and the lower end of the damping rod 622 is hinged to the swing member 42. The spring 61 is sleeved on the outside of the damping structure 62. The upper and lower ends of the spring 61 abut against the adjusting nut 623 and the retaining ring 6221, respectively. The wheel 5 is assembled and fixed on the outside of the swing member 42, completing all the mechanical assembly operations of the horizontal drive of the AVG forklift.

[0042] After the equipment installation is completed, the commissioning phase begins: Connect the wiring of the walking drive motor and the rotary drive motor 3 to the robot's controller; use an external tool to insert it into the operating notch on the outer circumference of the adjusting nut 623, rotate the adjusting nut 623, and adjust the pre-compression of the spring 61 according to the robot's actual rated load. After adjustment, confirm that the upper and lower ends of the spring 61 reliably abut against the adjusting nut 623 and the retaining ring 6221, respectively; manually turn the wheel 5 to verify whether the swing component 42 moves smoothly up and down around the hinge position, confirming that there is no jamming in the hinge pair; manually drive the rotary drive motor 3 to rotate the support frame 41 and the wheel 5 as a whole, verifying that the wheel set's rotation and steering action is smooth, confirming that the shock-absorbing swing does not interfere with the wheel set's rotational movement; check the motor wiring at the center hole 421 position, confirming that the cable is not squeezed or twisted, and that the wear-resistant protective ring is properly attached to the outer wall of the cable. Once all commissioning items are checked and found to be correct, the machine enters the ready-to-operate state.

[0043] Upon entering the formal operation phase, the robot is powered on, and the controller outputs control signals to the rotary drive motor 3 and the walking drive motor respectively. When the robot needs to move straight, the rotary drive motor 3 remains locked, and the walking drive motor drives the wheel 5 to rotate. The wheel 5 contacts the ground and moves the robot body. When the road surface is uneven, the ground reaction force pushes the wheel 5, causing the swinging component 42 to swing up and down relative to the support frame 41. The spring 61 of the elastic shock absorber 6 is compressed or rebounded, and the damping structure 62 extends and retracts synchronously. The spring 61 absorbs the impact of the road surface, and the damping structure 62 suppresses the reciprocating vibration of the spring 61, realizing the adaptive floating shock absorption of the wheel 5 to the ground, ensuring that the wheel 5 always adheres to the ground and reducing the probability of the wheel 5 slipping. When the robot needs to turn, the rotary drive motor 3 outputs steering torque, driving the support frame 41, the swinging component 42, and the wheel 5 to rotate around the axis of the rotary bearing 2, completing the angle adjustment of the wheel 5 and realizing the robot's turning action. During the entire turning and rotation process, the shock-absorbing swinging action of the swinging component 42 does not interfere with the turning and rotation action of the wheel set.

[0044] During continuous operation, the walking drive motor and the rotary drive motor 3 continuously receive controller commands to complete walking and steering actions. The elastic shock absorber 6 continuously buffers and reduces road bumps, and the wear-resistant protective ring continuously protects the motor wiring for reciprocating movement. When the load changes or the shock absorption performance deteriorates, the machine can be stopped and the operating notch of the adjusting nut 623 can be used to readjust the pre-compression of the spring 61. The shock absorption parameters can be adjusted without disassembling the wheel assembly. During routine maintenance, the hinge joint between the support frame 41 and the swinging component 42 can be cleaned to prevent impurities from entering the hinge gap and causing jamming, thus ensuring the long-term stable operation of the drive wheel.

[0045] When the equipment is finished, the robot is powered off, the controller stops outputting control signals to the rotary drive motor 3 and the walking drive motor, the wheels 5 stop rotating, and the wheel set stops turning. If the drive wheels need to be inspected or replaced, disconnect the motor wiring, loosen the connecting bolts at the flange position of the steering box 1, remove the entire AVG forklift horizontal drive module from the robot chassis, and disassemble, inspect or replace each component in sequence. After the components are sorted and stored, the entire equipment operation process is completed.

[0046] Finally, it should be noted that the electronic components in the rotary drive motor 3 and other components in this embodiment are all general standard parts or components known to those skilled in the art. Their structure and principle can be learned by those skilled in the art through technical manuals or conventional experimental methods. In the idle part of this device, all the above-mentioned electrical components are connected by wires. The specific connection method should refer to the working order between each electrical component in the above working principle to complete the electrical connection. All of these are technologies known in the art.

[0047] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A horizontal drive for an AVG forklift, characterized in that: The system includes a steering housing (1), a slewing bearing (2), a slewing drive motor (3), a swing connection component (4), wheels (5), and elastic shock absorbers (6). The slewing bearing (2) is located at the bottom of the steering housing (1). The bottom of the steering housing (1) is rotatably connected to the swing connection component (4) via the slewing bearing (2). The slewing drive motor (3) is horizontally mounted on the side of the steering housing (1). The power output end of the slewing drive motor (3) is connected to the swing connection component (4) for transmission, which drives the swing connection component (4) to rotate relative to the robot chassis. The wheels (5) are mounted on the swing connection component (4).

2. The horizontal drive of the AVG forklift according to claim 1, characterized in that: The swing connection component (4) includes a support frame (41) and a swing member (42). The upper end of the support frame (41) is connected to the rotary bearing (2). One end of the swing member (42) is hinged to the lower end of the support frame (41), and the other end is hinged to the lower end of the elastic damping member (6).

3. The horizontal drive of the AVG forklift according to claim 2, characterized in that: A walking drive motor is installed on the inner side of the middle part of the swing member (42), and the drive shaft of the walking drive motor is connected to the shaft at the center of the wheel (5).

4. The horizontal drive of the AVG forklift according to claim 3, characterized in that: The swing member (42) has a central hole (421) in the middle, through which the wiring of the walking drive motor passes outward.

5. The horizontal drive of the AVG forklift according to claim 2, characterized in that: The elastic damping component (6) includes a spring (61) and a damping structure (62). The damping structure (62) includes a damping sleeve (621) and a damping rod (622) that are interlocked. The upper end of the damping sleeve (621) is hinged to the support frame (41), and the lower end of the damping rod (622) is hinged to one end of the swing component (42).

6. The horizontal drive of the AVG forklift according to claim 5, characterized in that: The spring (61) is sleeved on the outside of the damping structure (62). The outer wall of the damping sleeve (621) is threaded with an adjusting nut (623). The outer wall of the damping rod (622) is fixedly connected with a retaining ring (6221). The upper end of the spring (61) abuts against the adjusting nut (623), and the lower end of the spring (61) abuts against the retaining ring (6221).

7. The horizontal drive of the AVG forklift according to claim 1, characterized in that: The top of the steering box (1) is connected to the robot chassis via a flange structure.

8. The horizontal drive of the AVG forklift according to claim 4, characterized in that: A wear-resistant protective ring is provided at the edge of the central hole (421), and the wiring of the walking drive motor passes through the wear-resistant protective ring.

9. The horizontal drive of the AVG forklift according to claim 6, characterized in that: The adjusting nut (623) has several evenly distributed operating notches on its outer periphery, which are used for tool engagement.

10. The horizontal drive of the AVG forklift according to claim 2, characterized in that: The hinge joint clearance between the support frame (41) and the swing member (42) is set to 0.02~0.08mm.

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