CN211642415U

CN211642415U - Heavy-load AGV system

Info

Publication number: CN211642415U
Application number: CN202020199249.0U
Authority: CN
Inventors: 刘俏; 崔铁祺; 冯金龙; 郭宝喜; 郭金池; 孙铁华
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2020-02-24
Filing date: 2020-02-24
Publication date: 2020-10-09
Anticipated expiration: 2030-02-24

Abstract

The utility model relates to the field of vehicle automatic assembly, in particular to a heavy-load AGV system, wherein the front end of a front vehicle is provided with a front vehicle driving wheel device, the rear end of the front vehicle is provided with a front vehicle following wheel, the front end of a rear vehicle is provided with a rear vehicle steering wheel device, the rear end of the rear vehicle is provided with a rear vehicle driving wheel device and a rear vehicle following wheel, and the front vehicle and the rear vehicle are both provided with lifting mechanisms; the front vehicle driving wheel device comprises a connecting plate, a left driving unit, a right driving unit and a front vehicle power taking device, a front vehicle disc bearing is arranged on the connecting plate and is connected with the front vehicle in a rotating mode, the left driving unit and the right driving unit drive different wheel pieces to rotate, the rear vehicle steering wheel device comprises a steering wheel driving assembly, a rear vehicle power taking device and a steering wheel frame with steering wheel pieces, a rear vehicle disc bearing is arranged on the steering wheel frame and is connected with a rear vehicle, and an outer gear of the rear vehicle disc bearing is driven to rotate through the steering wheel driving assembly. The utility model discloses the front and back car is loaded simultaneously, and the front truck drive gos forward, and the back car is pulled the walking, but two car intervals automatic adjustment to but lifting mechanism automatic adjustment heavily blocks the dress, rolls off the production line height.

Description

Heavy-load AGV system

Technical Field

The utility model belongs to the technical field of the automatic assembly of vehicle and specifically relates to a heavy load AGV system.

Background

In view of the increasing production and improving production process of military heavy trucks and civil heavy trucks, the demand of the automatic assembly line of heavy trucks is higher and higher. The current heavy truck production line adopts the floor chain form usually, and the support structure is for fixing the support on the floor chain, and a set of 2 ~ 3 supports support heavy truck automobile body to the support adopts manual adjustment to support the interval, attaches together the high regulation that can not adjust, and the floor chain installation needs the foundries pit, and the engineering volume is great, consequently above-mentioned structure need be made and improve in order to satisfy the production development requirement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a heavy load AGV system, it realizes the heavy truck body bearing through preceding car and back car in step, and the preceding car load and drive go forward, and the back car only bears and pulls the walking by the preceding car, and preceding car and back car can be according to motorcycle type information automatic adjustment interval to all be equipped with lifting mechanism automatic adjustment on preceding car and the back car and heavily block and attach together, roll off the production height off the production line, both made things convenient for heavy block to attach together the assembly, also improved production efficiency greatly.

The purpose of the utility model is realized through the following technical scheme:

a heavy-load AGV system comprises a front vehicle, a rear vehicle and a lifting mechanism, wherein the front end of the front vehicle is provided with a front vehicle driving wheel device, the rear end of the front vehicle is provided with a front vehicle follow-up wheel, the front end of the rear vehicle is provided with a rear vehicle steering wheel device, the rear end of the rear vehicle is provided with a rear vehicle driving wheel device and a rear vehicle follow-up wheel, and the front vehicle and the rear vehicle are both provided with the lifting mechanism; the front truck driving wheel device includes the connecting plate and locates the electric installation is got to left drive unit, right drive unit and the front truck of connecting plate downside, the connecting plate upside is equipped with front truck dish bearing and front truck automobile body rotation and is connected, the downside both ends all are equipped with the driving wheel piece, and left driving wheel piece is rotatory through left drive unit drive, and right driving wheel piece is rotatory through right driving unit drive, back truck helm wheel device is including taking the helm wheel piece helm wheel frame and locating helm wheel drive assembly and back truck on the helm wheel frame get the electric installation, helm wheel frame upside is equipped with back truck dish bearing and back truck automobile body coupling, just outer gear on the back truck dish bearing passes through helm wheel drive assembly drive is rotatory, install front truck navigation spare on the front truck driving wheel device, install back truck navigation spare on the back truck helm wheel device.

