Differential driving device and AGV

Abstract

The embodiment of the utility model provides a differential driving device and an AGV. The differential driving device comprises a fixing base, a supporting assembly and two driving assemblies. Wherein the fixing seat is used for fixing the driving assemblies, specifically, the two driving assemblies are oppositely arranged on the two sides of the fixing seat, and the wheels in the two driving assemblies are oppositely arranged. One side of the supporting assembly is connected with the fixing base, and the other side of the supporting assembly is used for being connected with a vehicle body. And the two driving assemblies selectively rotate at the same speed or differential speed, so that the vehicle body is driven to go straight or steer. In addition, due to the fact that the two driving assemblies are oppositely arranged, and the distance between the two driving assemblies is small, when the two driving assemblies rotate at the differential speed, the vehicle body can steer with the small diameter, and the moving flexibility of the vehicle body is improved.

Description

Technical Field

[0001] The present application relates to the technical field of logistics equipment, and in particular to a differential drive device and an AGV. Background Art

[0002] An AGV (Automated Guided Vehicle) is an automated guided vehicle equipped with electromagnetic or optical automatic guidance devices, capable of traveling along a specified guidance path, and having safety protection and various loading and unloading functions. AGVs can achieve automated, flexible, and intelligent material handling and transportation, and are widely used in scenarios such as warehousing logistics, manufacturing, hazardous locations, and service industries.

[0003] The present application provides a differential drive device that can be applied to an AGV for driving the movement of the AGV body. Summary of the Utility Model

[0004] Embodiments of the present application provide a differential drive device and an AGV for providing power for the movement of the AGV.

[0005] In a first aspect, embodiments of the present application provide a differential drive device, including:

[0006] A fixed seat;

[0007] A support assembly, one side of the support assembly is connected to the fixed seat, and the other side of the support assembly is used for connecting to the vehicle body;

[0008] Two drive assemblies, both connected to the fixed seat, and the wheels in the two drive assemblies are arranged facing each other;

[0009] The two drive assemblies rotate selectively at the same speed or at different speeds.

[0010] In a feasible implementation, the support assembly is hinged to the fixed seat.

[0011] In a feasible implementation, the differential drive device further includes at least one limit post, and at least one limit post is arranged between the fixed seat and the support assembly, and the limit post is used for spacing the fixed seat and the support assembly.

[0012] In a feasible implementation, the support assembly includes a bearing seat, a slewing bearing, and a connecting plate;

[0013] The bearing seat is hinged to the fixed seat, the slewing bearing is arranged on the bearing seat, the slewing bearing is connected to the connecting plate, and the connecting plate is used for connecting to the vehicle body.

[0014] In a feasible implementation, the fixed seat includes a top plate and two oppositely arranged side plates, and the two side plates are respectively fixedly arranged on two opposite sides of the top plate;

[0015] The top plate is connected to the bearing seat, and the two driving components are respectively connected to the two side plates.

[0016] In a feasible implementation, the side plate is provided with mounting holes for fixing the driving component.

[0017] In a feasible implementation, a first hinge seat is fixedly provided on the side of the top plate facing away from the side plate;

[0018] A second hinge seat is fixedly provided on the side of the bearing seat facing away from the slewing bearing, and the first hinge seat is hinged to the second hinge seat.

[0019] In a feasible implementation, the differential drive device further includes an encoder, the encoder is arranged on the bearing seat, and the encoder is in mating connection with the slewing bearing.

[0020] In a feasible implementation, the driving component is configured as a servo integrated wheel.

[0021] In a second aspect, an embodiment of the present application provides a differential drive device, including:

[0022] A fixed seat;

[0023] A support component, one side of the support component is connected to the fixed seat, and the other side of the support component is used for connecting to the vehicle body;

[0024] Two driving components, both are connected to the fixed seat, and the wheels in the two driving components are arranged back to back;

[0025] The two driving components rotate at the same speed or differentially selectively.

[0026] In a third aspect, an embodiment of the present application provides an AGV, including the differential drive device in the first aspect or the second aspect above, the differential drive device is connected to the vehicle body, and the differential drive device is used to drive the vehicle body to move.

