AGV driving wheel

Abstract

The utility model discloses an AGV driving wheel which comprises a driving wheel body composed of a motor assembly and a wheel assembly, the motor assembly comprises a machine shell, a rear end cover, a rear cover, a stator and a rotor, the stator and the rotor are arranged in a space formed by the machine shell and the rear end cover, the stator and the rotor are divided into a stator assembly and a rotor assembly, the rotor assembly comprises a rotating shaft, a magnetic shoe and a rotor iron core, the rotating shaft is fixedly connected with the rotor iron core, the magnetic shoe is arranged in a groove of the rotor iron core, the stator assembly comprises a stator iron core, a framework, a coil and a driving assembly, and the driving assembly is arranged in a space formed by the rear end cover and the rear cover; the driving assembly comprises a driving plate used for driving the motor to operate and an encoder, the encoder comprises a signal end and a receiving end, the signal end is connected with the rotating shaft, and the receiving end is arranged on the driving plate. The driving part, the speed reduction part and the control part of the AGV driving wheel are integrated together, so that the use convenience is improved, and the overall size is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of AGV (Automated Guided Vehicle) technology, and in particular relates to an AGV drive wheel. Background Technology

[0002] AGV is an abbreviation for Automated Guided Vehicle. It refers to an unmanned automated vehicle equipped with automatic guidance devices such as magnetic strips, tracks, or lasers, which travels along a planned path, is powered by batteries, and is equipped with safety protection and various auxiliary mechanisms (such as transfer and assembly mechanisms). Typically, multiple AGVs, along with a control computer (control console), navigation equipment, charging equipment, and peripheral auxiliary equipment, form an AGV system. Its main working principle is that, under the monitoring and task scheduling of the control computer, the AGV can accurately travel along the prescribed path, reach the designated task location, and complete a series of work tasks. The control computer can determine whether the AGV needs to automatically recharge at the charging area based on its own battery level.

[0003] However, the current structure of AGV equipment is generally that the motor is connected to the wheel hub through the reduction mechanism, and then the motor is connected to the control and feedback parts. This makes the AGV very bulky. Each part requires different compatibility, which makes maintenance more difficult. At the same time, each part is stacked on top of the other, so the space required is relatively large. Utility Model Content

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] An AGV drive wheel includes a drive wheel body composed of a motor assembly and a wheel assembly. The motor assembly includes a housing, a rear end cover, a rear cover, and a stator and rotor. The stator and rotor are disposed in the space formed by the housing and the rear end cover. The stator and rotor are divided into a stator assembly and a rotor assembly. The rotor assembly includes a rotating shaft, magnetic tiles, and a rotor core. The rotating shaft is fixedly connected to the rotor core. The magnetic tiles are disposed in the grooves of the rotor core. The stator assembly includes a stator core, a frame, and a coil. It also includes a drive assembly disposed in the space formed by the rear end cover and the rear cover.

[0006] The drive assembly includes a drive board for driving the motor and an encoder. The encoder includes a signal end and a receiving end. The signal end is connected to the rotating shaft, and the receiving end is disposed on the drive board.

[0007] The wheel assembly includes a wheel body and a reduction mechanism. The reduction mechanism is located inside the wheel body, and the motor assembly is connected to the wheel body through the reduction mechanism.

[0008] The signal terminal includes a fixed base and a magnetic element engaged in the fixed base. The fixed base is threadedly connected to the rotating shaft. The fixed base has a groove for accommodating the magnetic element. The magnetic element is placed in the groove. The distance between the magnetic element and the receiving end on the drive board is denoted as H, and the distance H is 0.8-1.8mm.

[0009] Furthermore, the deceleration mechanism includes a deceleration frame and a sealing plate, the deceleration frame is provided with a planetary gear, and the rotating shaft is connected to the planetary gear.

[0010] Furthermore, the wheel body includes a rubber-coated wheel and a hub. The hub is fitted onto the outside of the reduction gear. When the shaft rotates, the hub can be driven to rotate by the planetary gear.

