Ultralow large-load differential wheel set for AGV (Automatic Guided Vehicle)

Abstract

The utility model belongs to the technical field of automatic guided vehicles (AGV), and relates to an ultralow large-load differential wheel set for an AGV, which comprises a mounting frame, a hydraulic oil cylinder, a cylinder rod connecting ring, a gear ring, an angle detection gear, an angle encoder, a slewing bearing, a first-layer mounting plate, a second-layer mounting plate, a guide mechanism and a driving wheel, a cylinder rod connecting ring is fixedly arranged on a cylinder rod of the hydraulic oil cylinder, the cylinder rod connecting ring is fixedly arranged on an inner ring of the slewing bearing, a second-layer mounting plate is fixedly arranged at the bottom of an outer ring of the slewing bearing, a first-layer mounting plate is fixedly connected with the cylinder rod of the hydraulic oil cylinder and the inner ring of the slewing bearing, and a gear ring is fixedly arranged on an outer ring of the cylinder rod connecting ring. The gear ring is meshed with an angle detection gear connected with an angle encoder, guide mechanisms are installed on the two sides of the bottom of the second-layer installation plate, and driving wheels are symmetrically installed at the two ends of the installation frame. The device has the advantages of being compact in structure, convenient to maintain, long in service life and easy to implement.

Description

Technical Field

[0001] This utility model belongs to the field of AGV technology and relates to a heavy-duty AGV, particularly an ultra-low load differential wheel set for AGV. Background Technology

[0002] The steering wheel is one of the most core and critical actuators on an AGV (Automated Guided Vehicle), directly determining its mobility, flexibility, precision, and load-bearing capacity. Currently, the drive wheel and drive mechanism on the steering wheel are independently configured; that is, a motor drives the drive wheel via a chain, or a motor is coaxially mounted on the side of the drive wheel to rotate it.

[0003] For example, Chinese patent CN117681607A discloses a patent entitled "Differential Steering Wheel for Heavy-Duty AGV with Hydraulic Suspension and Lifting Functions," which includes: a suspension hydraulic assembly, a drive mechanism assembly, a drive frame, a drive wheel, and a hydraulic articulation seat. The drive mechanism assembly includes a drive motor, a drive reducer, a drive chain, a drive sprocket, a driven sprocket, and a drive wheel shaft. The drive end of the drive motor is connected to the driven end of the drive reducer. The drive reducer is fixed on the drive frame. The drive sprocket is fixedly installed on the drive end of the drive reducer. The drive sprocket is connected to the driven sprocket via the drive chain. The driven sprocket is fixed on the drive wheel. The drive wheel is rotatably mounted on the drive wheel shaft. The drive wheel shaft is fixedly mounted on the drive frame, thereby realizing the drive motor driving the drive wheel.

[0004] As can be seen from the above patents, the existing drive motor's drive structure for the drive wheel is relatively complex, and it has the following technical problems: 1. The transmission method is chain drive, which has many parts, making it difficult to maintain and affecting the service life of the drive mechanism components; 2. The structure is not compact, and the external motor arrangement limits the height of the steering wheel, thereby limiting the height of the AGV and thus limiting the scope of application of the AGV.

[0005] Therefore, it is essential to design a compact, easy-to-maintain, long-service-life, ultra-low load differential wheel set for AGVs. Summary of the Invention

[0006] The purpose of this utility model is to provide an ultra-low load differential wheel set for AGVs that has a scientific and reasonable structural design, is compact, easy to maintain, has a long service life, and is easy to implement.

[0007] The technical problem solved by this utility model is achieved through the following technical solution:

[0008] A differential wheel set for ultra-low load capacity AGVs is characterized by comprising a mounting frame, a hydraulic cylinder, a cylinder rod connecting ring, a gear ring, an angle detection gear, an angle encoder, a slewing bearing, a first-layer mounting plate, a second-layer mounting plate, a guide mechanism, and drive wheels. The hydraulic cylinder is rotatably mounted within the mounting frame. A cylinder rod connecting ring is fixedly mounted on the cylinder rod of the hydraulic cylinder. This connecting ring is fixedly mounted on the inner ring of the slewing bearing. A second-layer mounting plate with a mounting hole in the center is fixedly mounted at the bottom of the outer ring of the slewing bearing. The first-layer mounting plate is fixedly connected to the cylinder rod of the hydraulic cylinder and the inner ring of the slewing bearing. A gear ring is fixedly mounted on the lower outer ring of the cylinder rod connecting ring. An angle detection gear connected to the angle encoder meshes on the gear ring. The angle encoder is fixedly mounted at the bottom of the second-layer mounting plate. Guide mechanisms are symmetrically mounted on both sides of the bottom of the second-layer mounting plate. The drive wheels are symmetrically mounted at both ends of the mounting frame. Each drive wheel includes a hub with a built-in motor and a tire covering the hub.