[0027] In a first aspect, an embodiment of the present application provides a differential drive device, including a fixed seat, a support component and two driving components. Among them, the fixed seat is used to fix the driving component. Specifically, the two driving components are relatively arranged on both sides of the fixed seat, and the wheels in the two driving components are arranged facing each other. One side of the support component is connected to the fixed seat, and the other side of the support component is used for connecting to the vehicle body; the two driving components rotate at the same speed or differentially selectively, so as to drive the vehicle body to go straight or turn. In addition, since the wheels in the two driving components are arranged facing each other and the distance between the two wheels is relatively close, when the two driving components rotate differentially, the vehicle body can turn with a smaller diameter, improving the movement flexibility of the vehicle body.

[0028] Second aspect, an embodiment of the present application provides a differential drive device, including a fixed seat, a support assembly, and two drive assemblies. Among them, the fixed seat is used to fix the drive assemblies. Specifically, the two drive assemblies are disposed oppositely on both sides of the fixed seat. One side of the support assembly is connected to the fixed seat, and the other side of the support assembly is used to be connected to the vehicle body; the two drive assemblies rotate selectively at the same speed or at different speeds, so as to drive the vehicle body to go straight or turn.

[0029] Third aspect, an embodiment of the present application provides an AGV, including the differential drive device of the first aspect or the second aspect above. The differential drive device is connected to the vehicle body and is used to drive the vehicle body to move. In addition, since the AGV includes the differential drive device described in any of the above technical solutions, it has all the beneficial effects of the differential drive device of any of the above technical solutions, which will not be elaborated here. Description of the Drawings

[0030] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation to the present invention.

[0031] In the drawings:

[0032] Figure 1 is the first structural schematic diagram of the differential drive device provided by an embodiment of the present application;

[0033] Figure 2 is Figure 1 the second structural schematic diagram of the differential drive device in

[0034] Figure 3 is the first structural schematic diagram of the differential drive device provided by another embodiment of the present application;

[0035] Figure 4 is Figure 2 the second structural schematic diagram of the differential drive device in

[0036] Description of the Reference Numerals:

[0037] 100 - fixed seat; 200 - support assembly; 300 - drive assembly; 400 - limit post;

[0038] 110 - top plate; 120 - side plate; 130 - mounting hole; 210 - bearing seat; 220 - slewing bearing; 230 - connecting plate;

[0039] 111 - first hinge seat; 211 - second hinge seat. Detailed Embodiments

[0040] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0041] In the description of the embodiments of this application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0042] In this application, unless otherwise clearly specified and limited, terms such as "installed", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In this application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0044] AGV (Automated Guided Vehicle), that is, an automated guided vehicle, is a transport vehicle equipped with electromagnetic or optical and other automated guiding devices, capable of traveling along a specified guiding path, and having safety protection and various load handling functions. AGV can achieve automated, flexible, and intelligent material handling and transportation, and is widely used in scenarios such as warehousing logistics, manufacturing, hazardous locations, and service industries.

[0045] This application provides a differential drive device that can be applied to AGV. The following will detail the solution provided in the embodiments of this application in conjunction with the accompanying drawings of the specification.

[0046] Figure 1 is the first structural schematic diagram of a differential drive device provided by an embodiment of the present application; Figure 2 is Figure 1 the second structural schematic diagram of the differential drive device in

[0047] Referring to Figure 1 and Figure 2 As shown, an embodiment of the present application provides a differential drive device, including a fixed seat 100, a support assembly 200, and two drive assemblies 300. Among them, the fixed seat 100 is used to install and fix the drive assembly 300. The support assembly 200 is used to connect the fixed seat 100 to the vehicle body (not shown in the figure). Specifically, one side of the support assembly 200 is connected to the upper side of the fixed seat 100, and the other side of the support assembly 200 is used to connect to the vehicle body. Exemplarily, one side of the support assembly 200 can be fixedly connected to the upper side of the fixed seat 100 by bolts or can be hinged by a connecting member. The two drive assemblies 300 are both fixedly installed on the fixed seat 100, and the two drive assemblies 300 are arranged facing each other, that is, the drive wheels in the drive assembly 300 are arranged adjacent to each other. The two drive assemblies 300 selectively rotate at the same speed or differentially, thereby driving the vehicle body to move. Specifically, when the two drive assemblies 300 rotate at the same speed, the two drive assemblies 300 drive the vehicle body to go straight; when the two drive assemblies 300 rotate differentially, the two drive assemblies 300 drive the vehicle body to move toward the side of the drive assembly 300 with a slower rotation speed.