The front truck is characterized in that a left wheel frame with a left driving wheel sheet is arranged on one side of a connecting plate of the front truck driving wheel device, a right wheel frame with a right driving wheel sheet is arranged on the other side of the connecting plate, a left driving unit is installed on the left wheel frame, a right driving unit is installed on the right wheel frame, the front truck is provided with a power taking device which is arranged on the lower side of the middle of the connecting plate, and the left driving unit and the right driving unit are arranged between the power taking device and the connecting plate.

The middle of the connecting plate is connected with a front vehicle wheel bearing through a pin shaft, and an encoder assembly is arranged on the connecting plate and meshed with the outer teeth of the front vehicle wheel bearing.

The left driving unit and the right driving unit are symmetrically arranged, a left clutch with a left clutch pull rod is arranged at the end of the left driving unit, a right clutch with a right clutch pull rod is arranged at the end of the right driving unit, and a clutch support used for supporting the left clutch pull rod and the right clutch pull rod is arranged at the lower side of the middle of the connecting plate.

The steering wheel driving assembly of the rear vehicle steering wheel device comprises a steering wheel driving unit and a gear assembly, an input gear in the gear assembly is fixedly connected with an output shaft of the steering wheel driving unit, and an output gear in the gear assembly is meshed with an outer gear of the rear vehicle wheel bearing.

The rear vehicle driving wheel device comprises a rear vehicle driving unit, a rear vehicle driving wheel frame, a rear vehicle driving wheel sheet and a vehicle body connecting plate, the rear vehicle driving wheel sheet and the rear vehicle driving unit are both installed on the rear vehicle driving wheel frame, the rear vehicle driving wheel sheet is driven to rotate through the rear vehicle driving unit, the rear vehicle driving wheel frame is hinged to the vehicle body connecting plate through a rotating pin shaft, and the vehicle body connecting plate is fixedly connected with the rear vehicle body.

The lifting mechanism comprises an oil cylinder, a hinged shaft, a hinged arm, a clamp shaft support, a balance rod and a lifting clamp, wherein the hinged arm is fixedly arranged on the hinged shaft and is driven to rotate by the oil cylinder, the end part of the hinged arm is provided with the clamp shaft support with a clamp installation shaft, the lower side of the lifting clamp is provided with a clamp installation groove matched with the clamp installation shaft, the upper side of the lifting clamp is provided with an axle bearing surface, the lower end of the clamp shaft support is connected with the corresponding balance rod, and the balance rod and the corresponding hinged arm swing simultaneously along a vertical surface.

The two ends of the articulated shaft are respectively rotatably installed on the corresponding articulated shaft installation seats, the articulated shaft installation seats are fixedly connected with the corresponding car body, the bottom end of the cylinder body of the oil cylinder is hinged to one installation seat, the installation seat is fixedly arranged in the corresponding car body, the articulated shaft is provided with an extension plate, the end part of a cylinder rod of the oil cylinder is hinged to the corresponding extension plate on the articulated shaft, one end of the balance rod is hinged to a corresponding clamp shaft support, the other end of the balance rod is hinged to one balance rod installation seat, and the balance rod installation seats are fixedly arranged in the corresponding car body.

The front vehicle electricity taking device and the rear vehicle electricity taking device are both provided with electricity taking plates, and special cables matched with the electricity taking plates for induction electricity taking are pre-buried on the ground.

The front car navigation part and the rear car navigation part both comprise electromagnetic navigation and magnetic navigation, and the ground is provided with a circular line pasted with a magnetic stripe.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses a front truck and back car realize heavy truck body bearing in step, and front truck load and drive go forward, and the back car only bears and leans on the front truck to pull the walking, and front truck and back car can be according to motorcycle type information automatic adjustment interval.

2. The utility model discloses an all be equipped with lifting mechanism automatic adjustment on front truck and the back car and heavily block and attach together, roll off the production line height, conveniently heavily block attaches together the assembly.

3. The utility model discloses a front truck and back car simple structure, intensity is high to adopt non-contact power supply form, save battery pack, accomplish extremely minimum size with the AGV appearance, satisfy the functional requirement simultaneously, improved whole car bearing capacity, and the installation maintenance is convenient

4. The utility model discloses a front truck and back car adopt non-contact power supply form, compare in current heavily block assembly line floor chain form, the construction volume in earlier stage that has significantly reduced.