[0009] Furthermore, the guiding mechanism includes a guide sleeve, a guide rod, and a mounting base. A three-layer mounting plate is integrally mounted on the outer ring of the cylinder barrel of the hydraulic cylinder. Guide sleeves are symmetrically mounted on both sides of the three-layer mounting plate. A guide rod is inserted inside the guide sleeve. The top of the guide rod is connected to the bottom of the second-layer mounting plate through the mounting base.

[0010] Furthermore, it also includes a pull-wire sensor installed at the bottom of the second-layer mounting plate, and a horizontally arranged connecting rod installed on the outer wall of the mounting frame, with the pull wire of the pull-wire sensor connected to the connecting rod.

[0011] Furthermore, it also includes protective components, which include threading rings, wire guards, and protective plates. Threading rings are provided on the lower end face of the first-layer mounting plate and on the inner wall of the mounting frame. Wire guards are installed around the upper end of the second-layer mounting plate. Protective plates are installed on the outer side of the guide mechanism on the outer wall of the mounting frame.

[0012] The advantages and beneficial effects of this utility model are as follows:

[0013] 1. This ultra-low load capacity differential wheel set for AGVs significantly optimizes the steering wheel structure by placing the motor inside the drive wheel instead of on the outside of the existing technology. The hydraulic cylinders within the steering wheel serve a dual purpose of shock absorption and lifting, meeting the requirements of ultra-low load capacity steering wheels.

[0014] The hydraulic cylinder is rotated and mounted on the mounting frame, which allows the AGV to automatically adjust the height of the wheels to adapt to the terrain when traveling on uneven ground, ensuring that both drive wheels on the differential wheel set can contact the ground and guaranteeing stable operation; the setting of the guide mechanism improves the stability of rotation angle detection.

[0015] 2. This ultra-low load capacity differential wheel set for AGVs, through the setting of a cable sensor, can detect the lifting height of the hydraulic cylinder, monitor the lifting status of the AGV in real time, and ensure the stability of the AGV's working status.

[0016] 3. The present invention has a scientific and reasonable structural design, with the advantages of compact structure, easy maintenance, long service life and easy implementation. It is a highly innovative ultra-low load differential wheel set for AGV. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the present invention with one mounting plate omitted;

[0019] Figure 3 This is an exploded view of the present invention.

[0020] Figure Labels

[0021] 1-Drive wheel, 2-Mounting frame, 3-Second-layer mounting plate, 4-Third-layer mounting plate, 5-First-layer mounting plate, 6-Protective plate, 7-Outer ring of slewing bearing, 8-Inner ring of slewing bearing, 9-Cylinder rod connecting ring, 10-Cylinder rod, 11-Wire guard plate, 12-Mounting seat, 13-Guide sleeve, 14-Guide rod, 15-Slewing bearing, 16-Angle detection gear, 17-Angle encoder, 18-Wire sensor, 19-Hydraulic cylinder, 20-Gear ring, 21-Rotating shaft. Detailed Implementation

[0022] The present invention will be further described in detail below through specific embodiments. The following embodiments are only descriptive and not limiting, and should not be used to limit the protection scope of the present invention.

[0023] An innovative ultra-low load capacity differential wheel set for AGVs includes: a mounting frame 2, a hydraulic cylinder 19, a cylinder rod connecting ring 9, a gear ring 20, an angle detection gear 16, an angle encoder 17, a slewing bearing 15, a first-layer mounting plate 5, a second-layer mounting plate 3, a guide mechanism, and a drive wheel 1. The hydraulic cylinder is rotatably mounted within the mounting frame via a rotating shaft 21. A cylinder rod connecting ring is fixedly mounted on the cylinder rod 10 of the hydraulic cylinder. This cylinder rod connecting ring is fixedly mounted on the inner ring 8 of the slewing bearing, at the bottom of the outer ring 7 of the slewing bearing. A two-layer mounting plate with a mounting hole in the middle is fixedly installed. The first-layer mounting plate is fixedly connected to the cylinder rod of the hydraulic cylinder and the inner ring of the slewing bearing. A gear ring is fixedly installed on the lower outer ring of the cylinder rod connecting ring. An angle detection gear for connecting an angle encoder is meshed on the gear ring. The angle encoder is fixedly installed on the bottom of the second-layer mounting plate by a mounting bracket. Guide mechanisms are symmetrically installed on both sides of the bottom of the second-layer mounting plate. The drive wheels are symmetrically installed at both ends of the mounting frame. The drive wheel includes a hub with a built-in motor and a tire covering the outside of the hub.

[0024] During operation, the two drive wheels rotate in opposite directions at different speeds, which enables the wheel set to turn. The turning of the wheel set drives the gear ring to rotate. The angle detection gear that meshes with the gear ring detects the deflection angle of the gear ring, thus achieving precise operation control of the wheel set.

