Differential driving device and automatic guided vehicle

Abstract

The utility model discloses a differential driving device and an automatic guided vehicle. The differential driving device comprises a damping mechanism, a first rotating member, a second rotating member and a driving mechanism, the first rotating piece sleeves the outer side of the second rotating piece, the second rotating piece can rotate relative to the first rotating piece in the first direction, the damping mechanism is connected with the first rotating piece, and the driving mechanism is connected with the second rotating piece; a bar code tape is arranged on the outer surface of the first rotating part, and a sensor is arranged on the driving mechanism and used for identifying the bar code tape. The first rotating part and the second rotating part are rotationally connected, the damping mechanism is connected to one side of the first rotating part, and the driving mechanism is connected to the other side, away from the damping mechanism, of the first rotating part, so that the structure of the differential driving device can be simplified; meanwhile, the rotation state of the driving mechanism is fed back through cooperation of the bar code tape and the sensor, the structure of the differential driving device can be further simplified, and therefore convenience is provided for later installation and maintenance work of the differential driving device.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic guided vehicles, and particularly relates to a differential driving device and an automatic guided vehicle. BACKGROUND

[0002] An automatic guided vehicle (AGV) is an automatic transport vehicle equipped with an automatic guiding device such as an electromagnetic or optical device, capable of traveling along a set guiding path, and having functions such as transplanting and carrying. The AGV can replace manual work and is widely used in industries such as warehousing and logistics.

[0003] In the related art, the differential driving device in a heavy-load AGV has a complex structure, which is inconvenient for subsequent disassembly and maintenance. CONTENT OF THE INVENTION

[0004] The application aims to provide a differential driving device and an automatic guided vehicle, which can solve the problems of complex structure of the differential driving device in the related art and difficult disassembly and maintenance.

[0005] To solve the above technical problems, the application is implemented as follows:

[0006] In a first aspect, an embodiment of the application provides a differential driving device, comprising: a damping mechanism, a first rotating member, a second rotating member and a driving mechanism.

[0007] The first rotating member is arranged outside the second rotating member, the second rotating member can rotate relative to the first rotating member in a first direction, the damping mechanism is connected to the first rotating member, and the driving mechanism is connected to the second rotating member; a bar code strip is arranged on the outer surface of the first rotating member, and a sensor is arranged on the driving mechanism, and the sensor is used to identify the bar code strip.

[0008] Optionally, the damping mechanism comprises a first support seat, a mounting plate and an elastic member.

[0009] The first support seat is fixedly connected to the first rotating member, the mounting plate is movably connected to the first support seat, the elastic member is arranged between the first support seat and the mounting plate, one end of the elastic member is connected to the first support seat, and the other end of the elastic member is connected to the mounting plate.

[0010] Optionally, the damping mechanism further comprises a guide column, a guide hole is arranged in the first support seat, one end of the guide column is connected to the mounting plate, and the other end of the guide column penetrates the guide hole, and the guide column can move in the first direction in the guide hole.

[0011] Optionally, the damping mechanism further comprises a first limiting member, the first limiting member is connected to an end of the guide column away from the mounting plate, a limiting platform is arranged on a hole wall of the guide hole, and the first limiting member is in limiting cooperation with the limiting platform to limit displacement of the guide column in the first direction.

[0012] Optionally, the elastic members are arranged in a plurality of groups, and the elastic members in each group are arranged at intervals around the guide hole.

[0013] Optionally, an outer circumferential surface of the guide column is provided with a wear-resistant layer.

[0014] Optionally, a buffer block is further arranged between the mounting plate and the first support seat, and the buffer block is mounted on the first support seat and / or the mounting plate.

[0015] Optionally, a buffer layer is arranged on a side of the first support seat facing the mounting plate.

[0016] Optionally, the driving mechanism comprises a driving assembly, a first connecting plate and a second support seat, the first connecting plate is connected to the second rotating member, the driving assembly is arranged on a side of the first connecting plate away from the second rotating member, the driving assembly is rotationally connected to the second support seat, the driving assembly can swing relative to the first connecting plate in a second direction, the second direction is perpendicular to the first direction, and the sensor is arranged on the second support seat.

[0017] Optionally, the driving mechanism further comprises a second limiting member, the second limiting member is arranged on the driving assembly, and the second limiting member is in limiting cooperation with the second support seat to limit a swing range of the second support seat.

[0018] Optionally, a curved surface is arranged on a side of the second support seat facing the second limiting member, a flat surface is arranged on a side of the second limiting member facing the second support seat, and the curved surface is at least partially in limiting contact with the flat surface.

[0019] Optionally, the driving assembly comprises a connecting frame and two groups of wheel assemblies, the connecting frame is rotationally connected to the second support seat, and the two groups of wheel assemblies are respectively connected to the connecting frame, the two groups of wheel assemblies are oppositely arranged in a third direction, and the third direction is perpendicular to the first direction and the second direction.

