Differential driving wheel

Abstract

The utility model relates to the technical field of driving wheels, and discloses a differential driving wheel which comprises driving wheels and a driving body, the driving body comprises a main support, a supporting support, a connecting shaft and a buffering piece, the two opposite sides of the main support are respectively connected with the driving wheels in a transmission mode, and the main support is provided with a main cavity. Buffering strip-shaped holes extending in the height direction are formed in the opposite faces of the supporting supports respectively, the supporting supports are installed in the main cavity in a sliding mode, the connecting shafts penetrate through the buffering strip-shaped holes, the two ends of the connecting shafts are connected to the main supports respectively, buffering pieces are installed on the two opposite sides of the main supports respectively, and the upper ends of the buffering pieces are hinged to the supporting supports. The lower end of the buffering piece is hinged to the main support. According to the differential driving wheel, the supporting bracket and the main bracket can rotate around the connecting shaft, and the two driving wheels float up and down on one main bracket, so that the differential driving wheel can swing left and right to be self-adaptive to ground fluctuation.

Description

Technical Field

[0001] The utility model relates to the technical field of driving wheels, in particular to a differential driving wheel. Background Art

[0002] Traditional differential drive wheel structures often use a rigid connection method to fix the drive wheel directly to the main bracket. Although this design is simple in structure, it has obvious limitations when facing uneven terrain or application scenarios that require high adaptability. The rigid connection limits the adaptability of the drive wheel to ground changes. When driving on uneven roads, the inability to effectively absorb ground impact and vibration can easily lead to a decrease in the overall stability of the equipment, affecting driving smoothness and service life. In addition, when the drive wheels on both sides encounter different heights of the ground, there is a lack of sufficient flexibility to adjust their respective positions, which may cause one side of the drive wheel to be suspended or overloaded, further affecting driving efficiency and safety. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. The utility model provides a differential drive wheel, wherein the support bracket and the main bracket can rotate around the connecting shaft, and two drive wheels float up and down on a main bracket, so that the differential drive wheel can swing left and right to adapt to the undulation of the ground.

[0004] In order to achieve the above-mentioned purpose, the utility model provides a differential drive wheel, including a drive wheel and a drive body, the drive body including a main bracket, a support bracket, a connecting shaft and a buffer member, the drive wheels are respectively connected to the opposite sides of the main bracket in a transmission manner, the main bracket is provided with a main cavity, the opposite surfaces of the support bracket are respectively provided with buffer strip holes extending along the height direction, the support bracket is slidably installed in the main cavity, the connecting shaft passes through the buffer strip hole, the two ends of the connecting shaft are respectively connected to the main bracket, the buffer members are respectively installed on the opposite sides of the main bracket, the upper end of the buffer member is hinged to the support bracket, and the lower end of the buffer member is hinged to the main bracket.

[0005] As a preferred embodiment, the supporting bracket includes an inner bracket, an axis bracket and a balancing axis block, the buffer strip hole is arranged on the inner bracket, the inner bracket is slidably installed on the main cavity, the inner bracket is provided with a balancing inner cavity, the balancing axis block is slidably connected to the balancing inner cavity, the balancing axis block is provided with an axis block through hole, the connecting shaft passes through the buffer strip hole and the axis block through hole respectively and is connected to the main bracket, the axis bracket is connected to the upper end of the inner bracket, and the upper end of the buffer is hinged to the axis bracket.

[0006] As a preferred solution, the main bracket is provided with a bracket through hole, the bracket through hole is coaxially arranged with the shaft block through hole, and the connecting shaft is installed in the bracket through hole and connected to the main bracket.

[0007] As a preferred embodiment, the shaft bracket includes a bracket plate, an angle transmission member, a limit pin and an angle controller, the bracket plate is connected to the upper end of the inner bracket, the bracket plate is provided with an arc-shaped limit groove, the limit groove is coaxially arranged with the inner bracket, the limit pin is slidably installed in the limit groove and fixed to the angle transmission member, the angle transmission member is rotatably connected to the bracket plate, the angle transmission member is transmission-connected to the angle controller, and the angle controller is fixed to the bracket plate.