Drawings

Figure 1 is a perspective view of the present invention,

figure 2 is another perspective view of the present invention shown in figure 1,

figure 3 is a perspective view of the front vehicle drive wheel assembly of figure 2,

figure 4 is another perspective view of the front vehicle drive wheel assembly of figure 3,

FIG. 5 is a schematic view of the front vehicle power-taking device in FIG. 3,

figure 6 is a perspective view of the rear rudder wheel device in figure 2,

figure 7 is another angular schematic view of the rear rudder wheel device in figure 6,

figure 8 is a perspective view of the rear vehicle drive wheel assembly of figure 2,

figure 9 is a perspective view of the lifting mechanism of figure 1,

figure 10 is another angle schematic of the lifting mechanism of figure 9,

figure 11 is a schematic view of a lifting clamp on the lifting mechanism of figure 1,

figure 12 is a schematic view of the working state of the invention,

figure 13 is a schematic view of the front vehicle of figure 12,

fig. 14 is a schematic view of the rear vehicle of fig. 12.

Wherein, 1 is a front vehicle, 2 is a rear vehicle, 3 is a lifting mechanism, 31 is a mounting seat, 32 is an oil cylinder, 33 is a clamp mounting shaft, 34 is an articulated arm, 35 is an articulated shaft, 36 is an articulated shaft mounting seat, 37 is a clamp shaft bracket, 38 is a balancing rod, 39 is a balancing rod mounting seat, 310 is a lifting clamp, 311 is an axle bearing surface, 312 is a clamp mounting groove, 4 is a front vehicle driving wheel device, 41 is a right driving unit, 411 is a right wheel carrier, 412 is a right driving wheel sheet, 42 is a connecting plate, 43 is a front vehicle disc bearing, 44 is an encoder assembly, 45 is a pin shaft, 46 is a left driving unit, 461 is a left wheel carrier, 462 is a left driving wheel sheet, 47 is a front vehicle electricity taking device, 471 is an electricity taking bracket, 472 is an electricity taking plate, 48 is a left clutch pull rod, 49 is a right clutch pull rod, 410 is a clutch bracket, 5 is a front vehicle steering wheel, 6 is a rear vehicle wheel device, 61 is a steering wheel bracket, 62 is a rear chassis bearing, 63 is a steering wheel driving unit, 64 is a steering wheel sheet, 65 is an output gear, 66 is an input gear, 67 is a rear vehicle power-taking device, 7 is a rear vehicle driving wheel device, 71 is a rear vehicle driving wheel sheet, 72 is a rear vehicle driving unit, 73 is a vehicle body connecting plate, 74 is a rear vehicle driving wheel frame, 75 is a rotating pin shaft, 8 is a rear vehicle follow-up wheel, 9 is a loop line, 10 is a heavy truck, 11 is a front vehicle navigation part, and 12 is a rear vehicle navigation part.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1-14, the utility model discloses a front truck 1, back car 2 and lifting mechanism 3, wherein front truck 1 front end is equipped with front truck drive wheel device 4, the rear end is equipped with front truck follower wheel 5, and back truck 2 front end is equipped with back car rudder wheel device 6, the rear end is equipped with back car drive wheel device 7 and back car follower wheel 8 all be equipped with lifting mechanism 3 on front truck 1 and the back car 2.

As shown in fig. 3 to 5, the front vehicle driving wheel device 4 includes a left driving unit 46, a right driving unit 41, a connecting plate 42 and a front vehicle power-taking device 47, the connecting plate 42 is provided with a front vehicle disc bearing 43 connected to the vehicle body of the front vehicle 1, the front vehicle disc bearing 43 is a product which is known in the art and is commercially available, one side of the connecting plate 42 is provided with a left wheel frame 461 with a left driving wheel sheet 462, the other side of the connecting plate is provided with a right wheel frame 411 with a right driving wheel sheet 412, the left driving unit 46 is installed on the left wheel frame 461 and drives the left driving wheel sheet 462 to rotate, the right driving unit 41 is installed on the right wheel frame 411 and drives the right driving wheel sheet 412 to rotate, the front vehicle power-taking device 47 is installed at the lower side of the middle portion of the connecting plate 42, and the left driving unit 46 and the right driving unit 41 are installed between the front. The utility model discloses during operation lay private cable (cable pre-buried underground) on ground, the front truck is got electric installation 47 and is kept fixed distance (within 15 mm) and is adopted the induction to get the electricity, get between electric installation 47 and connecting plate 42 and be equipped with mobile power unit 9 in the front truck, it is the high-voltage inverter part that uses power electronic device to carry out rectification, filtering, contravariant, in this embodiment, the model of mobile power unit 9 is TPM12B030-ENE-5A2-2, front truck gets electric installation 47 induction to get the electricity and provides the electric energy to left drive unit 46, right drive unit 41 after mobile power unit 9 handles, front truck 1 realizes advancing and retreating through left drive unit 46 and right drive unit 41 drive left driving wheel 462 and right driving wheel 412 rotation respectively, the connecting plate 42 realizes revolving through front truck dish bearing 43 and front truck 1 automobile body connection, and the turning is achieved by the differential driving of the left drive unit 46 and the right drive unit 41.

