Driving wheel for outdoor high-speed heavy-load agv

Abstract

The present application belongs to the technical field of heavy load mobile robot, and particularly relates to a driving wheel for outdoor high-speed heavy load AGV, which comprises a support assembly, a driving motor, a primary speed reducer, a wheel-side speed reducer, a wet hydraulic brake, an adapter sleeve, a rim and a vacuum tire. The present application adopts a two-stage speed reduction transmission mode of the primary speed reducer and the wheel-side speed reducer, which can reduce the speed reduction ratio of the wheel-side speed reducer part, so that a relatively simplified and relatively small wheel-side speed reducer product can be used, the overall installation space is effectively ensured, and the overall heat dissipation condition of the transmission mechanism is improved. The present application replaces the traditional solid wheel disc with the vacuum tire, and the adhesion, shock absorption performance, service life and protection ability to the road surface of the wheel set are all superior to those of the prior art, and the present application is more suitable for the use conditions of outdoor paved roads. Moreover, the wet hydraulic brake is adopted, and the braking force is larger than that of the electromagnetic brake, so that the driving wheel as a whole is more suitable for outdoor and high-speed scenes.

Description

Technical Field

[0001] This invention belongs to the field of heavy-duty mobile robot technology, specifically a drive wheel for an outdoor high-speed heavy-duty AGV. Background Technology

[0002] Heavy-duty mobile robots are currently generally used in indoor, low-speed scenarios. They typically use a combination of steering wheel drive and follower wheel for mobility. The wheel assembly usually uses solid wheel pieces and does not have a dedicated service brake. Instead, it uses an electromagnetic brake on the motor to achieve parking braking and emergency service braking.

[0003] When heavy-duty mobile robots need to adapt to outdoor, high-speed scenarios, solid wheels and simple shock-absorbing structures are no longer sufficient to withstand the bumps and impacts generated during outdoor road travel, and the crushing damage caused by solid wheels on outdoor roads cannot be ignored. At the same time, heavy-duty high-speed travel places extremely high demands on the performance and reliability of the vehicle's braking system, and relying solely on servo motor-guided deceleration and electromagnetic brakes cannot meet the reliable braking requirements. Summary of the Invention

[0004] To address the above problems, the present invention aims to provide a drive wheel for outdoor high-speed heavy-duty AGVs.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A drive wheel for an outdoor high-speed heavy-duty AGV includes a support assembly, a drive motor, a primary reducer, a wheel-side reducer, a wet hydraulic brake, an adapter sleeve, a wheel rim, and a tubeless tire. The support assembly is used for the external connection of the entire drive wheel.

[0007] The housing of the first-stage reducer is connected to the support assembly, the housing of the drive motor is fixedly connected to the housing of the first-stage reducer, and the drive end of the drive motor is connected to the input shaft of the first-stage reducer.

[0008] The wet hydraulic brake has a brake fixing part and a brake moving end. The brake fixing part 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, and an output rotating flange. The power input end of the wheel-side reducer is connected to the output shaft of the first-stage reducer. The fixed connection flange of the wheel-side reducer is connected to the support assembly. The output rotating flange of the wheel-side reducer is connected to the wheel rim and the adapter sleeve, respectively. The tubeless tire is disposed on the outer periphery of the wheel rim.

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

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

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

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

[0014] The wet hydraulic brake has a brake oil cooling interface on the brake fixing part.

[0015] The power input end of the wheel-side reducer is connected to the output shaft of the first-stage reducer via a universal joint drive shaft.

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

[0017] The hollow support sleeve forms a hollow channel inside. Both ends of the hollow support sleeve in the axial direction form openings that communicate with the hollow channel. One end of the hollow support sleeve in the axial direction extends outward to form annular mounting flanges A and B arranged in a stepped manner from the inside to the outside. The annular mounting flange A of the hollow support sleeve is fixedly connected to the brake fixing part of the wet hydraulic brake by screws. The annular mounting flange B of the hollow support sleeve is directly used for the external connection of the entire drive wheel. The end face of the other end of the hollow support sleeve in the axial direction is uniformly provided with threaded holes A in the circumferential direction.

