Heavy-duty Omnidirectional High-protection AGV Wheel System and Control System

Abstract

The present invention relates to the technical field of AGV vehicles, in particular to a heavy-duty omnidirectional high-protection AGV wheel system and a control system. It includes a differential wheel set and a steering sensing device; a connecting sleeve is fitted and installed inside the mounting plate; an outer cover is arranged on the top of the mounting plate to seal and install the steering sensing device at the top position of the mounting plate; the differential wheel set includes two independently operating running mechanisms; the running mechanism includes a running support device and a running drive device; a transmission box body is installed inside the connecting sleeve; a servo motor and a speed reduction mechanism are arranged inside the transmission box body; a set of pins in the speed reduction mechanism is connected to the wheel cover, and the wheel cover and the hub form a combination; a polyurethane rubber layer is sleeved outside the hub, and when the servo motor starts, it drives the combination of the wheel cover and the hub and the polyurethane rubber layer outside it to rotate through the speed reduction mechanism. The AGV wheel system proposed by the present invention ensures heavy-duty cargo while reducing the space required for installation and improving the sensitivity of steering control to achieve the efficient operation of the AGV vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV vehicles, in particular to a heavy-duty omnidirectional high-protection AGV wheel system and control system. Background Art

[0002] AGV vehicles are widely used in the transportation of goods in the production and logistics industries. They are a type of handling equipment that does not require a driver and uses a rechargeable battery as the power source. Most of the existing walking wheels of AGV vehicles rely on motor drive and drive the vehicle to run through the meshing of a gear mechanism. The traditional gear mechanism and motor require installation in multiple parts, occupy a large space, are complex in assembly and installation, have insensitive steering control, and cannot achieve the efficient operation of AGV vehicles. Summary of the Invention

[0003] The object of the present invention is to address the problems in the background art and propose a heavy-duty omnidirectional high-protection AGV wheel system and control system, which can ensure heavy-duty cargo while reducing the space required for installation, improving the sensitivity of steering control, and realizing the efficient operation of AGV vehicles.

[0004] The technical solution of the present invention, a heavy-duty omnidirectional high-protection AGV wheel system, includes a connecting piece for supporting installation; it also includes a differential wheel group and a steering sensing device. The connecting piece includes a mounting plate, a connecting sleeve, and an outer cover;

[0005] The connecting sleeve is fitted and installed inside the mounting plate; the outer cover is arranged on the top of the mounting plate, and the steering sensing device is sealed and installed at the top position of the mounting plate;

[0006] The steering sensing device includes an off-axis encoder and a magnetic ring; the off-axis encoder is installed at the end of the connecting sleeve, and the magnetic ring is integrally connected to the mounting plate with the outer cover;

[0007] Or the magnetic ring is installed at the end of the connecting sleeve; the off-axis encoder is integrally connected to the mounting plate with the outer cover;

[0008] The differential wheel group includes two independently operating running mechanisms; they are respectively installed on the left and right sides of the connecting sleeve. The running mechanism includes a running support device and a running drive device; the running support device includes a wheel hub and a wheel cover; the running drive device is integrated in the transmission box body;

[0009] The transmission box body is installed inside the connecting sleeve; a servo motor and a reduction mechanism are arranged inside the transmission box body; the wheel hub on the differential wheel group is connected to the transmission box body through a circlip on the transmission box body;

[0010] The cable for power supply and output control signal passes through the middle of the mounting plate, the connecting sleeve, and the outer cover; one end is connected to the upper computer, and the other end is connected to the servo motor and the encoder board inside the transmission box body;

[0011] A set of pins in the speed reduction mechanism is connected to the wheel cover, and the wheel cover and the wheel hub form a combined body; a polyurethane rubber layer is sleeved outside the wheel hub, and when the servo motor is started, the combined body of the wheel cover and the wheel hub and the polyurethane rubber layer outside it are driven to rotate through the speed reduction mechanism.

[0012] Preferably, the servo motor and the speed reduction mechanism are separated by an end cover.

[0013] Preferably, a through hole that can cooperate with the connecting sleeve is provided in the mounting plate. A first mounting position is provided above the through hole, a second mounting position is provided at the lower end of the through hole, and a third mounting position is provided outside the lower end of the through hole.

[0014] A first deep groove ball bearing is assembled in the first mounting position. The connecting sleeve is provided with a snap ring groove at the outer end of the first mounting position. A tapered roller bearing and a second deep groove ball bearing are assembled in the second mounting position. The connecting sleeve is provided with a limiting boss A and a limiting boss B. The first deep groove ball bearing is located on the limiting boss A, and the tapered roller bearing is located on the second deep groove ball bearing. A skeleton oil seal is also installed between the limiting boss B of the connecting sleeve and the third mounting position.