As shown in fig. 3, the middle of the connecting plate 42 is connected with a front disc bearing 43 through a pin 45 to realize horizontal deflection, an encoder assembly 44 is arranged on the connecting plate 42 and is meshed with the outer teeth of the front disc bearing 43 for detecting the rotation angle of the front disc bearing 43, and the encoder assembly 4 is well known in the art and is a commercially available product.

As shown in fig. 3, the left driving unit 46 and the right driving unit 41 are symmetrically arranged, a left clutch is arranged at the end of the left driving unit 46, the left clutch is opened and closed through a left clutch pull rod 48, a right clutch is arranged at the end of the right driving unit 41, the right clutch is opened and closed through a right clutch pull rod 49, a clutch support 410 is arranged at the lower side of the middle of the connecting plate 42 and used for supporting the left clutch pull rod 48 and the right clutch pull rod 49, and a worker can pull the corresponding clutch pull rod to realize that an external switch corresponds to the clutch, so that manual dragging forward turning is realized. In this embodiment, the left driving unit 46 and the right driving unit 41 are both speed reducing motors, the left clutch and the right clutch are respectively integrated with the corresponding speed reducing motors, and the product models are: HK50_ CMPZ71S _ BY _ PK _ RH1M _ SB 1M 3A-90.

As shown in fig. 5, the front vehicle electricity taking device 47 includes an electricity taking bracket 471 and an electricity taking plate 472, wherein the upper end of the electricity taking bracket 471 is fixedly connected to the connecting plate 42, the electricity taking plate 472 is installed at the bottom of the electricity taking bracket 471 side by side, the electricity taking plate 472 is kept at a fixed distance (within 15 mm) from the ground and is used for induction electricity taking, which is a technology known in the art, a front vehicle navigation part 11 is arranged at the front end of the electricity taking bracket 471, and in this embodiment, the front vehicle navigation part 11 includes electromagnetic navigation and magnetic navigation, and is a GSC 1501.

As shown in fig. 6 to 7, the rear vehicle steering wheel device 6 includes a steering wheel driving assembly, a steering wheel frame 61, a steering wheel sheet 64 and a rear vehicle power-taking device 67, the lower sides of the two ends of the steering wheel frame 61 are respectively provided with the steering wheel sheet 64, the upper side of the middle part of the steering wheel frame 61 is provided with a rear vehicle disk bearing 62 connected with the rear vehicle 2 vehicle body, the rear vehicle disk bearing 62 is a known technology in the art and is a commercially available product, the steering wheel driving assembly includes a steering wheel driving unit 63 and a gear assembly, the steering wheel driving unit 63 and the gear assembly are both installed on the steering wheel frame 61, an input gear 66 in the gear assembly is fixedly connected with an output shaft of the steering wheel driving unit 63, an output gear 65 in the gear assembly is engaged with an outer gear of the rear vehicle disk bearing 62, the lower side of the steering wheel frame 61 is provided with the rear vehicle power-taking device 67, the structure and the working principle of the rear vehicle power-, the power taking device also comprises a power taking support and a power taking plate, wherein the upper end of the power taking support is fixedly connected with the steering wheel frame 61, the lower end of the power taking support is provided with the power taking plate, in addition, a mobile power unit is arranged in the steering wheel frame 61 to process induction power taking of the power taking plate and provide the induction power taking for a steering wheel driving unit 63, and in the embodiment, the steering wheel driving unit 63 is a speed reducing motor. The utility model discloses the during operation, rudder wheel carrier 61 is connected through back hull bearing 62 and the 2 automobile bodies rotations of back car, and passes through rudder wheel drive unit 63 drives rotatoryly in order to realize the automobile body and turn.