[0018] The outer connecting plate is divided into a central tube sleeve and an annular mounting flange C connected together. The interior of the central tube sleeve of the outer connecting plate is hollow. The annular mounting flange C of the outer connecting plate is located on the outer periphery of the central tube sleeve of the outer connecting plate. The annular mounting flange C of the outer connecting plate is connected to the fixed connecting flange of the wheel-side reducer by screws. Threaded holes B are evenly opened in the circumferential direction on the end face of the central tube sleeve of the outer connecting plate away from the drive motor.

[0019] The inner connecting plate is hollow inside. Screw through holes A are respectively opened on the inner connecting plate at the corresponding positions of each threaded hole A on the hollow support sleeve. Screw through holes B are respectively opened on the inner connecting plate at the corresponding positions of each threaded hole B on the outer connecting plate. A fixing screw A passes through each screw through hole A and is threaded to the corresponding threaded hole A. A fixing screw B passes through each screw through hole B and is threaded to the corresponding threaded hole B.

[0020] Three positioning and engaging inner flanges extend inward from the opening at the other end of the hollow support sleeve along the axial direction. The three positioning and engaging inner flanges are evenly arranged along the circumference of the hollow support sleeve, and a tooth passage gap is formed between every two adjacent positioning and engaging inner flanges. An annular engaging flange protrudes from the middle of the side of the inner connecting plate near the drive motor. Three positioning teeth are evenly arranged along the circumference on the outer circumferential surface of the annular engaging flange of the inner connecting plate. The positions of the three positioning teeth on the annular engaging flange of the inner connecting plate correspond one-to-one with the positions of the three positioning and engaging inner flanges of the hollow support sleeve.

[0021] The outer connecting disk has an inner connecting disk inlay groove on the side away from the drive motor, which matches the shape of the outer peripheral surface of the inner connecting disk. The other end of the hollow support sleeve extends outward to form an outer spline face. The inner peripheral surface of the central tube sleeve of the outer connecting disk has an inner spline face that mates with and connects to the outer spline face of the hollow support sleeve.

[0022] The advantages and positive effects of this invention are as follows:

[0023] 1. This invention uses vacuum tires instead of traditional solid wheels, resulting in wheel sets with superior adhesion, shock absorption, service life, and road surface protection compared to existing technologies. It is more suitable for outdoor paved road conditions. Furthermore, by using wet hydraulic brakes, the braking force is greater than that of electromagnetic brakes, making the drive wheels more adaptable to outdoor and high-speed scenarios.

[0024] 2. This invention adopts a two-stage reduction transmission form consisting of a primary reducer and a wheel-side reducer, which can reduce the reduction ratio of the wheel-side reducer, thereby allowing the use of a relatively simplified and smaller wheel-side reducer product, effectively ensuring overall installation space and improving the overall heat dissipation of the transmission mechanism; moreover, the drive motor is a water-cooled motor, the primary reducer is a water-cooled reducer, and the wet hydraulic brake also has an oil-cooling interface, which can be used with an external circulating water cooling system and a circulating oil cooling system to more effectively ensure the overall heat dissipation of the drive wheel.

[0025] 3. In this invention, the hollow support sleeve, the outer connecting plate, and the inner connecting plate can form a reliable connection structure by means of splines and flange teeth, and can bear radial, axial and torsional loads, which can better adapt to outdoor and high-speed scenarios and has better reliability. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the entire invention in half section.

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

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

[0029] Figure 4 This is a side view of the wheel-side reducer of the present invention.

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

[0031] Figure 6 This is a side view of the wet hydraulic brake of the present invention.

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

[0033] Figure 8 This is a schematic diagram of the split structure of the support assembly of the present invention in a semi-sectional state.

[0034] Figure 9 This is a three-dimensional structural diagram of the hollow support sleeve of the present invention;

[0035] Figure 10 This is a schematic diagram of the axial structure of the hollow support sleeve of the present invention;

[0036] Figure 11 This is one of the three-dimensional structural schematic diagrams of the external connecting disk of the present invention;

[0037] Figure 12 This is a second three-dimensional structural schematic diagram of the external connecting disk of the present invention;

[0038] Figure 13 This is a three-dimensional structural diagram of the internal connecting disk of the present invention;

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

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

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

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

[0043] 4 represents the wheel-side reducer, 401 represents the fixed connection flange, and 402 represents the output rotating flange.