[0020] Optionally, the wheel assembly comprises a driving member, a speed reduction member and a wheel, the driving member is connected to the speed reduction member, the wheel is connected to a side of the speed reduction member away from the driving member, and the driving member drives the wheel to rotate through the speed reduction member.

[0021] In a second aspect, an automatic guided vehicle is provided, comprising the differential driving device described in any one of the above embodiments.

[0022] In the embodiments of the present application, the damping mechanism is connected to one end of the first rotary member by connecting the rotation of the first rotary member and the second rotary member, and the driving mechanism is connected to the other end of the first rotary member away from the damping mechanism, so that the structure of the differential driving device is more compact and simple. At the same time, the rotation state of the driving mechanism is fed back by using the cooperation of the bar code tape and the sensor, which can further simplify the structure of the differential driving device, thereby providing convenience for the later installation and maintenance of the differential driving device.

[0023] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings, wherein:

[0025] Figure 1 is a schematic view of a differential driving device according to an embodiment of the present application;

[0026] Figure 2 is a perspective view of a differential driving device according to an embodiment of the present application;

[0027] Figure 3 is a sectional view of a differential driving device according to an embodiment of the present application;

[0028] Figure 4 is a partial structure schematic view of a driving mechanism according to an embodiment of the present application.

[0029] LIST OF REFERENCE NUMERALS

[0030] 100: damping mechanism; 110: first support seat; 112: limiting table; 120: mounting plate; 130: elastic member; 140: guide column; 150: wear-resistant layer; 160: buffer block; 170: buffer layer; 180: first limiting member; 200: first rotary member; 210: bar code tape; 220: sensor; 300: second rotary member; 400: driving mechanism; 410: driving assembly; 411: connecting frame; 412: wheel assembly; 4121: driving member; 4122: speed reduction member; 4123: wheel; 420: first connecting plate; 430: second support seat; 431: rotating shaft; 440: second limiting member; X: first direction; Y: second direction; Z: third direction. DETAILED DESCRIPTION

[0031] The embodiments of the present application will be described in detail below with reference to the accompanying drawings, wherein the same or similar components are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] The terms "first", "second" in the description and claims of the present application can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0034] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] The differential drive device and the automatic guided vehicle provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments and their application scenarios.

[0036] As Figure 1As shown, the differential drive device according to some embodiments of the present application comprises: a damping mechanism 100, a first rotating member 200, a second rotating member 300 and a driving mechanism 400; the first rotating member 200 is sleeved outside the second rotating member 300, the second rotating member 300 can rotate relative to the first rotating member 200 in the first direction X, the damping mechanism 100 is connected with the first rotating member 200, and the driving mechanism 400 is connected with the second rotating member 300; a bar code strip 210 is arranged on the outer surface of the first rotating member 200, and a sensor 220 is arranged on the driving mechanism 400, and the sensor 220 is used for identifying the bar code strip 210.

[0037] In the embodiments of the present application, the first rotating member 200 and the second rotating member 300 are rotationally connected, the damping mechanism 100 is connected to one side of the first rotating member 200, and the driving mechanism 400 is connected to the other side of the first rotating member 200 away from the damping mechanism 100, so that the structure of the differential drive device can be more compact and simple; at the same time, the rotation state of the driving mechanism 400 can be fed back by using the cooperation of the bar code strip 210 and the sensor 220, so that the structure of the differential drive device can be further simplified, thereby providing convenience for the later installation and maintenance of the differential drive device.

[0038] Specifically, the first rotating member 200 is sleeved outside the second rotating member 300, the first rotating member 200 is rotationally connected with the second rotating member 300, the second rotating member 300 can rotate relative to the first rotating member 200 in the first direction X, one end of the damping mechanism 100 is fixedly connected with the first rotating member 200, the other end of the damping mechanism 100 away from the first rotating member 200 is fixedly connected with the vehicle frame, and the driving mechanism 400 is fixedly connected to the other end of the second rotating member 300 away from the damping mechanism 100; in addition, the bar code strip 210 is arranged outside the first rotating member 200, the bar code strip 210 records the position information of the first rotating member 200, the sensor 220 is fixedly connected to the driving mechanism 400 and is signal-connected with a control system, the control system is signal-connected with the driving mechanism 400, and the sensor 220 can identify the position information on the bar code strip 210 and transmit the position signal to the control system.

[0039] It should be noted that an adhesive layer can be arranged on the side of the bar code strip 210 facing the first rotating member 200, and the bar code strip 210 is pasted on the circumferential outer surface of the first rotating member 200 through the adhesive layer; or a support can be arranged around the circumferential surface of the first rotating member 200, and the bar code strip 210 is connected to the support. Of course, the specific manner of arranging the bar code strip 210 on the circumferential outer surface of the first rotating member 200 can be flexibly arranged according to actual process requirements, and the present embodiment does not limit it.