As shown in fig. 6, a rear car navigation part 12 is disposed at the front side of the electricity-taking bracket of the rear car driving device 67, and in this embodiment, the rear car navigation part 12 is the same as the front car navigation part 11.

As shown in fig. 8, the rear vehicle driving wheel device 7 includes a rear vehicle driving unit 72, a rear vehicle driving wheel carrier 74, a rear vehicle driving wheel sheet 71 and a vehicle body connecting plate 73, the rear vehicle driving wheel sheet 71 and the rear vehicle driving unit 72 are both mounted on the rear vehicle driving wheel carrier 74, the rear vehicle driving wheel sheet 71 is driven to rotate by the rear vehicle driving unit 72, two sides of the rear vehicle driving wheel carrier 74 are respectively hinged to the vehicle body connecting plate 73 on the corresponding side by a rotating pin 75, the vehicle body connecting plate 73 is fixedly connected to the vehicle body of the rear vehicle 2, and the rear vehicle driving wheel carrier 74 realizes horizontal deflection by the rotating pin 75. In this embodiment, the rear vehicle driving unit 72 is a speed reduction motor, and the electric energy thereof is derived from the rear vehicle electricity-taking device 67.

As shown in fig. 9 to 11, the lifting mechanism 3 includes a cylinder 32, a hinge shaft 35, a hinge arm 34, a clamp shaft bracket 37, a balance bar 38, and a lifting clamp 310, wherein the hinge arm 34 is fixed to the hinge shaft 35, the hinge shaft 35 is driven to rotate by the cylinder 32, the clamp shaft bracket 37 with a clamp mounting shaft 33 is provided at an end of the hinge arm 34, and a clamp mounting groove 312 engaged with the clamp mounting shaft 33 is provided at a lower side of the lifting clamp 310. The utility model discloses during operation, the flexible drive articulated shaft 35 of hydro-cylinder 32 rotates, and then drives articulated arm 34 and rotate and drive anchor clamps axle support 37 and go up and down, and then the drive lifts anchor clamps 310 and goes up and down, and in addition as shown in FIG. 10, every anchor clamps axle support 37 lower extreme is connected with corresponding balancing pole 38 respectively, just balancing pole 38 swings simultaneously along vertical face with corresponding articulated arm 34 in order to keep lifting anchor clamps 310 horizontal lift.

As shown in fig. 9, two ends of hinge shaft 35 are rotatably mounted on corresponding hinge shaft mounting seats 36, hinge shaft mounting seats 36 are fixedly connected to corresponding vehicle bodies, two oil cylinders 32 are respectively disposed at two ends of hinge shaft 35, and the bottom ends of the oil cylinders 32 are hinged to one mounting seat 31, the mounting seat 31 is fixedly mounted in the corresponding vehicle body, support plates are disposed at two ends of hinge shaft 35, and the rod ends of the oil cylinders 32 are hinged to corresponding side support plates of hinge shaft 35, as shown in fig. 10, one end of balance rod 38 is hinged to corresponding clamp shaft support 37, the other end is hinged to a balance rod mounting seat 39, and balance rod mounting seat 39 is fixedly mounted in the corresponding vehicle body.

As shown in fig. 11, the lifting jig 310 is provided at an upper side thereof with an axle bearing surface 311 for supporting an axle portion to which the heavy truck 10 is to be mounted.

The utility model discloses a theory of operation does:

as shown in fig. 12-14, the utility model discloses the ground of work is equipped with the loop line 9 and the special cable (the pre-buried underground of cable) that paste the magnetic stripe, and front truck 1 and back car 2 are arranged according to waiting to assemble the wheel base size of heavily blocking 10 on loop line 9, install front truck navigation spare 11 on the front truck drive wheel device 4, install back car navigation spare 12 on the back car helm gear 6, in this embodiment, front truck navigation spare 11 and back car navigation spare 12 include electromagnetic navigation and magnetic navigation, can make the automobile body advance according to the loop line 9 laying direction that pastes the magnetic stripe to front truck 1 and back car 2 can be according to front truck navigation spare 11 and back car navigation spare 12 feedback signal adjustment automobile body gesture ensure on a straight line. In addition, the electricity taking plates of the front vehicle electricity taking device 47 and the rear vehicle electricity taking device 67 are kept at a fixed distance (within 15 mm) from the ground and are matched with the special cable to perform induction electricity taking, so that the front vehicle driving wheel device 4, the rear vehicle steering wheel device 6 and the rear vehicle driving wheel device 7 are supplied with power in a non-contact mode, a battery part is omitted, and the size of a vehicle body is greatly reduced.