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

[0045] 6 is the adapter sleeve, 7 is the wheel rim, 8 is the tubeless tire, and 9 is the universal joint drive shaft. Detailed Implementation

[0046] The following is in conjunction with the appendix Figure 1-14 The present invention will be described in further detail below.

[0047] A drive wheel for an outdoor high-speed heavy-duty 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 wheel rim 7, and a tubeless tire 8. The support assembly 1 serves as the supporting foundation for other components of the drive wheel and is used for the external connection of the entire drive wheel.

[0048] The housing of the primary reducer 3 is connected to the support assembly 1, and the housing of the drive motor 2 is fixedly connected to the housing of the primary reducer 3. The drive 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 for the entire drive wheel assembly and its operation is controlled by the AGV's controller.

[0049] The wet hydraulic brake 5 has a brake fixing part 501 and a brake moving end 502. The brake fixing part 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 part 501 of the wet hydraulic brake 5 under normal conditions.

[0050] The wheel-side reducer 4 has a power input end, a fixed connecting flange 401, and an output rotating flange 402. The power input end of the wheel-side reducer 4 is connected to the output shaft of the first-stage reducer 3 via a universal joint drive shaft 9. The fixed connecting flange 401 of the wheel-side reducer 4 is connected to the support assembly 1. The output rotating flange 402 of the wheel-side reducer 4 is connected to the wheel rim 7 and the adapter sleeve 6 via bolts and nuts. The tubeless tire 8 is disposed on the outer periphery of the wheel rim 7. In this embodiment, the wheel-side reducer 4 is a commercially available product, and the structures of the wheel rim 7 and the tubeless tire 8 adopt existing technologies.

[0051] In this embodiment, the axial centerlines of the drive motor 2, the primary reducer 3, the wheel-side reducer 4, the wet hydraulic brake 5, and the adapter sleeve 6 are all collinear. By employing a two-stage reduction transmission consisting of the primary reducer 3 and the wheel-side reducer 4, the reduction ratio of the wheel-side reducer 4 can be reduced, allowing for the use of a relatively simplified and smaller wheel-side reducer product. This effectively ensures sufficient overall installation space and improves the overall heat dissipation of the transmission mechanism.

[0052] The output rotating flange 402 of the wheel-side reducer 4 connects 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-side reducer 4, facilitating installation. By using tubeless tires 8 instead of traditional solid wheel pads, the wheel set exhibits superior adhesion, shock absorption performance, service life, and road surface protection compared to existing technologies, making it more suitable for outdoor paved road conditions.

[0053] When braking of the drive wheel is required, 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 achieving the function of locking the rotation of the output rotating flange part 402 of the wheel-side reducer 4 and the connected wheel rim 7.

[0054] Specifically, in this embodiment, the drive motor 2 is a commercially available high-power water-cooled motor product, and the drive motor 2 has a motor water-cooling interface 201. The first-stage reducer 3 is a conventional water-cooled reducer, and the first-stage reducer 3 has a first-stage reducer water-cooling interface 301. The wet hydraulic brake 5 has a brake oil-cooling interface 503 on its brake fixing part 501. In this embodiment, the aforementioned wet hydraulic brake 5 with brake fixing part 501, brake moving end 502, and brake oil-cooling interface 503 is a commercially available wet hydraulic brake product with normally closed parking brake and normally open service brake functions. It has high braking force and long service life, and the normally closed parking brake can also replace the brake in emergency situations. The wet hydraulic brake 5 is supplied with hydraulic oil through the hydraulic system installed on the AGV and its operation is controlled by the AGV's controller. In this embodiment, the water-cooling interface 201 of the drive motor 2 and the water-cooling interface 301 of the first-stage reducer 3 are respectively connected to the circulating water-cooling system installed on the AGV, and the oil-cooling interface 503 of the wet hydraulic brake 5 is connected to the circulating oil-cooling system installed on the AGV. This allows for cyclic cooling of the drive motor 2, the first-stage reducer 3, and the wet hydraulic brake 5 during use, achieving reliable heat dissipation. The configuration of the circulating water-cooling system and the circulating oil-cooling system themselves adopts existing technology.