[0048] In addition, since the wheels in the two drive assemblies 300 are arranged facing each other and the distance between the two wheels is relatively close, when the two drive assemblies 300 rotate differentially, the vehicle body can turn with a smaller diameter, improving the movement flexibility of the vehicle body.

[0049] Exemplarily, in some examples, the drive assembly 300 is configured as a servo-integrated wheel, and the wheel parts of the two servo-integrated wheels are arranged facing each other. It should be noted that the servo-integrated wheel is a prior art and will not be elaborated here.

[0050] Referring to Figure 1 and Figure 2 As shown, in some examples, the support assembly 200 is hinged to the fixed seat 100, and the fixed seat 100 can rotate around the hinge position. When the two drive assemblies 300 pass through an uneven road surface, the two drive assemblies 300 can float up and down. While ensuring power drive, the vehicle body can be prevented from being affected by the uneven road surface, ensuring the smooth movement of the vehicle body.

[0051] In addition, as Figure 1 and Figure 2As shown, the differential drive device further includes at least one limit post 400. At least one limit post 400 is disposed between the fixed seat 100 and the support assembly 200. The limit post 400 is used to space the fixed seat 100 and the support assembly 200 apart. Exemplarily, two limit posts 400 are vertically disposed on the upper surface of the fixed seat 100, and the two limit posts 400 are respectively located on both sides of the hinge position. When the fixed seat 100 rotates around the hinge position to both sides, the two limit posts 400 can prevent the fixed seat 100 from colliding with the support assembly 200 due to excessive rotation angle.

[0052] Referring to Figure 1 and Figure 2 As shown, in some examples, the support assembly 200 includes a bearing seat 210, a slewing bearing 220, and a connecting plate 230. Among them, the bearing seat 210 is hinged to the fixed seat 100, the slewing bearing 220 is disposed on the bearing seat 210, the inner ring of the bearing is fixedly connected to the bearing seat 210, the outer ring of the slewing bearing 220 is connected to the connecting plate 230, and the connecting plate 230 is used to connect to the vehicle body. For example, the bearing seat 210 can be connected to the fixed seat 100 through a hinge or a rotating shaft.

[0053] Continuing to refer to Figure 1 and Figure 2 As shown, the fixed seat 100 includes a top plate 110 and two oppositely disposed side plates 120. The two side plates 120 are respectively fixedly disposed on two opposite sides of the top plate 110. A support plate can also be disposed between the side plate 120 and the top plate 110 to increase the connection strength between the side plate 120 and the top plate 110.

[0054] In addition, exemplarily, the side plate 120 is provided with a mounting hole 130 for fixing the drive assembly 300 to fixedly mount the drive assembly 300. On the side of the top plate 110 facing away from the side plate 120 (i.e., the upper surface of the top plate 110), a first hinge seat 111 is fixedly provided. On the side of the bearing seat 210 facing away from the slewing bearing 220, a second hinge seat 211 is fixedly provided. The first hinge seat 111 and the second hinge seat 211 are connected by a rotating shaft, so that the bearing seat 210 and the top plate 110 are hinged together. In addition, the rotating shaft can be connected to the first hinge seat 111 and the second hinge seat 211 through a self-lubricating graphite bearing to reduce friction and ensure smooth rotation between the first hinge seat 111 and the second hinge seat 211.

[0055] In some other examples, the differential drive device further includes an encoder. The encoder is vertically disposed on the bearing seat 210, and the input end of the encoder is cooperatively connected to the side surface of the slewing bearing 220. The encoder is used to detect the rotation angle of the slewing bearing 220, so as to conveniently determine the rotation angles of the two drive assemblies 300, and further determine the movement angle of the vehicle body.

