Driving wheel for outdoor high-speed heavy-load AGV

Abstract

The invention belongs to the technical field of heavy-load mobile robots, and particularly relates to a driving wheel for an outdoor high-speed heavy-load AGV (Automatic Guided Vehicle), which comprises a support assembly, a driving motor, a primary speed reducer, a hub speed reducer, a wet hydraulic brake, a reducing sleeve, a rim and a vacuum tire. According to the two-stage speed reduction transmission mechanism, a two-stage speed reduction transmission mode of the first-stage speed reducer and the wheel-side speed reducer is adopted, the speed reduction ratio of the wheel-side speed reducer part can be reduced, and therefore a wheel-side speed reducer product which is relatively simplified and relatively small in size can be used, the overall installation space is effectively ensured, and the overall heat dissipation condition of the transmission mechanism is improved. The vacuum tire is adopted to replace a traditional solid wheel piece, the wheel set adhesive force, the damping performance, the service life, the road surface protection capacity and the like are all superior to those of the prior art, the wet type hydraulic brake is more suitable for the use conditions of outdoor pavement, and compared with an electromagnetic brake, the wet type hydraulic brake is larger in braking force and better in service life. And the whole driving wheel can better adapt to outdoor and high-speed scenes.

Description

Technical Field

[0001] The invention belongs to the technical field of heavy-load mobile robots, in particular to a driving wheel for outdoor high-speed heavy-load AGVs. Background Art

[0002] At present, heavy-load mobile robots are generally used in indoor and low-speed scenarios. They usually adopt a mobile wheel set in the form of a steering wheel drive wheel + follower wheel. The wheel set generally uses solid wheel plates and is not equipped with a dedicated service brake. Instead, the electromagnetic brake equipped with the motor is used to achieve parking brake and emergency service brake.

[0003] When heavy-load mobile robots need to adapt to outdoor and high-speed scenarios, solid wheels and simple shock-absorbing structures can no longer adapt to the bumps and impacts caused by driving on outdoor roads, and the damage caused by solid wheels to the outdoor roads cannot be ignored. At the same time, heavy-load and high-speed driving requires extremely high performance and reliability of service brakes, and relying solely on servo motor deceleration and electromagnetic brakes cannot meet the reliable braking needs. Summary of the invention

[0004] In view of the above problems, an object of the present invention is to provide a driving wheel for an outdoor high-speed and heavy-load AGV.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A driving wheel for outdoor high-speed heavy-load AGV, comprising a support assembly, a driving motor, a primary reducer, a wheel-side reducer, a wet hydraulic brake, an adapter sleeve, a rim and a vacuum tire, wherein the support assembly is used for external connection of the driving wheel as a whole;

[0007] The housing of the primary reducer is connected to the support assembly, the housing of the drive motor is fixedly connected to the housing of the primary reducer, and the driving end of the drive motor is connected to the input shaft of the primary reducer;

[0008] The wet hydraulic brake has a brake fixing portion and a brake moving end, the brake fixing portion of the wet hydraulic brake is connected to the support assembly, and the brake moving end of the wet hydraulic brake is connected to the adapter sleeve;

[0009] The wheel-side reducer has a power input end, a fixed connection flange part and an output rotating flange part. The power input end of the wheel-side reducer is connected to the output shaft of the primary reducer, the fixed connection flange part of the wheel-side reducer is connected to the support assembly, the output rotating flange part of the wheel-side reducer is respectively connected to the rim and the adapter sleeve, and the vacuum tire is arranged on the outer periphery of the rim.

[0010] The axial center line of the drive motor, the axial center line of the primary reducer, the axial center line of the wheel-side reducer, the axial center line of the wet hydraulic brake and the axial center line of the adapter sleeve are all collinear.

[0011] The output rotating flange of the wheel-side reducer is connected to two rims, the two rims are symmetrically arranged with each other, and the axial center lines of the two rims are collinear with the axial center line of the wheel-side reducer.

[0012] The drive motor is a water-cooled motor, and the drive motor has a motor water-cooling interface.