[0055] Specifically, such as 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] The hollow support sleeve 101 has a hollow channel inside for the universal joint drive shaft 9 to pass through. The two ends of the hollow support sleeve 101 in the axial direction have openings that communicate with the hollow channel of the hollow support sleeve 101. One end of the hollow support sleeve 101 in the axial direction extends outward to form annular mounting protrusions A 1011 and B 1012 arranged in a stepped manner from the inside to the outside. The annular mounting protrusions A 1011 of the hollow support sleeve 101 are fixedly connected to the brake fixing part 501 of the wet hydraulic brake 5 by screws. The annular mounting protrusions B 1012 of the hollow support sleeve 101 are directly used for the external connection of the drive wheel as a whole. The end face of the other end of the hollow support sleeve 101 in the axial direction is uniformly provided with threaded holes A 1013 in the circumferential direction.

[0057] The outer connecting plate 102 is divided into a central tube sleeve 1021 and an annular mounting flange C1022, which are integrally connected together. The interior of the central tube sleeve 1021 of the outer connecting plate 102 is hollow. The annular mounting flange C1022 of the outer connecting plate 102 is located on the outer periphery of the central tube sleeve 1021 of the outer connecting plate 102. The annular mounting flange C1022 of the outer connecting plate 102 is connected to the fixed connection flange 401 of the wheel-side reducer 4 by screws. Threaded holes B1023 are evenly opened in the circumferential direction on the end face of the central tube sleeve 1021 of the outer connecting plate 102 away from the drive motor 2.

[0058] The inner connecting plate 103 is hollow inside. Screw through holes A 1031 are respectively opened on the inner connecting plate 103 at the corresponding positions of each threaded hole A 1013 on the hollow support sleeve 101. Screw through holes B 1032 are respectively opened on the inner connecting plate 103 at the corresponding positions of each threaded hole B 1023 on the outer connecting plate 102. A fixing screw A is inserted through each screw through hole A 1031. Each fixing screw A is threaded to the corresponding threaded hole A 1013. A fixing screw B is inserted through each screw through hole B 1032. Each fixing screw B is threaded to the corresponding threaded hole B 1023.

[0059] Three positioning and engaging inner flanges 1014 extend inward from the opening at the other end of the hollow support sleeve 101 along the axial direction. The three positioning and engaging inner flanges 1014 are evenly arranged along the circumference of the hollow support sleeve 101, and a tooth passage gap is formed between every two adjacent positioning and engaging inner flanges 1014. An annular engaging flange 1033 protrudes from the middle of the side of the inner connecting disk 103 near the drive motor 2. Three positioning teeth 1034 are evenly arranged along the circumference on the outer circumferential surface of the annular engaging flange 1033 of the inner connecting disk 103. The positions of the three positioning teeth 1034 on the annular engaging flange 1033 of the inner connecting disk 103 correspond one-to-one with the positions of the three positioning and engaging inner flanges 1014 of the hollow support sleeve 101.

[0060] An inner connecting plate inlay groove that matches the shape of the outer peripheral surface of the inner connecting plate 103 is formed on the side of the outer connecting plate 102 away from the drive motor 2. The other end of the hollow support sleeve 101 extends outward to form an outer spline surface 1015. An inner spline surface 1024 that mates with and connects to the outer spline surface 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 plate 102.

[0061] During installation, the support assembly 1 is first connected by engaging the outer splined surface 1015 of the hollow support sleeve 101 with the inner splined surface 1024 of the outer connecting plate 102; the inner connecting plate 103 is then embedded into the inner connecting plate recess of the outer connecting plate 102, and the three positioning teeth 1034 of the inner connecting plate 103 pass through the gap formed between the three positioning inner flanges 1014, and the inner connecting plate 103 is rotated so that the three positioning teeth 1034 are aligned and locked with the three positioning inner flanges 1014 of the hollow support sleeve 101; then, by installing fixing screws A and B, the inner connecting plate 103 is reliably connected to the hollow support sleeve 101 and the outer connecting plate 102 respectively. The mating arrangement of the outer splined surface 1015 of the hollow support sleeve 101 and the inner splined surface 1024 of the outer connecting plate 102 enables reliable radial limiting between the hollow support sleeve 101 and the outer connecting plate 102, effectively bearing driving torque. After the inner connecting plate 103 connects to the hollow support sleeve 101 and the outer connecting plate 102, it provides axial limiting for both. Through this structure, even if only a few screws remain on the inner connecting plate 103, the hollow support sleeve 101, the outer connecting plate 102, and the inner connecting plate 103 can still form a reliable connection and bear radial, axial, and torsional loads through the spline and flange tooth structure.