[0025] In this invention, a second-layer mounting plate is used to mount an angle detection gear. The gear ring meshes with the angle detection gear, causing it to rotate. An angle encoder connected to the angle detection gear measures the deflection angle of the steering wheel, significantly reducing its structural strength requirements and thus compressing the overall height. The hydraulic cylinder is directly integrated into the mounting frame and rigidly connected to the inner ring of the slewing bearing via a cylinder rod connecting ring, allowing the load to be directly transmitted to the slewing bearing and shortening the force transmission path.

[0026] The guiding mechanism includes a guide sleeve 13, a guide rod 14, and a mounting base 12. A three-layer mounting plate 4 is integrally formed with the outer ring of the hydraulic cylinder. Guide sleeves are symmetrically installed on both sides of the three-layer mounting plate, and guide rods are inserted within the guide sleeves. The top of the guide rods is connected to the bottom of the second-layer mounting plate via the mounting base. The symmetrically arranged guide sleeves and guide rods form a rigid slide rail, restricting the horizontal displacement of the second-layer mounting plate, ensuring no lateral swaying during the turning process, and improving the stability of angle detection during rotation.

[0027] It also includes a pull-wire sensor 18, which is installed at the bottom of the second-layer mounting plate. A horizontally arranged connecting rod is installed on the outer wall of the mounting frame, and the pull wire of the pull-wire sensor is connected to this connecting rod. This pull-wire sensor detects the lifting height of the hydraulic cylinder in real time, so as to control the lifting height through the hydraulic system.

[0028] It also includes protective components, which include wire guide rings, wire guard plates 11, and protective plates 6. Wire guide rings are provided on the lower end face of the first-layer mounting plate and the inner wall of the mounting frame. The wire guide rings on the first-layer mounting plate and the mounting frame guide the cable to rotate and avoid torsional wear. Wire guard plates are installed around the upper end of the second-layer mounting plate. Protective plates are installed on the outer side of the guide mechanism on the outer wall of the mounting frame. The wire guide plates and protective plates can block external mechanical collisions, making operation safe and reliable.

[0029] This invention optimizes the steering wheel structure by placing the motor inside the driving wheel, instead of on the outside of it, a design feature common in existing technologies. The hydraulic cylinder within the steering wheel serves a dual purpose of shock absorption and lifting, meeting the requirements for ultra-low load-bearing steering wheels.

[0030] The hydraulic cylinders are rotated and mounted on the mounting frame, which allows the AGV to automatically adjust the height of the wheels to adapt to the terrain when traveling on uneven ground, ensuring that all four sets of steering wheels on the AGV can contact the ground and guarantee the stability of the operation; the guide mechanism enables the second-layer mounting plate and the third-layer mounting plate to rotate synchronously.

[0031] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A differential wheel set for ultra-low load capacity AGVs, characterized in that: The system includes a mounting frame, a hydraulic cylinder, a cylinder rod connecting ring, a gear ring, an angle detection gear, an angle encoder, a slewing bearing, a first-layer mounting plate, a second-layer mounting plate, a guide mechanism, and drive wheels. The hydraulic cylinder is rotatably mounted within the mounting frame. A cylinder rod connecting ring is fixedly mounted on the cylinder rod of the hydraulic cylinder. This connecting ring is fixedly mounted on the inner ring of the slewing bearing. A second-layer mounting plate with a mounting hole in the center is fixedly mounted at the bottom of the outer ring of the slewing bearing. The first-layer mounting plate is fixedly connected to the hydraulic cylinder rod and the inner ring of the slewing bearing. A gear ring is fixedly mounted on the lower outer ring of the cylinder rod connecting ring, and an angle detection gear connected to the angle encoder meshes on the gear ring. The angle encoder is fixedly mounted at the bottom of the second-layer mounting plate. Guide mechanisms are symmetrically mounted on both sides of the bottom of the second-layer mounting plate. Drive wheels are symmetrically mounted at both ends of the mounting frame. Each drive wheel includes a hub with a built-in motor and a tire covering the hub.

2. The ultra-low load capacity differential wheel set for AGV according to claim 1, characterized in that: The guiding mechanism includes a guide sleeve, a guide rod, and a mounting base. A three-layer mounting plate is integrally formed with the outer ring of the cylinder barrel of the hydraulic cylinder. Guide sleeves are symmetrically installed on both sides of the three-layer mounting plate. A guide rod is inserted inside the guide sleeve. The top of the guide rod is connected to the bottom of the second-layer mounting plate through the mounting base.

3. The ultra-low load capacity differential wheel set for AGV according to claim 1, characterized in that: It also includes a pull-wire sensor installed at the bottom of the second-layer mounting plate, and a horizontally arranged connecting rod installed on the outer wall of the mounting frame, with the pull wire of the pull-wire sensor connected to the connecting rod.

4. The ultra-low load capacity differential wheel set for AGV according to claim 1, characterized in that: It also includes protective components, which include threading rings, wire guards, and protective plates. Threading rings are provided on the lower end face of the first-layer mounting plate and on the inner wall of the mounting frame. Wire guards are installed around the upper end of the second-layer mounting plate. Protective plates are installed on the outer side of the guide mechanism on the outer wall of the mounting frame.

Images