[0013] The first-stage reducer is a water-cooled reducer, and the first-stage reducer has a first-stage reducer water-cooling interface.

[0014] The brake fixing part of the wet hydraulic brake is provided with a brake oil cooling interface.

[0015] The power input end of the wheel-side reducer is connected to the output shaft of the primary reducer through a universal joint transmission shaft.

[0016] The support assembly includes a hollow support sleeve, an outer connection plate, and an inner connection plate;

[0017] A hollow channel is formed inside the hollow support sleeve, and openings communicating with the hollow channel of the hollow support sleeve are respectively formed at two axial ends of the hollow support sleeve, and one axial end of the hollow support sleeve extends toward the periphery to sequentially form an annular mounting convex edge A and an annular mounting convex edge B arranged in a stepped manner from the inside to the outside, the annular mounting convex edge A of the hollow support sleeve is fixedly connected to the brake fixing portion of the wet hydraulic brake by screws, and the annular mounting convex edge B of the hollow support sleeve is directly used for external connection of the driving wheel as a whole, and the end surface of the other axial end of the hollow support sleeve is uniformly provided with threaded holes A along the circumferential direction;

[0018] The outer connecting plate is divided into a central tube sleeve part and an annular mounting convex edge C connected together, the interior of the central tube sleeve part of the outer connecting plate is hollow, the annular mounting convex edge C of the outer connecting plate is located at the outer periphery of the central tube sleeve part of the outer connecting plate, the annular mounting convex edge C of the outer connecting plate is connected to the fixed connecting flange part of the wheel-side reducer by screws, and threaded holes B are uniformly opened along the circumferential direction on the end surface of the central tube sleeve part of the outer connecting plate away from the driving motor;

[0019] The interior of the inner connecting disk is hollow, and screw through holes A are respectively opened on the inner connecting disk at positions corresponding to each of the threaded holes A on the hollow supporting sleeve, and screw through holes B are respectively opened on the inner connecting disk at positions corresponding to each of the threaded holes B on the outer connecting disk. Each of the screw through holes A is penetrated by a fixing screw A, and each of the fixing screws A is respectively connected to the corresponding threaded hole A through threads, and each of the screw through holes B is penetrated by a fixing screw B, and each of the fixing screws B is respectively connected to the corresponding threaded hole B through threads.

[0020] Three positioning clamping inner flanges are extended inward from the opening of the other axial end of the hollow support sleeve, and the three positioning clamping inner flanges are evenly arranged along the circumference of the hollow support sleeve, and a clamping tooth passing gap is formed between every two adjacent positioning clamping inner flanges, and an annular clamping convex edge is convexly provided on the middle part of the side surface of the inner connecting disk close to the driving motor, and three positioning clamping teeth are evenly provided on the outer peripheral surface of the annular clamping convex edge of the inner connecting disk along the circumferential direction, and the setting positions of the three positioning clamping teeth on the annular clamping convex edge of the inner connecting disk correspond one by one to the setting positions of the three positioning clamping inner flanges of the hollow support sleeve.

[0021] An inner connecting disk embedding groove matching the shape of the outer circumferential surface of the inner connecting disk is formed on the side surface of the outer connecting disk as a whole away from the driving motor, and the other axial end of the hollow support sleeve extends toward the outer periphery to form an outer spline surface portion, and an inner spline surface portion that cooperates with the outer spline surface portion of the hollow support sleeve is formed on the inner circumferential surface of the central tube sleeve portion of the outer connecting disk.

[0022] The advantages and positive effects of the present invention are:

[0023] 1. The present invention adopts vacuum tires to replace traditional solid wheels, and the wheel group adhesion, shock absorption performance, service life, road protection ability, etc. are better than the existing technology, and is more suitable for outdoor paved road conditions. In addition, by adopting wet hydraulic brakes, the braking force is greater than that of electromagnetic brakes, so that the driving wheel as a whole can better adapt to outdoor and high-speed scenes.

