Gear transmission encoder wheel set

Abstract

The invention relates to a gear transmission encoder wheel set. A first annular groove is formed in a lower cylinder; a disc spring and a disc spring gasket are sequentially arranged on the inner bottom face of the first annular groove from bottom to top; a shaft sleeve, a middle cylinder and an upper cylinder are sequentially arranged in the first annular groove and higher than the disc spring gasket from outside to inside, and the upper cylinder is in up-down sliding connection with the middle cylinder.A circular notch is circumferentially formed in the far lower end of the upper cylinder; Aspring is arranged in the circular notch, the lower end of the lower cylinder is sleeved with a wheel carrier, fixing blocks are arranged on the two side faces of the lower cylinder and located in the through holes, the outer side faces of the fixing blocks are sleeved with second bearings, the upper end of the lower cylinder is sleeved with a first gear, a fixing piece is arranged on one side ofthe upper face of the middle cylinder, and an angle encoder is arranged at the free end of the fixing piece; an output shaft of the angle encoder is sleeved with a gear II; a supporting plate is arranged on the upper cylinder, speed reducers are arranged on the front side and the rear side of the wheel carrier, servo motors are arranged at the input ends of the speed reducers, and driving wheelsare arranged at the output ends of the speed reducers. The gear transmission encoder wheel set has the advantages that the gear is high in strength, and the loading capacity is effectively enhanced.

Description

technical field [0001] The invention relates to the field of AGVs, in particular to a gear transmission encoder wheel set. Background technique [0002] Omnidirectional mobile robot is a typical mobile robot system, which has three complete degrees of freedom in the plane (front and back, left and right, and rotation), and can move in any direction in the plane at any time (it can also move along the normal line of the wheel plane). directional movement), therefore, it is very suitable for working in various complex environments, and can move efficiently in various narrow environments. The omnidirectional mobile robot requires that the driving wheel set can rotate. In order to obtain the rotation angle of the wheel set, an encoder needs to be set on the driving wheel set. [0003] In the case of load, the wheel set of the AGV needs to provide sufficient driving force. In order to increase the flexibility of the AGV, the resistance of the wheel set should be small when movin...

AI Technical Summary

Problems solved by technology

When the AGV frequently starts and stops, accelerates and decelerates, the gaps in the transmission mechanism, the number of gear transmission stages, and the gaps in the traveling mechanism will all generate errors, and some errors will be magnified and accumulated, resulting in reduced AGV walking accuracy

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