[0015] Preferably, a boss is provided on the outer side of the flange, and the shielding cover is assembled on the boss. An encoder board is installed inside the shielding cover.

[0016] Preferably, magnetic sheets are provided inside the servo motor; the encoder board senses the change amount of the magnetic sheets.

[0017] Preferably, the cable for power supply and output control signal passes through the middle parts of the mounting plate, the connecting sleeve and the outer cover; one end is connected to the upper computer, and the other end is electrically connected to the servo motor and the encoder board inside the transmission box body.

[0018] Preferably, the differential wheel sets on the left and right sides are controlled by independent control systems.

[0019] Preferably, the connecting sleeve and the transmission box body are an integrally formed component.

[0020] Preferably, the wheel hub and the wheel cover are installed in the forward direction, and the fastener passes through from one side of the wheel cover and is fixedly connected to the wheel hub;

[0021] Or, the wheel hub and the wheel cover are installed in the reverse direction; the fastener passes through from one side of the wheel hub and is fixedly connected to the wheel cover.

[0022] The control system of the heavy-duty omnidirectional high-protection AGV wheel system controls the AGV wheel system in the above technical solution.

[0023] Compared with the prior art, the present invention has the following beneficial technical effects:

[0024] 1. The present invention is provided with an off-axis encoder and a magnetic ring. The off-axis encoder generates a displacement with the magnetic ring, and the steering angle of the trolley is monitored in real time through the magnetic field change and feedback and adjustment are carried out. Moreover, a flange is installed on each wheel set, a shielding cover is installed outside the flange, and an encoder board is assembled inside the shielding cover. The encoder board senses the magnetic sheet in the servo motor to achieve precise control of the rotation distance of the wheel. In addition, the present invention assembles the servo motor and the reduction mechanism together in a transmission box body. Each wheel set is controlled by an independent control system, and there is an installation distance between the wheel sets. The cable can be routed through this space, which can improve the space utilization rate; compared with the prior art, the occupied installation space is smaller.

[0025] 2. A skeleton oil seal is assembled at the connection between the lower end of the mounting plate and the hub and the transmission box body. A sealing ring groove is opened in the wheel cover. After assembly, the protection level can reach IP6, and the equipment can be used in a water-related environment.

[0026] 3. The transmission box body and the connecting sleeve are rigidly connected, with strong load-bearing capacity. When a heavy object is pressed down, the mounting plate directly transmits the pressure to the wheel through the connecting sleeve, which has little impact on the operating system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a cross-sectional view of the AGV wheel system of the present invention;

[0028] Figure 2 It is an enlarged structural schematic diagram of part B of the AGV wheel system of the present invention;

[0029] Figure 3 It is an enlarged structural schematic diagram of part C of the AGV wheel system of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the integrated connection sleeve and transmission box body in the AGV wheel system of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the reverse installation of the hub and the wheel cover in the AGV wheel system of the present invention.

[0032] Reference numerals: 1, mounting plate; 2, connecting sleeve; 3, polyurethane adhesive layer; 4, transmission box body; 5, wheel cover; 6, hub; 7, outer cover; 8, end cover; 9, flange; 10, servo motor; 11, shielding cover; 12, magnetic sheet; 13, encoder board; 14, off-axis encoder; 17, skeleton oil seal; 18, reduction mechanism; 19, magnetic ring; 20, pin; 21, first deep groove ball bearing; 22, tapered roller bearing; 23, second deep groove ball bearing. DETAILED DESCRIPTION OF THE INVENTION

[0033] Example 1

[0034] As Figures 1-3As shown in the figure, the heavy-duty omnidirectional high-protection AGV wheel system and control system proposed by the present invention include a connecting piece for supporting installation; it also includes a differential wheel set and a steering sensing device. The connecting piece includes a mounting plate 1, a connecting sleeve 2, and an outer cover 7;

[0035] The connecting sleeve 2 is fitted and installed inside the mounting plate 1; the outer cover 7 is arranged on the top of the mounting plate 1, and the steering sensing device is hermetically installed at the top position of the mounting plate 1;

[0036] The steering sensing device includes an off-axis encoder 14 and a magnetic ring 19; the off-axis encoder 14 is installed at the end of the connecting sleeve 2, and the magnetic ring 19 is integrally connected to the mounting plate 1 with the outer cover 7;