[0024] 2. The present invention adopts a two-stage reduction transmission form divided into a primary reducer and a wheel-side reducer, which can reduce the reduction ratio of the wheel-side reducer part, so that a relatively simplified and relatively small wheel-side reducer product can be used, effectively ensuring the overall installation space and improving the overall heat dissipation conditions of the transmission mechanism; and the drive motor adopts a water-cooled motor, the primary reducer adopts a water-cooled reducer, and the wet hydraulic brake also has an oil cooling interface, which can cooperate with an external circulating water cooling system and a circulating oil cooling system to more effectively ensure the overall heat dissipation effect of the drive wheel.

[0025] 3. In the present invention, the hollow support sleeve, the outer connecting plate and the inner connecting plate can form a reliable connection structure by relying on the spline and flange tooth structure and bear radial, axial and torsional loads, which can fully adapt to outdoor and high-speed scenes and have better reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of a three-dimensional structure of a half-section of the whole of the present invention;

[0027] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0028] Figure 3 It is a three-dimensional structural schematic diagram of the wheel-side reducer of the present invention;

[0029] Figure 4 It is a side structural schematic diagram of the wheel-side reducer of the present invention;

[0030] Figure 5 It is a three-dimensional structural schematic diagram of the wet hydraulic brake of the present invention;

[0031] Figure 6 It is a side structural schematic diagram of the wet hydraulic brake of the present invention;

[0032] Figure 7 It is a schematic cross-sectional structure diagram of the wet hydraulic brake of the present invention;

[0033] Figure 8 It is a schematic diagram of the split structure of the support assembly of the present invention in a half-cut state;

[0034] Fig. 9 It is a schematic diagram of the three-dimensional structure of the hollow support sleeve of the present invention;

[0035] Fig.10 It is a schematic diagram of the axial structure of the hollow support sleeve of the present invention;

[0036] Fig.11 This is one of the three-dimensional structural schematic diagrams of the external connection plate of the present invention;

[0037] Fig.12 The second schematic diagram of the three-dimensional structure of the external connection plate of the present invention;

[0038] Fig.13 It is a schematic diagram of the three-dimensional structure of the inner connecting disk of the present invention;

[0039] Fig.14 It is a schematic diagram of the axial structure of the inner connecting disk of the present invention.

[0040] In the figure: 1 is a support assembly, 101 is a hollow support sleeve, 1011 is an annular mounting convex edge A, 1012 is an annular mounting convex edge B, 1013 is a threaded hole A, 1014 is a positioning clamping inner flange, 1015 is an outer spline surface, 102 is an outer connecting plate, 1021 is a central sleeve portion, 1022 is an annular mounting convex edge C, 1023 is a threaded hole B, 1024 is an inner spline surface, 103 is an inner connecting plate, 1031 is a screw through hole A, 1032 is a screw through hole B, 1033 is an annular clamping convex edge, and 1034 is a positioning clamping tooth;

[0041] 2 is the drive motor, 201 is the motor water cooling interface;

[0042] 3 is the first-stage reducer, and 301 is the first-stage reducer water cooling interface;

[0043] 4 is a wheel-side reducer, 401 is a fixed connection flange, and 402 is an output rotation flange;

[0044] 5 is a wet hydraulic brake, 501 is a brake fixing part, 502 is a brake moving end, and 503 is a brake oil cooling interface;

[0045] 6 is an adapter sleeve, 7 is a wheel rim, 8 is a vacuum tire, and 9 is a universal joint transmission shaft. DETAILED DESCRIPTION

[0046] The following is combined with Figure 1-14 The present invention is further described in detail.

[0047] A driving wheel for outdoor high-speed heavy-load AGV, such as Figure 1-14 As shown, this embodiment includes a support assembly 1, a drive motor 2, a primary reducer 3, a wheel-side reducer 4, a wet hydraulic brake 5, an adapter sleeve 6, a rim 7 and a vacuum tire 8. The support assembly 1 serves as a supporting base for other components of the drive wheel and is used for external connection of the entire drive wheel.