[0011] Furthermore, the outer side of the rear cover is provided with several heat dissipation fins, which are located on the rear end face and the circumferential surface of the body.

[0012] Furthermore, the magnetic element is a magnet, and the magnetization direction is radial polarity magnetization.

[0013] Furthermore, the sealing plate has a groove on the contact surface with the housing to accommodate the sealing ring, and the sealing ring is located in the groove.

[0014] Furthermore, the housing is also provided with a protrusion, and the protrusion has a screw hole, which is used to fix the drive wheel body to other equipment.

[0015] The beneficial effects of this utility model are:

[0016] This invention places the control and detection parts of the motor directly at the rear of the motor. By using the tail shaft of the motor in conjunction with a magnet, the motor speed and absolute position can be directly measured, solving the problem of introducing a separate encoder. At the same time, the reduction mechanism is placed inside the wheel hub, and the power output is directly generated to the drive wheel using planetary gears, saving space and reducing the overall size. The internal circuit board wiring is centrally led out, and the computer communicates directly with the circuit board to centrally control all aspects, making maintenance simple and convenient. Attached Figure Description

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

[0018] Figure 2 This is a half-sectional schematic diagram of the present invention;

[0019] Figure 3 This is an exploded view of the practical speed reduction mechanism;

[0020] Figure 4 This is a utility model Figure 2 A magnified view of part A;

[0021] Figure 5 This is a schematic diagram of the circuit board of this utility model;

[0022] Figure 6 This is an exploded view of the magnetic sensing component of this utility model;

[0023] The parts in the attached diagram are labeled as follows:

[0024] 1. Motor assembly; 11. Housing; 111. Protrusion; 12. Rear end cover; 13. Rear cover; 131. Heat sink fins; 14. Stator assembly; 15. Rotor assembly; 151. Shaft; 152. Magnet; 2. Wheel assembly; 21. Wheel body; 211. Rubber-coated wheel; 212. Wheel hub; 22. Reduction mechanism; 221. Reduction frame; 222. Sealing plate; 3. Drive assembly; 31. Drive plate; 32. Encoder; 321. Signal terminal; 321-1. Mounting base; 321-2. Magnetic element; 322. Receiver; 4. Sealing ring. Detailed Implementation

[0025] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention. Example

[0026] like Figures 1 to 6 As shown, an AGV drive wheel includes a drive wheel body composed of a motor assembly 1 and a wheel assembly 2. The motor assembly 1 includes a housing 11, a rear end cover 12, a rear cover 13, and a stator and rotor. The stator and rotor are disposed in the space formed by the housing 11 and the rear end cover 12. The stator and rotor are divided into a stator assembly 14 and a rotor assembly 15. The rotor assembly 15 includes a rotating shaft 151, a magnetic tile 152, and a rotor core. The rotating shaft 151 is fixedly connected to the rotor core. The magnetic tile 152 is disposed in the groove of the rotor core. The stator assembly 14 includes a stator core, a frame, and a coil. It also includes a drive assembly 3, which is disposed in the space formed by the rear end cover 12 and the rear cover 13. Specifically, the rear cover 13 has several heat dissipation fins 131 on its outer side, which are disposed on the rear end face and the circumferential surface. The housing 11 is also provided with a protrusion 111, which has a screw hole and is used to fix the drive wheel body to other equipment.

[0027] The drive assembly 3 includes a drive plate 31 for driving the motor and an encoder 32. The encoder 32 includes a signal terminal 321 and a receiving terminal 322. The signal terminal 321 is connected to the rotating shaft 151, and the receiving terminal 322 is disposed on the drive plate 31. Specifically, the signal terminal 321 includes a fixing seat 321-1 and a magnetic element 321-2 engaged within the fixing seat 321-1. The fixing seat 321-1 is threadedly connected to the rotating shaft 151. The fixing seat 321-1 has a groove for accommodating the magnetic element 321-2. The magnetic element 321-2 is placed within the groove. The distance H between the magnetic element 321-2 and the receiving terminal 322 on the drive plate 31 is 0.8-1.8 mm. Specifically, the magnetic element 321-2 is a magnet, and the magnetization direction is radial bipolar magnetization.