[0008] As a preferred embodiment, the upper end of the inner bracket is provided with a first threading hole, the first threading hole extends out of the main bracket, the shaft bracket is provided with a second threading hole, the first threading hole is connected to the second threading hole, the driving member is connected with a connecting wire, and the connecting wire passes through the first threading hole and the second threading hole in sequence.

[0009] As a preferred embodiment, the main bracket includes a central axis bracket, a driving member, a first transmission bracket and a second transmission bracket, the main cavity is arranged on the central axis bracket, a buffer distance is provided between the central axis bracket and the axis bracket, the connecting shaft is connected to the central axis bracket, the first transmission bracket and the second transmission bracket are relatively connected to the central axis bracket, the driving wheel is connected to the side of the first transmission bracket away from the central axis bracket, the driving member is connected to the driving wheel through the first transmission bracket, the other driving wheel is connected to the side of the second transmission bracket away from the central axis bracket, the other driving member is connected to the driving wheel through the second transmission bracket, the upper end of one of the buffer members is hinged to the support bracket, the lower end of the buffer member is hinged to the first transmission bracket, the upper end of the other buffer member is hinged to the support bracket, and the lower end of the other buffer member is hinged to the second transmission bracket.

[0010] As a preferred embodiment, one end of one of the driving members is transmission-connected to the first transmission bracket, a first buffer installation area is formed between the other end of the driving member and the second transmission bracket, a buffer member is installed in the first buffer installation area, one end of the other driving member is connected to the second transmission bracket, a second buffer installation area is formed between the other end of the driving member and the first transmission bracket, and another buffer member is installed in the second buffer installation area.

[0011] As a preferred solution, the first transmission bracket includes a first bracket and a first transmission member, the first bracket is fixedly connected to the middle axis bracket, the first transmission member is connected in the first bracket, and the driving member is connected to the driving wheel through the first transmission member.

[0012] As a preferred solution, the second transmission bracket includes a second bracket and a second transmission member. The second bracket is fixedly connected to the central axis bracket, the second transmission member is connected inside the second bracket, and the driving member is in transmission connection with the driving wheel through the second transmission member.

[0013] As a preferred solution, the extending direction of the driving member is parallel to the axial direction of the driving wheel, and the extending directions of the first transmission bracket and the second transmission bracket are arranged perpendicular to the axial direction of the driving wheel.

[0014] Compared with the prior art, the differential driving wheel of the embodiment of the present invention has the beneficial effects that: the upper end of the support bracket is used to connect the load-bearing object, the support bracket is connected to the main bracket through the buffer member, and then the support bracket is supported at a set height through the buffer member. The driving wheel is in transmission connection with the main bracket, and then drives the driving body to move. Among them, the main bracket is provided with a main cavity, the support bracket is slidably installed in the main cavity, the support bracket is provided with buffer strip-shaped holes, and the connecting shaft passes through the buffer strip-shaped holes and is connected to the main bracket. Then, when on a flat ground, there is a buffer distance between the connecting shaft and the two ends of the buffer strip-shaped holes respectively. At the same time, the support bracket and the main bracket can rotate around the connecting shaft, and the two driving wheels float up and down on one main bracket, so that the differential driving wheel can swing left and right to adapt to the ground undulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall structural schematic diagram of the embodiment of the present invention.

[0016] Figure 2 is the top view of the overall structure of the embodiment of the present invention.

[0017] Figure 3 is the side view of the overall structure of the embodiment of the present invention.

[0018] Figure 4 is the assembled structural schematic diagram of the support bracket and the central axis bracket of the embodiment of the present invention.

[0019] Figure 5 is the structural schematic diagram of the support bracket of the embodiment of the present invention.

[0020] Figure 6 is the sectional structural schematic diagram of the support bracket of the embodiment of the present invention.