[0048] The housing of the primary reducer 3 is connected to the support assembly 1, the housing of the drive motor 2 is fixedly connected to the housing of the primary reducer 3, and the driving end of the drive motor 2 is connected to the input shaft of the primary reducer 3. The drive motor 2 serves as the power source of the entire drive wheel, and its action is controlled by the controller of the AGV.

[0049] The wet hydraulic brake 5 has a brake fixing portion 501 and a brake moving end 502. The brake fixing portion 501 of the wet hydraulic brake 5 is connected to the support assembly 1, and the brake moving end 502 of the wet hydraulic brake 5 is connected to the adapter sleeve 6. The brake moving end 502 of the wet hydraulic brake 5 can rotate relative to the brake fixing portion 501 of the wet hydraulic brake 5 at ordinary times.

[0050] The wheel-side reducer 4 has a power input end, a fixed connection flange part 401 and an output rotating flange part 402. The power input end of the wheel-side reducer 4 is connected to the output shaft of the primary reducer 3 through a universal joint transmission shaft 9. The fixed connection flange part 401 of the wheel-side reducer 4 is connected to the support assembly 1. The output rotating flange part 402 of the wheel-side reducer 4 is connected to the rim 7 and the adapter sleeve 6 through bolts and nuts, respectively, and the vacuum tire 8 is arranged on the outer periphery of the rim 7. The above-mentioned wheel-side reducer 4 in this embodiment adopts a commercially available product, and the structures of the rim 7 and the vacuum tire 8 adopt the existing technology respectively.

[0051] In this embodiment, the axial centerline of the drive motor 2, the axial centerline of the primary reducer 3, the axial centerline of the wheel reducer 4, the axial centerline of the wet hydraulic brake 5 and the axial centerline of the adapter sleeve 6 are all collinear. The transmission form of two-stage reduction of the primary reducer 3 and the wheel reducer 4 can reduce the reduction ratio of the wheel reducer 4, so that a relatively simplified and relatively small wheel reducer product can be used, effectively ensuring the overall installation space and improving the overall heat dissipation conditions of the transmission mechanism.

[0052] The output rotating flange 402 of the wheel reducer 4 is connected to two wheel rims 7, which are symmetrically arranged. The axial center lines of the two wheel rims 7 are collinear with the axial center line of the wheel reducer 4, which is convenient for installation. By using a vacuum tire 8 to replace the traditional solid wheel, the wheel set has better adhesion, shock absorption performance, service life, and road protection ability than the existing technology, and is more suitable for outdoor paved road conditions.

[0053] When the driving wheel needs to be braked, the brake moving end 502 of the wet hydraulic brake 5 is locked and cannot rotate relative to the brake fixing part 501 of the wet hydraulic brake 5, thereby locking the rotation of the output rotating flange part 402 of the wheel-side reducer 4 and the connected rim 7.

[0054] Specifically, in this embodiment, the driving motor 2 adopts a commercially available high-power water-cooled motor product, and the driving motor 2 has a motor water-cooling interface 201. The primary reducer 3 adopts a water-cooled reducer of the prior art, and the primary reducer 3 has a primary reducer water-cooling interface 301. The brake fixing part 501 of the wet hydraulic brake 5 has a brake oil cooling interface 503. In this embodiment, the wet hydraulic brake 5 having the brake fixing part 501, the brake moving end 502, and the brake oil cooling interface 503 adopts a commercially available wet hydraulic brake product with normally closed parking brake and normally open service brake functions, with large braking force and long service life. The normally closed parking brake can also replace the execution brake in an emergency. The wet hydraulic brake 5 provides a hydraulic oil source through the hydraulic system provided on the AGV, and the action is controlled by the controller of the AGV. In this embodiment, the motor water cooling interface 201 of the driving motor 2 and the primary reducer water cooling interface 301 of the primary reducer 3 are respectively connected to the circulating water cooling system provided on the AGV, and the brake oil cooling interface 503 of the wet hydraulic brake 5 is connected to the circulating oil cooling system provided on the AGV, so that the driving motor 2, the primary reducer 3 and the wet hydraulic brake 5 can be circulated and cooled respectively during use to achieve a reliable heat dissipation effect. The setting method of the circulating water cooling system and the circulating oil cooling system itself adopts the existing technology.