The utility model discloses the during operation, the lifting mechanism 3 on the front truck 1 and the lifting mechanism 3 on the back car 2, its axle loading end 311 that lifts on anchor clamps 310 respectively with wait to assemble the axle cooperation that heavy truck 10 downside corresponds, then front truck drive wheel device 4 starts and provides power, the heavy truck 10 that back car 2 bore through it completely links together with front truck 1, and pull the removal by front truck 1, also be whole heavy truck 10 attaches together the in-process, front truck 1 drives back car 2 and moves ahead simultaneously, and bear heavy truck 10. In attaching together the in-process, attach together the height for reducing, be fit for the workman and operate, so the utility model discloses front truck 1 is very low with 2 automobile bodies of rear truck, also is that heavy truck 10 axletree center is very low from ground, but when the assembly tire, because of the tire diameter is great, so when front truck 1 and rear truck 2 reachd the tire assembly station, need lifting mechanism 3 with heavy truck 10 ascending lifting to make axletree center be greater than the tire radius from ground distance, satisfy the assembly demand.

The left driving unit 46 and the right driving unit 41 of the front vehicle driving wheel device 4 can drive the front vehicle 1 to move forward or backward, the connecting plate 42 of the front vehicle driving wheel device 4 is connected with the vehicle body of the front vehicle 1 through the front vehicle disk bearing 43 to realize rotation, and is driven by the left driving unit 46 and the right driving unit 41 in a differential mode to realize turning, the steering wheel frame 61 of the rear vehicle steering wheel device 6 is connected with the vehicle body of the rear vehicle 2 through the rear vehicle disk bearing 62 to realize rotation, and is driven by the steering wheel driving unit 63 to realize turning, and the rear vehicle driving wheel device 7 is provided with the rear vehicle driving unit 72 which can assist in driving the rear vehicle 2 to move.

Claims

1. A heavy-load AGV system is characterized in that: the lifting device comprises a front vehicle (1), a rear vehicle (2) and a lifting mechanism (3), wherein the front end of the front vehicle (1) is provided with a front vehicle driving wheel device (4), the rear end of the front vehicle is provided with a front vehicle following wheel (5), the front end of the rear vehicle (2) is provided with a rear vehicle steering wheel device (6), the rear end of the rear vehicle is provided with a rear vehicle driving wheel device (7) and a rear vehicle following wheel (8), and the front vehicle (1) and the rear vehicle (2) are both provided with the lifting mechanism (3); the front vehicle driving wheel device (4) comprises a connecting plate (42) and a left driving unit (46), a right driving unit (41) and a front vehicle power taking device (47) which are arranged on the lower side of the connecting plate (42), a front vehicle disc bearing (43) is arranged on the upper side of the connecting plate (42) and is connected with the vehicle body of the front vehicle (1) in a rotating manner, driving wheel sheets are arranged at two ends of the lower side of the connecting plate (42), a left driving wheel sheet (462) is driven to rotate through the left driving unit (46), a right driving wheel sheet (412) is driven to rotate through the right driving unit (41), a rear vehicle steering wheel device (6) comprises a steering wheel frame (61) with a steering wheel sheet (64) and a steering wheel driving assembly arranged on the steering wheel frame (61) and a rear vehicle power taking device (67), a rear vehicle disc bearing (62) is arranged on the upper side of the steering wheel frame (61) and is connected with the vehicle body of the rear vehicle (2), and an outer gear on the rear vehicle disc, the front car driving wheel device (4) is provided with a front car navigation part (11), and the rear car steering wheel device (6) is provided with a rear car navigation part (12).