[0037] Or the magnetic ring 19 is installed at the end of the connecting sleeve 2; the off-axis encoder 14 is integrally connected to the mounting plate 1 with the outer cover 7;

[0038] In this embodiment, the mounting plate 1 can be fixed to the bottom of the AGV cart. A connecting sleeve 2 that can move relative to it is fitted inside the mounting plate 1. An off-axis encoder 14 is installed on the connecting sleeve. The outer cover 7 is connected to the mounting plate 1. By rotating the connecting sleeve 2, the off-axis encoder 14 and the magnetic ring 19 generate displacement, and the steering angle of the cart is monitored in real time through the magnetic field change and feedback and adjustment are carried out.

[0039] A flange 9 is installed on each wheel set. A shielding cover 11 is installed outside the flange 9. An encoder board 13 is assembled inside the shielding cover 11. The encoder board 13 senses the magnetic sheet 12 in the servo motor to achieve precise control of the rotation distance of the wheel; the servo motor 10 and the reduction mechanism 18 are jointly assembled in a transmission box body 4. Each wheel system is controlled by an independent control system. There is an installation distance between the wheel systems, and the cables can be routed through this space, which can improve the space utilization rate. At the same time, the two wheel systems work independently, and the rotation directions can be the same or opposite, and the rotation control of the wheels is more precise.

[0040] Embodiment 2

[0041] As Figure 2 shown, the heavy-duty omnidirectional high-protection AGV wheel system and control system proposed by the present invention. Compared with Embodiment 1, in this embodiment, a through hole that can cooperate with the connecting sleeve 2 is provided in the mounting plate 1. A first installation position is provided above the through hole, a second installation position is provided at the lower end of the through hole, and a third installation position is provided outside the lower end of the through hole;

[0042] A first deep groove ball bearing 21 is assembled inside the first mounting position. A snap ring groove is provided at the outer end of the connecting sleeve 2 located outside the first mounting position. A tapered roller bearing 22 and a second deep groove ball bearing 23 are assembled inside the second mounting position. The connecting sleeve 2 is provided with a limiting boss A and a limiting boss B. The first deep groove ball bearing 21 is located on the limiting boss A, and the tapered roller bearing 22 is located on the second deep groove ball bearing 23. A skeleton oil seal 17 is also installed between the limiting boss B of the connecting sleeve 2 and the third mounting position.

[0043] It should be noted that a skeleton oil seal 17 is assembled at the connection between the lower end of the mounting plate 1 and the hub 6 and the transmission housing 4. A sealing ring groove is provided inside the wheel cover 5. After assembly, the protection level can reach IP6, and the equipment can be used in water-related environments to improve the protection effect.

[0044] Embodiment 3

[0045] As Figure 3 shown, for the heavy-duty omnidirectional high-protection AGV wheel system and control system proposed by the present invention, compared with Embodiment 1, in this embodiment, the transmission housing 4 and the connecting sleeve 2 are rigidly connected, with strong load-bearing capacity. When a heavy object is pressed down, the mounting plate 1 directly transmits the pressure to the wheel through the connecting sleeve 2, having a relatively small impact on the operating system. The load-bearing capacity is improved.

[0046] Embodiment 4

[0047] As Figure 2 shown, for the heavy-duty omnidirectional high-protection AGV wheel system and control system proposed by the present invention, compared with Embodiment 1, in this embodiment, for the convenience of overhauling the power components, the snap ring groove of the transmission housing 4 can be used for disassembly. When disassembling, use a bayonet to hook the snap ring groove, place the support frame on the protruding surfaces of the connecting sleeve 2 and the transmission housing 4, and apply an external pulling force to overhaul the wheel set.

[0048] Embodiment 5

[0049] As Figure 4 shown, for the heavy-duty omnidirectional high-protection AGV wheel system and control system proposed by the present invention, compared with Embodiment 1, the connecting sleeve 2 and the transmission housing 4 are an integrally formed component; the integrally formed component can reduce the number of parts and facilitate the assembly of components.

[0050] Embodiment 6

[0051] As Figure 5 shown, for the heavy-duty omnidirectional high-protection AGV wheel system and control system proposed by the present invention, compared with Embodiment 1, the hub 6 and the wheel cover 5 are installed in the correct direction, and the fastener passes through from one side of the wheel cover 5 and is fastened to the hub 6;

[0052] Or, the hub 6 is installed in the opposite direction to the wheel cover 5; the fastener passes through from one side of the hub 6 and is fixedly connected to the wheel cover 5; the hub 6 can be installed in the forward or reverse direction, making the assembly more flexible.