[0028] The wheel assembly 2 includes a wheel body 21 and a reduction mechanism 22. The reduction mechanism 22 is located inside the wheel body 21, and the motor assembly 1 is connected to the wheel body 21 through the reduction mechanism 22. Specifically, the reduction mechanism 22 includes a reduction frame 221 and a sealing plate 222. The reduction frame 221 contains a planetary gear (not shown in the figure), and the rotating shaft 151 is connected to the planetary gear. The wheel body 21 includes a rubber-coated wheel 211 and a hub 212. The hub 212 is fitted onto the outside of the reduction frame 221. When the rotating shaft 151 rotates, the hub 212 can be driven to rotate by the planetary gear. It is understood that the sealing plate 222 has a groove on its contact surface with the housing 11 to accommodate a sealing ring 4, and the sealing ring 4 is located within the groove.

[0029] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. An AGV drive wheel, comprising a drive wheel body consisting of a motor assembly (1) and a wheel assembly (2), wherein the motor assembly (1) includes a housing (11), a rear end cover (12), a rear cover (13), and a stator and rotor, the stator and rotor being disposed within the space formed by the housing (11) and the rear end cover (12), the stator and rotor being divided into a stator assembly (14) and a rotor assembly (15), wherein, The rotor assembly (15) includes a rotating shaft (151), a magnetic tile (152), and a rotor core. The rotating shaft (151) is fixedly connected to the rotor core. The magnetic tile (152) is disposed in the groove of the rotor core. The stator assembly (14) includes a stator core, a frame, and a coil. The stator assembly (14) is characterized by further including a drive assembly (3), which is disposed in the space formed by the rear end cover (12) and the rear cover (13). The drive assembly (3) includes a drive board (31) for driving the motor and an encoder (32). The encoder (32) includes a signal end (321) and a receiving end (322). The signal end (321) is connected to the rotating shaft (151), and the receiving end (322) is located on the drive board (31). The wheel assembly (2) includes a wheel body (21) and a reduction mechanism (22). The reduction mechanism (22) is located inside the wheel body (21). The motor assembly (1) is connected to the wheel body (21) through the reduction mechanism (22). The signal terminal (321) includes a fixed base (321-1) and a magnetic element (321-2) engaged in the fixed base (321-1). The fixed base (321-1) is threadedly connected to the rotating shaft (151). The fixed base (321-1) is provided with a groove for accommodating the magnetic element (321-2). The magnetic element (321-2) is placed in the groove. The distance between the magnetic element (321-2) and the receiving end (322) on the drive plate (31) is H, and the distance H is 0.8-1.8mm.

2. The AGV drive wheel according to claim 1, characterized in that: The deceleration mechanism (22) includes a deceleration frame (221) and a sealing plate (222). The deceleration frame (221) is equipped with a planetary gear, and the rotating shaft (151) is connected to the planetary gear.

3. An AGV drive wheel according to claim 2, characterized in that: The wheel body (21) includes a rubber-coated wheel (211) and a hub (212). The hub (212) is fitted on the outside of the reduction gear (221). When the shaft (151) rotates, the hub (212) can be driven to rotate by the planetary gear.

4. An AGV drive wheel according to claim 1, characterized in that: The rear cover (13) has several heat dissipation fins (131) on its outer side, and the heat dissipation fins (131) are located on the rear end face and the circumferential surface of the body.

5. An AGV drive wheel according to claim 2, characterized in that: The magnetic element (321-2) is a magnet, and the magnetization direction is radial two-pole magnetization.

6. An AGV drive wheel according to claim 2, characterized in that: The sealing plate (222) has a groove for accommodating the sealing ring (4) on the contact surface with the housing (11), and the sealing ring (4) is located in the groove.

7. An AGV drive wheel according to claim 1, characterized in that: The housing (11) is also provided with a protrusion (111), and the protrusion (111) is provided with a screw hole. The protrusion (111) is used to fix the drive wheel body to other equipment.

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