2. The heavy loaded AGV system of claim 1, wherein: connecting plate (42) one side of front truck drive wheel device (4) is equipped with left wheel frame (461) of taking left drive wheel piece (462), and the opposite side is equipped with right wheel frame (411) of taking right drive wheel piece (412), just left side drive unit (46) install in on left wheel frame (461), right side drive unit (41) install in on right wheel frame (411), connecting plate (42) middle part downside is located in front truck electricity-taking device (47), just left side drive unit (46) and right drive unit (41) are located between front truck electricity-taking device (47) and connecting plate (42).

3. A heavy load AGV system according to claim 1 or 2, characterised in that: the middle of the connecting plate (42) is connected with a front vehicle wheel bearing (43) through a pin shaft (45), and an encoder component (44) is arranged on the connecting plate (42) and meshed with the outer teeth of the front vehicle wheel bearing (43).

4. The heavy loaded AGV system of claim 2, wherein: left side drive unit (46) and right drive unit (41) symmetrical arrangement, left side drive unit (46) tip is equipped with the left clutch of taking left clutch pull rod (48), right side drive unit (41) tip is equipped with the right clutch of taking right clutch pull rod (49), connecting plate (42) middle part downside is equipped with and is used for supporting clutch bracket (410) of left side clutch pull rod (48) and right clutch pull rod (49).

5. The heavy loaded AGV system of claim 1, wherein: the steering wheel driving assembly of the rear vehicle steering wheel device (6) comprises a steering wheel driving unit (63) and a gear assembly, an input gear (66) in the gear assembly is fixedly connected with an output shaft of the steering wheel driving unit (63), and an output gear (65) in the gear assembly is meshed with an external gear of the rear vehicle disc bearing (62).

6. The heavy loaded AGV system of claim 1, wherein: the rear vehicle driving wheel device (7) comprises a rear vehicle driving unit (72), a rear vehicle driving wheel frame (74), a rear vehicle driving wheel sheet (71) and a vehicle body connecting plate (73), the rear vehicle driving wheel sheet (71) and the rear vehicle driving unit (72) are both installed on the rear vehicle driving wheel frame (74), the rear vehicle driving wheel sheet (71) is driven to rotate through the rear vehicle driving unit (72), the rear vehicle driving wheel frame (74) is hinged to the vehicle body connecting plate (73) through a rotating pin shaft (75), and the vehicle body connecting plate (73) is fixedly connected with a vehicle body of the rear vehicle (2).

7. The heavy loaded AGV system of claim 1, wherein: the lifting mechanism (3) comprises an oil cylinder (32), a hinge shaft (35), a hinge arm (34), a clamp shaft bracket (37), a balance rod (38) and a lifting clamp (310), wherein the hinge arm (34) is fixedly arranged on the hinge shaft (35), the hinge shaft (35) is driven to rotate through the oil cylinder (32), the clamp shaft bracket (37) with a clamp mounting shaft (33) is arranged at the end part of the hinge arm (34), a clamp mounting groove (312) matched with the clamp mounting shaft (33) is formed in the lower side of the lifting clamp (310), an axle bearing surface (311) is arranged on the upper side of the lifting clamp (310), the lower end of the clamp shaft bracket (37) is connected with the corresponding balance rod (38), and the balance rod (38) and the corresponding hinge arm (34) swing simultaneously along a vertical surface.

8. The heavy loaded AGV system of claim 7, wherein: articulated shaft (35) both ends are rotated respectively and are installed on articulated shaft mount pad (36) that correspond, just articulated shaft mount pad (36) link firmly with corresponding automobile body, the cylinder body bottom of hydro-cylinder (32) is articulated with a mount pad (31), just mount pad (31) set firmly in corresponding automobile body, be equipped with the extension board on articulated shaft (35), just the jar pole tip of hydro-cylinder (32) with the extension board that corresponds on articulated shaft (35) is articulated, balancing pole (38) one end is articulated with anchor clamps shaft bracket (37) that correspond, and the other end is articulated with a balancing pole mount pad (39), just balancing pole mount pad (39) set firmly in corresponding automobile body.

9. The heavy loaded AGV system of claim 1, wherein: the front vehicle electricity taking device (47) and the rear vehicle electricity taking device (67) are both provided with electricity taking plates, and special cables matched with the electricity taking plates for induction electricity taking are pre-buried on the ground.

10. The heavy loaded AGV system of claim 1, wherein: the front car navigation part (11) and the rear car navigation part (12) both comprise electromagnetic navigation and magnetic navigation, and the ground is provided with a loop line (9) pasted with a magnetic stripe.