[0021] Figure 7 is the sectional structural schematic diagram of the first transmission bracket or the second transmission bracket of the embodiment of the present invention.

[0022] Figure 8 is the structural schematic diagram of the central axis bracket of the embodiment of the present invention.

[0023] Figure 9This is a schematic structural view of the support plate in the embodiment of the present utility model.

[0024] In the figure:

[0025] 10. Driving wheel; 11. Driving main body; 12. First buffer installation area; 13. Second buffer installation area

[0026] 20. Main support; 21. Central axis support; 22. Driving part; 23. First transmission support; 24. First support; 25. First transmission part; 26. Second transmission support; 27. Second support; 28. Second transmission part; 29. Main cavity; 30. Support through hole; 31. Buffer spacing

[0027] 40. Support bracket; 41. Buffer strip hole; 42. Inner bracket; 43. First wire threading hole; 44. Axis support; 45. Support plate; 46. Second wire threading hole; 47. Limit groove; 48. Angle transmission part; 49. Limit pin; 50. Angle controller; 51. Balance shaft block; 52. Shaft block through hole; 53. Balance inner cavity

[0028] 60. Connecting shaft; 61. Buffer part. Detailed implementation manners

[0029] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present utility model. The following embodiments are used to illustrate the present utility model, but are not used to limit the scope of the present utility model.

[0030] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. in the present utility model is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0031] In the description of the present utility model, it should be understood that the terms "connected", "connected", "fixed", etc. used in the present utility model should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, a welded connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0032] Such as Figures 1 to 9As shown, a differential drive wheel 10 of a preferred embodiment of the utility model embodiment comprises a drive wheel 10 and a drive body 11, the drive body 11 comprises a main bracket 20, a support bracket 40, a connecting shaft 60 and a buffer 61, the driving wheels 10 are respectively connected to the opposite sides of the main bracket 20 in a transmission manner, the main bracket 20 is provided with a main cavity 29, the opposite surfaces of the support bracket 40 are respectively provided with buffer strip holes 41 extending along the height direction, the support bracket 40 is slidably installed in the main cavity 29, the connecting shaft 60 passes through the buffer strip hole 41, the two ends of the connecting shaft 60 are respectively connected to the main bracket 20, and the buffers 61 are respectively installed on the opposite sides of the main bracket 20, the upper end of the buffer 61 is hinged to the support bracket 40, and the lower end of the buffer 61 is hinged to the main bracket 20.

[0033] The differential drive wheel 10 of the utility model, the upper end of the support bracket 40 is used to connect the load, the support bracket 40 is connected to the main bracket 20 through the buffer 61, and then the support bracket 40 is supported at a set height by the buffer 61, and the drive wheel 10 is connected to the main bracket 20 by transmission, and then drives the driving body 11 to move. Among them, the main bracket 20 is provided with a main cavity 29, the support bracket 40 is slidably installed in the main cavity 29, the support bracket 40 is provided with a buffer bar hole 41, the connecting shaft 60 passes through the buffer bar hole 41 and is connected to the main bracket 20, and then when on flat ground, the connecting shaft 60 and the two ends of the buffer bar hole 41 have a buffer distance respectively, and at the same time, the support bracket 40 and the main bracket 20 can rotate around the connecting shaft 60, and the two drive wheels 10 float up and down on one main bracket 20, so that the differential drive wheel can swing left and right to adapt to the ground undulations.

[0034] It should be noted that the differential drive wheel of the present application can be used in direct load-bearing and non-load-bearing scenarios.

[0035] The differential drive wheel can ensure that the height of the vehicle body remains unchanged under load, provide a sinking stroke, and ensure that the drive wheel 10 does not leave the ground. As one embodiment, a limit block is set in the buffer strip hole 41. Of course, the limit block is located below the connecting shaft 60 to limit the upward movement of the support bracket 40 and maintain a downward movement stroke. The differential drive wheel can float up and down in a horizontal state and adapt to the ground according to the ups and downs of the ground.