[0053] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those skilled in the art to which the present invention pertains.

Claims

1. Heavy-duty omnidirectional high-protection AGV wheel system, including a connecting piece for supporting installation; further including a differential wheel set and a steering sensing device, characterized in that: The connecting piece includes a mounting plate (1), a connecting sleeve (2) and an outer cover (7); The connecting sleeve (2) is fitted and installed inside the mounting plate (1); the outer cover (7) is arranged on the top of the mounting plate (1) to seal and install the steering sensing device at the top position of the mounting plate (1); a through hole that can cooperate with the connecting sleeve (2) is provided in the mounting plate (1). A first mounting position is provided above the through hole, a second mounting position is provided at the lower end of the through hole, and a third mounting position is provided outside the lower end of the through hole; A first deep groove ball bearing (21) is assembled in the first mounting position. The connecting sleeve (2) has a snap ring groove at the outer end of the first mounting position. A tapered roller bearing (22) and a second deep groove ball bearing (23) are assembled in the second mounting position. The connecting sleeve (2) is provided with a limiting boss A and a limiting boss B. The first deep groove ball bearing (21) is located on the limiting boss A, and the tapered roller bearing (22) is located on the second deep groove ball bearing (23). A skeleton oil seal (17) is also installed between the limiting boss B of the connecting sleeve (2) and the third mounting position; The steering sensing device includes an off-axis encoder (14) and a magnetic ring (19); the off-axis encoder (14) is installed at the end of the connecting sleeve (2), and the magnetic ring (19) is integrally connected to the mounting plate (1) with the outer cover (7); Or the magnetic ring (19) is installed at the end of the connecting sleeve (2); the off-axis encoder (14) is integrally connected to the mounting plate (1) with the outer cover (7); The differential wheel set includes two independently operating running mechanisms; they are respectively installed on the left and right sides of the connecting sleeve (2). The running mechanism includes a running support device and a running drive device; the running support device includes a wheel hub (6) and a wheel cover (5); the running drive device is integrated in the transmission box body (4); The transmission box body (4) is installed inside the connecting sleeve (2); a servo motor (10) and a reduction mechanism (18) are arranged inside the transmission box body (4); the servo motor (10) and the reduction mechanism (18) are separated by an end cover (8); the wheel hub (6) on the differential wheel set is connected to the transmission box body (4) through a snap ring on the transmission box body (4); The cable for power supply and output control signal passes through the middle parts of the mounting plate (1), the connecting sleeve (2) and the outer cover (7); one end is connected to the host computer, and the other end is connected to the servo motor (10) and the encoder board (13) inside the transmission box body (4); A set of pins (20) in the reduction mechanism (18) is connected to the wheel cover (5), and the wheel cover (5) and the wheel hub (6) form a combination; a polyurethane rubber layer (3) is sleeved outside the wheel hub (6), and when the servo motor (10) starts, it drives the combination of the wheel cover (5) and the wheel hub (6) and the polyurethane rubber layer (3) outside it to rotate through the reduction mechanism (18).

2. The heavy-duty omnidirectional high-protection AGV wheel system according to claim 1, wherein The outer side of the flange (9) is provided with a boss, and the shielding cover (11) is assembled on the boss. The encoder board (13) is installed inside the shielding cover (11).

3. The heavy-duty omnidirectional high-protection AGV wheel system according to claim 2, characterized in that, A magnetic sheet (12) is arranged inside the servo motor (10); the encoder board (13) senses the change amount of the magnetic sheet (12).

4. The heavy-duty omnidirectional high-protection AGV wheel system according to claim 1, wherein The differential wheel sets on the left and right sides are controlled by independent control systems.

5. The heavy-duty omnidirectional high-protection AGV wheel system according to claim 1, characterized in that, The connecting sleeve (2) and the transmission box body (4) are an integrally formed component.

6. The heavy-duty omnidirectional high-protection AGV wheel system according to claim 1, characterized in that, The hub (6) is installed in the correct orientation with the wheel cover (5), and the fastener passes through from one side of the wheel cover (5) and is fixedly connected to the hub (6); Alternatively, the hub (6) is installed in the reverse orientation with the wheel cover (5); the fastener passes through from one side of the hub (6) and is fixedly connected to the wheel cover (5).

7. The control system of the heavy-duty omnidirectional high-protection AGV wheel system is characterized in that, Control the AGV wheel system according to any one of claims 1-6.

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