[0056] Figure 3It is the first structural schematic diagram of the differential drive device provided by another embodiment of the present application; Figure 4 is Figure 2 the second structural schematic diagram of the differential drive device in

[0057] In a second aspect, another embodiment of the present application provides a differential drive device, including a fixed seat 100, a support assembly 200, and two drive assemblies 300. Among them, the fixed seat 100 is used to install and fix the drive assembly 300. The support assembly 200 is used to connect the fixed seat 100 to the vehicle body. Specifically, one side of the support assembly 200 is connected to the upper side of the fixed seat 100, and the other side of the support assembly 200 is used to connect to the vehicle body. The two drive assemblies 300 are both fixedly installed on the fixed seat 100, and the wheels in the two drive assemblies 300 are arranged back to back. The two drive assemblies 300 selectively rotate at the same speed or differentially, so as to drive the vehicle body to move. Compared with the above embodiment, the setting method of the two drive assemblies 300 in this embodiment is different, and the other settings are exactly the same, so they will not be described again here.

[0058] In a third aspect, an embodiment of the present application provides an AGV, including the differential drive device of the first aspect or the second aspect above. The differential drive device is connected to the vehicle body and is used to drive the vehicle body to move. Since this AGV includes the differential drive device described in any of the above technical solutions, it has all the beneficial effects of the differential drive device of any of the above technical solutions, so they will not be described again here.

[0059] The above specific implementation manners further elaborate on the purpose, technical solutions, and beneficial effects of the embodiments of the present application. It should be understood that the above are only the specific implementation manners of the embodiments of the present application, and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.

Claims

1. A differential drive device, characterized in that, Comprising: A fixed seat (100); A support assembly (200), one side of the support assembly (200) is connected to the fixed seat (100), and the other side of the support assembly (200) is for connecting to a vehicle body; Two drive assemblies (300), both connected to the fixed seat (100), and the wheels in the two drive assemblies (300) are arranged facing each other; The two drive assemblies (300) are selectively rotated at the same speed or differentially.

2. The differential drive device according to claim 1, characterized in that, The support assembly (200) is hinged to the fixed seat (100).

3. The differential drive device according to claim 2, wherein The differential drive device further includes at least one limit post (400), at least one of the limit posts (400) is arranged between the fixed seat (100) and the support assembly (200), and the limit post (400) is for spacing the fixed seat (100) and the support assembly (200).

4. The differential drive device according to claim 2, wherein, The support assembly (200) includes a bearing seat (210), a slewing bearing (220) and a connecting plate (230); The bearing seat (210) is hinged to the fixed seat (100), the slewing bearing (220) is arranged on the bearing seat (210), the slewing bearing (220) is connected to the connecting plate (230), and the connecting plate (230) is for connecting to the vehicle body.

5. The differential drive device according to claim 4, characterized in that, The fixed seat (100) includes a top plate (110) and two oppositely arranged side plates (120), and the two side plates (120) are respectively fixedly arranged on two opposite sides of the top plate (110); The top plate (110) is connected to the bearing seat (210), and the two drive assemblies (300) are respectively connected to the two side plates (120).

6. The differential drive device according to claim 5, characterized in that, The side plate (120) is provided with a mounting hole (130) for fixing the drive assembly (300).

7. The differential drive device according to claim 5, characterized in that, On the side of the top plate (110) facing away from the side plate (120), a first hinge seat (111) is fixedly provided; On the side of the bearing seat (210) facing away from the slewing bearing (220), a second hinge seat (211) is fixedly provided, and the first hinge seat (111) is hinged to the second hinge seat (211).

8. The differential drive device according to claim 4, characterized in that, The differential drive device further includes an encoder, the encoder is arranged on the bearing seat (210), and the encoder is connected to the slewing bearing (220) in a matching manner.

9. The differential drive device according to any one of claims 1-8, characterized in that, The drive assembly (300) is configured as a servo integrated wheel.

10. A differential drive device, characterized in that, Comprising: A fixed seat (100); A support assembly (200), one side of the support assembly (200) is connected to the fixed seat (100), and the other side of the support assembly (200) is for connecting to a vehicle body; Two drive assemblies (300), both connected to the fixed seat (100), and the wheels in the two drive assemblies (300) are arranged facing away from each other; The two drive assemblies (300) are selectively rotated at the same speed or differentially.

11. An AGV, characterized in that, Including a vehicle body and the differential drive device according to any one of claims 1-10, the differential drive device is connected to the vehicle body, and the differential drive device drives the vehicle body to move.

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