[0036] As one embodiment, the buffer 61 is an adjustable spring damper. The two ends of the buffer 61 are detachably connected to the support bracket 40 and the main bracket 20 respectively, and the buffer 61 can be replaced according to different usage requirements.

[0037] As one embodiment, the extending direction of the connecting shaft 60 is the same as the advancing direction of the differential driving wheel 10. The supporting bracket 40 slides in the main cavity 29 along the height direction.

[0038] Further, such as Figures 4 to 6As shown, the support bracket 40 includes an inner bracket 42, a shaft bracket 44, and a balance shaft block 51. A buffer strip hole 41 is provided in the inner bracket 42. The inner bracket 42 is slidably mounted in the main cavity 29. The inner bracket 42 is provided with a balance inner cavity 53. The balance shaft block 51 is slidably connected to the balance inner cavity 53. The balance shaft block 51 is provided with a shaft block through hole 52. The connecting shaft 60 passes through the buffer strip hole 41 and the shaft block through hole 52 respectively and is connected to the main bracket 20. The shaft bracket 44 is connected to the upper end of the inner bracket 42. The upper end of the buffer member 61 is hinged to the shaft bracket 44. The shaft bracket 44 is used to connect to the load. The upper end of the buffer member 61 is connected to the shaft bracket 44 to realize the connection between the support bracket 40 and the main bracket 20. Among them, the setting of the balance shaft block 51 prevents the driving body 11 from tilting under the action of the biasing force during walking, keeps the driving body 11 in a vertical or substantially vertical state, and improves the walking stability of the driving body 11.

[0039] Further, as Figure 4 and Figure 8 shown, the main bracket 20 is provided with a bracket through hole 30. The bracket through hole 30 is coaxially arranged with the shaft block through hole 52. The connecting shaft 60 is installed in the bracket through hole 30 and is connected to the main bracket 20. The opposite surfaces of the main bracket 20 are respectively provided with bracket through holes 30. The two ends of the connecting shaft 60 are respectively connected to the bracket through holes 30. The setting of the bracket through holes 30 facilitates the assembly of the inner bracket 42 and the balance shaft block 51 with the main bracket 20.

[0040] Further, as Figures 5 to 6 and Figure 9 shown, the shaft bracket 44 includes a bracket plate 45, an angle transmission member 48, a limit pin 49, and an angle controller 50. The bracket plate 45 is connected to the upper end of the inner bracket 42. An arc-shaped limit groove 47 is provided on the bracket plate 45. The limit groove 47 is coaxially arranged with the inner bracket 42. The limit pin 49 is slidably mounted in the limit groove 47 and is fixed to the angle transmission member 48. The angle transmission member 48 is rotatably connected to the bracket plate 45. The angle transmission member 48 is in transmission connection with the angle controller 50. The angle controller 50 is fixed to the bracket plate 45. The angle controller 50 drives the limit pin 49 to slide in the limit groove 47 through the angle transmission member 48. Through the cooperation of the limit pin 49 and the limit groove 47, the rotation angle of the differential drive wheel 10 is limited.

[0041] As one embodiment, as Figures 5 to 6 shown, the angle transmission member 48 is a gear, the angle controller 50 is an encoder, and the angle transmission member 48 is in meshing transmission with the angle controller 50.

[0042] Further, as Figure 6As shown, the upper end of the inner bracket 42 is provided with a first threading hole 43, and the first threading hole 43 extends out of the main bracket 20. The shaft bracket 44 is provided with a second threading hole 46, and the first threading hole 43 is connected to the second threading hole 46. The driving member 22 is connected with a connecting wire, and the connecting wire passes through the first threading hole 43 and the second threading hole 46 in sequence. The arrangement of the first threading hole 43 and the second threading hole 46 allows the connecting wires of the driving member 22 to be concentrated through the first threading hole 43 and uniformly passed through the second threading hole 46, which helps to concentrate the connecting wires of the driving member 22 to one position for uniform connection. The first threading hole 43 extends out of the main bracket 20 to avoid interference with the transmission components, thereby improving the safety of use.