[0055] Specifically, if Figure 8-14 As shown, in this embodiment, the support assembly 1 includes a hollow support sleeve 101 , an outer connecting plate 102 , and an inner connecting plate 103 .

[0056] A hollow passage is formed inside the hollow support sleeve 101 for the universal joint transmission shaft 9 to pass through, and openings are formed at both axial ends of the hollow support sleeve 101 respectively, and one axial end of the hollow support sleeve 101 extends toward the periphery to form an annular mounting ridge A 1011 and an annular mounting ridge B 1012 which are arranged in a stepped manner from the inside to the outside. The annular mounting ridge A 1011 of the hollow support sleeve 101 is fixedly connected to the brake fixing portion 501 of the wet hydraulic brake 5 by screws, and the annular mounting ridge B 1012 of the hollow support sleeve 101 is directly used for external connection of the driving wheel as a whole, and threaded holes A 1013 are evenly formed on the end surface of the other axial end of the hollow support sleeve 101 along the circumferential direction.

[0057] The outer connecting disk 102 is divided into a central tube sleeve portion 1021 and an annular mounting flange C1022 which are connected together as an integral structure. The interior of the central tube sleeve portion 1021 of the outer connecting disk 102 is hollow. The annular mounting flange C1022 of the outer connecting disk 102 is located at the outer periphery of the central tube sleeve portion 1021 of the outer connecting disk 102. The annular mounting flange C1022 of the outer connecting disk 102 is connected to the fixed connecting flange portion 401 of the wheel-side reducer 4 by screws. Threaded holes B1023 are evenly arranged along the circumferential direction on the end face of the central tube sleeve portion 1021 of the outer connecting disk 102 away from the driving motor 2.

[0058] The interior of the inner connecting disk 103 is hollow, and screw through holes A 1031 are respectively opened on the inner connecting disk 103 corresponding to each threaded hole A 1013 on the hollow support sleeve 101, and screw through holes B 1032 are respectively opened on the inner connecting disk 103 corresponding to each threaded hole B 1023 on the outer connecting disk 102, each screw through hole A 1031 is penetrated by a fixing screw A, and each fixing screw A is respectively connected to the corresponding threaded hole A 1013 by thread, and each screw through hole B 1032 is penetrated by a fixing screw B, and each fixing screw B is respectively connected to the corresponding threaded hole B 1023 by thread.

[0059] Three positioning clamping inner flanges 1014 are extended inward from the opening at the other axial end of the hollow support sleeve 101. The three positioning clamping inner flanges 1014 are evenly arranged along the circumference of the hollow support sleeve 101, and a clamping tooth passing gap is formed between every two adjacent positioning clamping inner flanges 1014. An annular clamping ridge 1033 is convexly provided in the middle part of the side surface of the inner connecting disk 103 close to the driving motor 2. Three positioning clamping teeth 1034 are evenly provided in the circumferential direction on the outer peripheral surface of the annular clamping ridge 1033 of the inner connecting disk 103. The setting positions of the three positioning clamping teeth 1034 on the annular clamping ridge 1033 of the inner connecting disk 103 correspond one by one to the setting positions of the three positioning clamping inner flanges 1014 of the hollow support sleeve 101.

[0060] An inner connecting disk embedding groove matching the shape of the outer circumferential surface of the inner connecting disk 103 is formed on the side surface of the outer connecting disk 102 as a whole away from the driving motor 2. The other axial end of the hollow support sleeve 101 extends toward the periphery to form an outer spline surface portion 1015. An inner spline surface portion 1024 that cooperates with the outer spline surface portion 1015 of the hollow support sleeve 101 is formed on the inner circumferential surface of the central tube sleeve portion 1021 of the outer connecting disk 102.