Claims

1. A drive wheel for an outdoor high-speed heavy-duty AGV, characterized in that: It includes a support assembly, drive motor, primary reducer, wheel-side reducer, wet hydraulic brake, adapter sleeve, wheel rim and tubeless tire. The support assembly is used for the external connection of the entire drive wheel. 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 drive end of the drive motor is connected to the input shaft of the primary reducer. The wet hydraulic brake has a brake fixing part and a brake moving end. The brake fixing part 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. 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 first stage 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 connected to the wheel rim and the adapter sleeve respectively. The vacuum tire is set on the outer periphery of the wheel rim. The support assembly includes a hollow support sleeve, an outer connecting plate, and an inner connecting plate; The hollow support sleeve has a hollow channel inside. The two ends of the hollow support sleeve in the axial direction have openings that are connected to the hollow channel. One end of the hollow support sleeve in the axial direction extends outward to form annular mounting flanges A and B arranged in a stepped manner from the inside to the outside. The annular mounting flange A of the hollow support sleeve is fixedly connected to the brake fixing part of the wet hydraulic brake by screws. The annular mounting flange B of the hollow support sleeve is directly used for the external connection of the drive wheel as a whole. The end face of the other end of the hollow support sleeve in the axial direction is uniformly provided with threaded holes A in the circumferential direction. The outer connecting plate is divided into a central tube sleeve and an annular mounting flange C connected together. The interior of the central tube sleeve of the outer connecting plate is hollow. The annular mounting flange C of the outer connecting plate is located on the outer periphery of the central tube sleeve of the outer connecting plate. The annular mounting flange C of the outer connecting plate is connected to the fixed connecting flange of the wheel-side reducer by screws. Threaded holes B are evenly opened in the circumferential direction on the end face of the central tube sleeve of the outer connecting plate away from the drive motor. The inner connecting plate is hollow inside. Screw through holes A are respectively opened at the corresponding positions of the threaded holes A on the inner connecting plate and the hollow support sleeve. Screw through holes B are respectively opened at the corresponding positions of the threaded holes B on the inner connecting plate and the outer connecting plate. A fixing screw A passes through each screw through hole A. Each fixing screw A is connected to the corresponding threaded hole A by threads. A fixing screw B passes through each screw through hole B. Each fixing screw B is connected to the corresponding threaded hole B by threads.

2. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The axial centerlines of the drive motor, the primary reducer, the wheel-side reducer, the wet hydraulic brake, and the adapter sleeve are all collinear.

3. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The output rotating flange of the wheel-side reducer is connected to two wheel rims, which are symmetrically arranged. The axial center lines of the two wheel rims are collinear with the axial center line of the wheel-side reducer.

4. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The drive motor is a water-cooled motor and has a motor water-cooling interface.

5. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The primary reducer is a water-cooled reducer, and the primary reducer has a water-cooling interface.

6. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The brake mounting part of the wet hydraulic brake has a brake oil cooling interface.

7. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The power input end of the wheel-side reducer is connected to the output shaft of the first-stage reducer via a universal joint drive shaft.

8. The drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: Three positioning and engaging inner flanges extend inward from the opening at the other end of the hollow support sleeve along the axial direction. The three positioning and engaging inner flanges are evenly arranged along the circumference of the hollow support sleeve, and a tooth passage gap is formed between every two adjacent positioning and engaging inner flanges. An annular engaging flange protrudes from the middle of the side of the inner connecting plate near the drive motor. Three positioning teeth are evenly arranged along the circumference on the outer circumferential surface of the annular engaging flange of the inner connecting plate. The positions of the three positioning teeth on the annular engaging flange of the inner connecting plate correspond one-to-one with the positions of the three positioning and engaging inner flanges of the hollow support sleeve.

9. A drive wheel for an outdoor high-speed heavy-duty AGV according to claim 1, characterized in that: The outer connecting disk has an inner connecting disk inlay groove on the side away from the drive motor, which matches the shape of the outer peripheral surface of the inner connecting disk. The other end of the hollow support sleeve extends outward to form an outer spline face. An inner spline face that mates with the outer spline face of the hollow support sleeve is formed on the inner peripheral surface of the central tube sleeve of the outer connecting disk.

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