[0043] Further, such as Figures 1 to 6 As shown, the main bracket 20 includes a central axis bracket 21, a driving member 22, a first transmission bracket 23 and a second transmission bracket 26, a main cavity 29 is arranged on the central axis bracket 21, a buffer spacing 31 is provided between the central axis bracket 21 and the shaft bracket 44, a connecting shaft 60 is connected to the central axis bracket 21, the first transmission bracket 23 and the second transmission bracket 26 are relatively connected to the central axis bracket 21, a driving wheel 10 is connected to the side of the first transmission bracket 23 away from the central axis bracket 21, the driving member 22 is connected to the driving wheel 10 through the first transmission bracket 23, another driving wheel 10 is connected to the side of the second transmission bracket 26 away from the central axis bracket 21, another driving member 22 is connected to the driving wheel 10 through the second transmission bracket 26, wherein the upper end of a buffer member 61 is hinged to the support bracket 40, the lower end of the buffer member 61 is hinged to the first transmission bracket 23, the upper end of another buffer member 61 is hinged to the support bracket 40, and the lower end of another buffer member 61 is hinged to the second transmission bracket 26. The middle shaft bracket 21 is connected to the support bracket 40 through the connecting shaft 60, the first transmission bracket 23 and the second transmission bracket 26 are relatively connected to the middle shaft bracket 21 to achieve fixation, the driving member 22 is connected to the driving wheel 10 at the corresponding position through the first transmission bracket 23 or the second transmission bracket 26, and the two driving wheels 10 are independently provided with the driving member 22 for transmission connection to achieve independent control of the two driving wheels 10, so as to make driving more flexible. Among them, the buffer spacing 31 can be set accordingly according to the size of the buffer bar hole 41.

[0044] As one embodiment, the driving member 22 is a motor.

[0045] As one embodiment, the bracket through hole 30 is disposed on the middle axis bracket 21 .

[0046] Further, such as Figures 1 to 2As shown, one end of a driving member 22 is drivingly connected to a first transmission bracket 23, and a first buffer mounting area 12 is formed between the other end of the driving member 22 and a second transmission bracket 26. One buffer member 61 is mounted in the first buffer mounting area 12. One end of another driving member 22 is connected to the second transmission bracket 26, and a second buffer mounting area 13 is formed between the other end of the driving member 22 and the first transmission bracket 23. The other buffer member 61 is mounted in the second buffer mounting area 13. The first transmission bracket 23 and the second transmission bracket 26 are arranged offset in the forward direction, so that a first buffer mounting area 12 or a second buffer mounting area 13 is formed at the tail end of the driving member 22, and the two buffer members 61 are respectively mounted in the first buffer mounting area 12 and the second buffer mounting area 13. The driving members 22 are arranged back-to-back and staggered, so that the overall volume of the differential drive wheel 10 is reduced, and thus the turning radius of the differential drive wheel 10 is reduced to reduce the space required for the rotation of the differential drive wheel 10, and the overall structure is more compact. As one embodiment, the extending direction of the driving member 22 is the same as the axial direction of the drive wheel 10.

[0047] Further, as Figure 7 shown, the first transmission bracket 23 includes a first bracket 24 and a first transmission member 25. The first bracket 24 is fixedly connected to the central axis bracket 21. The first transmission member 25 is connected inside the first bracket 24. The driving member 22 is drivingly connected to the drive wheel 10 through the first transmission member 25. The first transmission member 25 is located inside the first bracket 24 and is fixed through the first bracket 24. The driving member 22 is drivingly connected to the drive wheel 10 through the first transmission member 25, and the first transmission member 25 transmits power between the driving member 22 and the drive wheel 10. As one embodiment, the first transmission member 25 is a gear or a gear set. The transmission connection methods of the gear and the gear set with the motor and the drive wheel 10 are prior arts and will not be elaborated here.