[0061] When installing the support assembly 1, first make the outer spline surface 1015 of the hollow support sleeve 101 cooperate with the inner spline surface 1024 of the outer connecting disk 102; embed the inner connecting disk 103 into the inner connecting disk embedding groove of the outer connecting disk 102, and after the three positioning teeth 1034 of the inner connecting disk 103 pass through the gaps formed between the three positioning clamping inner flanges 1014, rotate the inner connecting disk 103 so that the three positioning teeth 1034 are aligned and clamped with the three positioning clamping inner flanges 1014 of the hollow support sleeve 101; then install the fixing screws A and the fixing screws B to achieve a reliable connection between the inner connecting disk 103 and the hollow support sleeve 101 and the outer connecting disk 102 respectively. The outer spline surface 1015 of the hollow support sleeve 101 and the inner spline surface 1024 of the outer connecting disk 102 are matched to realize reliable radial limiting between the hollow support sleeve 101 and the outer connecting disk 102, and can effectively bear the driving torque. After the inner connecting disk 103 is connected to the hollow support sleeve 101 and the outer connecting disk 102, it can limit the axial position of the hollow support sleeve 101 and the outer connecting disk 102. Through the above structure, even if there are only a few screws left on the inner connecting disk 103 and they still remain in the state of not falling off, the hollow support sleeve 101, the outer connecting disk 102, and the inner connecting disk 103 can still rely on the spline and flange tooth structure to form a reliable connection and bear radial, axial and torsional loads.

Claims

1. A driving wheel for outdoor high-speed heavy-load AGV, characterized by: It comprises a support assembly (1), a driving motor (2), a primary reducer (3), a wheel-side reducer (4), a wet hydraulic brake (5), an adapter sleeve (6), a wheel rim (7) and a vacuum tire (8), wherein the support assembly (1) is used for external connection of the driving wheel as a whole; The housing of the primary reducer (3) is connected to the support assembly (1), the housing of the drive motor (2) is fixedly connected to the housing of the primary reducer (3), and the driving end of the drive motor (2) is connected to the input shaft of the primary reducer (3); The wet hydraulic brake (5) comprises a brake fixing portion (501) and a brake moving end (502), the brake fixing portion (501) of the wet hydraulic brake (5) is connected to the support assembly (1), and the brake moving end (502) of the wet hydraulic brake (5) is connected to the adapter sleeve (6); The wheel-side reducer (4) has a power input end, a fixed connection flange portion (401) and an output rotating flange portion (402); the power input end of the wheel-side reducer (4) is connected to the output shaft of the primary reducer (3); the fixed connection flange portion (401) of the wheel-side reducer (4) is connected to the support assembly (1); the output rotating flange portion (402) of the wheel-side reducer (4) is respectively connected to the rim (7) and the adapter sleeve (6); and the vacuum tire (8) is arranged on the outer periphery of the rim (7).

2. The driving wheel for an outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The axial centerline of the drive motor (2), the axial centerline of the primary reducer (3), the axial centerline of the wheel-side reducer (4), the axial centerline of the wet hydraulic brake (5) and the axial centerline of the adapter sleeve (6) are all collinear.

3. The driving wheel for an outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The output rotating flange portion (402) of the wheel-side reducer (4) is connected to two wheel rims (7), the two wheel rims (7) are symmetrically arranged with each other, and the axial center lines of the two wheel rims (7) are collinear with the axial center line of the wheel-side reducer (4).

4. The driving wheel for an outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The drive motor (2) is a water-cooled motor, and the drive motor (2) has a motor water-cooling interface (201).

5. The driving wheel for outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The primary reducer (3) is a water-cooled reducer, and the primary reducer (3) has a primary reducer water-cooling interface (301).

6. The driving wheel for outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The brake fixing portion (501) of the wet hydraulic brake (5) is provided with a brake oil cooling interface (503).

7. The driving wheel for outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The power input end of the wheel-side reducer (4) is connected to the output shaft of the primary reducer (3) via a universal joint transmission shaft (9).