[0048] Further, as Figure 7 shown, the second transmission bracket 26 includes a second bracket 27 and a second transmission member 28. The second bracket 27 is fixedly connected to the central axis bracket 21. The second transmission member 28 is connected inside the second bracket 27. The driving member 22 is drivingly connected to the drive wheel 10 through the second transmission member 28. The second transmission member 28 is located inside the second bracket 27 and is fixed through the second bracket 27. The driving member 22 is drivingly connected to the drive wheel 10 through the second transmission member 28, and the second transmission member 28 transmits power between the driving member 22 and the drive wheel 10. As another embodiment, the second transmission member 28 is a gear or a gear set. The transmission connection methods of the gear and the gear set with the motor and the drive wheel 10 are prior arts and will not be elaborated here.

[0049] Of course, the arrangements of the transmission components between the first transmission member 25 and the driving wheel 10, and between the second transmission member 26 and the driving wheel 10 can be arranged according to actual requirements, such as the types of speed ratios, etc., and are not limited herein.

[0050] As one embodiment, the structures of the first transmission bracket 23 and the second transmission bracket 26 are the same, which helps to reduce production costs and facilitates assembly.

[0051] Furthermore, as Figure 2 shown, the extending direction of the driving member 22 is parallel to the axial direction of the driving wheel 10. The extending directions of the first transmission bracket 23 and the second transmission bracket 26 are arranged perpendicular to the axial direction of the driving wheel 10. Gears are internally connected in the first transmission bracket 23 and the second transmission bracket 26. Adjacent gears are arranged perpendicular to the axial direction of the driving wheel 10 and are meshed for transmission. The driving end of the driving member 22 is meshed with the gear in the first transmission bracket 23 or the second transmission bracket 26 through the gear. The gear in the first transmission bracket 23 or the second transmission bracket 26 is meshed with the transmission shaft in the driving wheel 10 to achieve the transmission connection between the driving member 22 and the driving wheel 10, and the transmission structure is simple.

[0052] In summary, the embodiment of the present utility model provides a differential driving wheel 10. The upper end of the support bracket 40 is used to connect the load. The support bracket 40 is connected to the main bracket 20 through the buffer member 61. Further, the support bracket 40 is supported at a set height through the buffer member 61. The driving wheel 10 is transmission-connected to the main bracket 20, and then drives the driving body 11 to move. Among them, the main bracket 20 is provided with a main cavity 29. The support bracket 40 is slidably installed in the main cavity 29. The support bracket 40 is provided with a buffer strip hole 41. The connecting shaft 60 passes through the buffer strip hole 41 and is connected to the main bracket 20. Further, when on flat ground, there is a buffer distance between the two ends of the connecting shaft 60 and the buffer strip hole 41 respectively. At the same time, the support bracket 40 and the main bracket 20 can rotate around the connecting shaft 60. The two driving wheels 10 float up and down on one main bracket 20, so that the differential driving wheel can swing left and right to adapt to the ground undulation.

[0053] The above are only the preferred embodiments of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the technical principle of the present utility model, several improvements and replacements can still be made, and these improvements and replacements should also be regarded as the protection scope of the present utility model.

Claims

1. A differential drive wheel, characterized in that: It includes a driving wheel and a driving body, the driving body includes a main bracket, a supporting bracket, a connecting shaft and a buffer member, the driving wheels are respectively connected to the opposite sides of the main bracket, the main bracket is provided with a main cavity, the opposite surfaces of the supporting bracket are respectively provided with buffer strip holes extending along the height direction, the supporting bracket is slidably installed in the main cavity, the connecting shaft passes through the buffer strip hole, the two ends of the connecting shaft are respectively connected to the main bracket, the buffer members are respectively installed on the opposite sides of the main bracket, the upper end of the buffer member is hinged to the supporting bracket, and the lower end of the buffer member is hinged to the main bracket.

2. The differential drive wheel according to claim 1, wherein: The supporting bracket includes an inner bracket, an axis bracket and a balancing axis block, the buffer strip hole is arranged on the inner bracket, the inner bracket is slidably installed on the main cavity, the inner bracket is provided with a balancing inner cavity, the balancing axis block is slidably connected to the balancing inner cavity, the balancing axis block is provided with an axis block through hole, the connecting shaft passes through the buffer strip hole and the axis block through hole respectively and is connected to the main bracket, the axis bracket is connected to the upper end of the inner bracket, and the upper end of the buffer is hinged to the axis bracket.

3. The differential drive wheel according to claim 2, wherein: The main bracket is provided with a bracket through hole, the bracket through hole is coaxially arranged with the shaft block through hole, and the connecting shaft is installed in the bracket through hole and connected to the main bracket.

4. The differential drive wheel according to claim 2, wherein: The shaft bracket includes a bracket plate, an angle transmission member, a limit pin and an angle controller. The bracket plate is connected to the upper end of the inner bracket. The bracket plate is provided with an arc-shaped limit groove, and the limit groove is coaxially arranged with the inner bracket. The limit pin is slidably installed in the limit groove and fixed to the angle transmission member. The angle transmission member is rotatably connected to the bracket plate. The angle transmission member is transmission-connected to the angle controller, and the angle controller is fixed to the bracket plate.

5. The differential drive wheel according to claim 2, wherein: The main bracket includes a central axis bracket, a driving member, a first transmission bracket and a second transmission bracket, the main cavity is arranged on the central axis bracket, a buffer distance is provided between the central axis bracket and the axis bracket, the connecting shaft is connected to the central axis bracket, the first transmission bracket and the second transmission bracket are relatively connected to the central axis bracket, the driving wheel is connected to the side of the first transmission bracket away from the central axis bracket, the driving member is connected to the driving wheel through the first transmission bracket, the other driving wheel is connected to the side of the second transmission bracket away from the central axis bracket, and the other driving member is connected to the driving wheel through the second transmission bracket, wherein the upper end of one of the buffer members is hinged to the support bracket, the lower end of the buffer member is hinged to the first transmission bracket, the upper end of the other buffer member is hinged to the support bracket, and the lower end of the other buffer member is hinged to the second transmission bracket.

6. The differential drive wheel according to claim 5, wherein: A first threading hole is provided at the upper end of the inner bracket, and the first threading hole extends out of the main bracket. The shaft bracket is provided with a second threading hole, and the first threading hole is connected to the second threading hole. The driving member is connected to a connecting wire, and the connecting wire passes through the first threading hole and the second threading hole in sequence.

7. The differential drive wheel according to claim 5, wherein: One end of one of the driving members is drivingly connected to the first transmission bracket, and a first buffer mounting area is formed between the other end of the driving member and the second transmission bracket. One of the buffer members is mounted in the first buffer mounting area. One end of the other driving member is connected to the second transmission bracket, and a second buffer mounting area is formed between the other end of the driving member and the first transmission bracket. The other buffer member is mounted in the second buffer mounting area.

8. The differential drive wheel according to claim 5, wherein: The first transmission bracket includes a first bracket and a first transmission member. The first bracket is fixedly connected to the central axis bracket, the first transmission member is connected inside the first bracket, and the driving member is drivingly connected to the driving wheel through the first transmission member.

9. The differential drive wheel according to claim 5, wherein: The second transmission bracket includes a second bracket and a second transmission member. The second bracket is fixedly connected to the central axis bracket, the second transmission member is connected inside the second bracket, and the driving member is drivingly connected to the driving wheel through the second transmission member.

10. The differential drive wheel according to claim 5, characterized in that: The extending direction of the driving member is parallel to the axial direction of the driving wheel, and the extending directions of the first transmission bracket and the second transmission bracket are arranged perpendicular to the axial direction of the driving wheel.

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