8. The driving wheel for an outdoor high-speed heavy-load AGV according to claim 1, characterized in that: The support assembly (1) comprises a hollow support sleeve (101), an outer connection plate (102), and an inner connection plate (103); The hollow support sleeve (101) has a hollow channel formed inside, and two axial ends of the hollow support sleeve (101) respectively form openings connected to the hollow channel of the hollow support sleeve (101). One axial end of the hollow support sleeve (101) extends toward the outer circumference to sequentially form an annular mounting convex edge A (1011) and an annular mounting convex edge B (1012) arranged in a stepped manner from the inside to the outside. The annular mounting convex edge A (1011) of the hollow support sleeve (101) is fixedly connected to the brake fixing portion (501) of the wet hydraulic brake (5) by screws, and the annular mounting convex edge B (1012) of the hollow support sleeve (101) is directly used for external connection of the driving wheel as a whole. The end surface of the other axial end of the hollow support sleeve (101) is uniformly provided with threaded holes A (1013) along the circumferential direction. The outer connecting disk (102) is divided into a central tube sleeve portion (1021) and an annular mounting protrusion C (1022) which are connected together. The interior of the central tube sleeve portion (1021) of the outer connecting disk (102) is hollow. The annular mounting protrusion C (1022) of the outer connecting disk (102) is located on the outer periphery of the central tube sleeve portion (1021) of the outer connecting disk (102). The annular mounting protrusion C (1022) of the outer connecting disk (102) is connected to the fixed connection flange portion (401) of the wheel-side reducer (4) by screws. The end surface of the central tube sleeve portion (1021) of the outer connecting disk (102) away from the drive motor (2) is uniformly provided with threaded holes B (1023) along the circumferential direction. The interior of the inner connecting disk (103) is hollow, and screw through holes A (1031) are respectively opened at positions corresponding to the threaded holes A (1013) on the inner connecting disk (103) and the hollow supporting sleeve (101), and screw through holes B (1032) are respectively opened at positions corresponding to the threaded holes B (1023) on the inner connecting disk (103), each of the screw through holes A (1031) is penetrated by a fixing screw A, and each of the fixing screws A is respectively connected to the corresponding threaded hole A (1013) by threading, and each of the screw through holes B (1032) is penetrated by a fixing screw B, and each of the fixing screws B is respectively connected to the corresponding threaded hole B (1023) by threading.

9. The driving wheel for outdoor high-speed heavy-load AGV according to claim 8, characterized in that: Three positioning clamping inner flanges (1014) are extended inward from the opening of the other axial end of the hollow support sleeve (101), and the three positioning clamping inner flanges (1014) are evenly arranged along the circumference of the hollow support sleeve (101), and a clamping tooth passing gap is formed between every two adjacent positioning clamping inner flanges (1014). An annular clamping convex edge (1033) is convexly provided at the middle part of a side surface of the inner connecting disk (103) close to the drive motor (2), and three positioning clamping teeth (1034) are evenly provided on the outer circumferential surface of the annular clamping convex edge (1033) of the inner connecting disk (103) along the circumferential direction, and the setting positions of the three positioning clamping teeth (1034) on the annular clamping convex edge (1033) of the inner connecting disk (103) correspond one-to-one to the setting positions of the three positioning clamping inner flanges (1014) of the hollow support sleeve (101).

10. The driving wheel for outdoor high-speed heavy-load AGV according to claim 8, characterized in that: An inner connecting disk embedding groove matching the shape of the outer peripheral surface of the inner connecting disk (103) is formed on a side surface of the outer connecting disk (102) as a whole away from the drive motor (2), and the other axial end of the hollow support sleeve (101) extends outward to form an outer spline surface portion (1015), and an inner spline surface portion (1024) that is matched and connected to the outer spline surface portion (1015) of the hollow support sleeve (101) is formed on the inner peripheral surface of the central tube sleeve portion (1021) of the outer connecting disk (102).

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