[0040] In a specific application, the sensor 220 is fixed on the connection of the driving mechanism 400, when the driving mechanism 400 turns, the second rotary part 300 rotates with the driving mechanism 400, while the first rotary part 200 is fixed, in the process of rotation, the sensor 220 can identify the position information of the bar code tape 210 on the first rotary part 200 in real time, and transmit the signal carrying the position information to the control system, the control system can adjust the rotation angle of the driving mechanism 400 in real time according to the received position signal.

[0041] Optionally, as shown in Figure 2 The damping mechanism 100 comprises a first support base 110, a mounting plate 120 and an elastic member 130; the first support base 110 is fixedly connected with the first rotary part 200, the mounting plate 120 is movably connected with the first support base 110, and the elastic member 130 is arranged between the first support base 110 and the mounting plate 120, one end of the elastic member 130 is connected with the first support base 110, and the other end of the elastic member 130 is connected with the mounting plate 120.

[0042] In the embodiment of the application, the elastic member 130 is arranged between the mounting plate 120 and the first support base 110, so that the mounting plate 120 and the first support base 110 are elastically connected by the elastic force provided by the elastic member 130, which can buffer and damp the differential drive device and adjust the balance during driving. When the differential drive device passes through the road surface with ups and downs, the elastic member 130 can automatically swing left and right to adjust the differential drive device, so that the wheels in the driving mechanism 400 are always in contact with the road surface, thereby enhancing the grip of the driving mechanism 400 on the road surface, so that the differential drive device can run more smoothly; at the same time, the position information of the driving mechanism 400 transmitted to the control system by the sensor 220 is more accurate, so that the control system can adjust the rotation angle of the driving mechanism 400 in time and accurately, thereby improving the stability and reliability of the differential drive device.

[0043] Specifically, the elastic member 130 can be a spring, the first support base 110 is fixedly connected with the first rotary part 200, the mounting plate 120 can be fixedly connected with the vehicle frame, the spring is arranged between the first support base 110 and the mounting plate 120, one end of the spring is fixedly connected with the mounting plate 120, and the other end of the spring is fixedly connected with the first support base 110. It can be understood that the elastic member 130 can also be a rubber elastic body, and the elastic member 130 can be flexibly selected according to actual needs, and the embodiment is not limited thereto.

[0044] Optionally, as shown in Figure 2As shown, the damping mechanism 100 further comprises a guide column 140, a guide hole is arranged in the first support base 110, one end of the guide column 140 is connected with the mounting plate 120, and the other end is arranged in the guide hole, and the guide column 140 can be telescopically moved in the first direction X in the guide hole.

[0045] In the embodiment of the present application, by arranging the guide column 140 between the mounting plate 120 and the first support base 110, when the differential driving device passes through the uneven road surface, the guide column 140 is telescopically moved in the first direction X in the guide hole, the movement direction of the mounting plate 120 is limited in the first direction X, the pressure of the load on the mounting plate 120 to the driving mechanism 400 is more concentrated, thereby further improving the grip of the differential driving device, making the driving mechanism 400 always in contact with the ground, and correspondingly improving the stability of the differential driving device in operation; and the guide assembly composed of the guide column 140 and the guide hole not only has a simple structure, but also is convenient to install, disassemble and maintain, and can reduce the cost.

[0046] Specifically, the guide column 140 is installed at one end of the mounting plate 120 towards the first support base 110, and the guide column 140 is located at the central position of the mounting plate 120, and the first support base 110 is provided with a guide hole capable of adapting the shape and size of the guide column 140, so that the telescopical movement of the guide column 140 in the guide hole is more smooth and stable, thereby improving the stability of the entire differential driving device. It can be understood that the guide column 140 can be cylindrical or cuboid, and the specific shape can be flexibly set according to actual needs, which is not limited in the embodiment.

[0047] Optionally, as shown in Figure 3 The damping mechanism 100 further comprises a first limiting piece 180, the first limiting piece 180 is connected to one end of the guide column 140 away from the mounting plate 120, the hole wall of the guide hole is provided with a limiting table 112, and the first limiting piece 180 is limited and matched with the limiting table 112 to limit the displacement of the guide column 140 in the first direction X.

[0048] In the embodiment of the present application, by arranging the first limiting piece 180 at one end of the guide column 140 away from the mounting plate 120, and arranging the limiting table 112 on the hole wall of the guide hole, and limiting and matching the first limiting piece 180 with the limiting table 112, the guide column 140 can be avoided from being pulled out of the guide hole in the first direction X during the telescopical movement in the guide hole, thereby affecting the normal operation of the differential driving device and the safety during operation; in addition, the first limiting piece 180 and the guide column 140 can be detachably connected, which provides convenience for subsequent maintenance or replacement work.

[0049] Optionally, as shown in Figure 2As shown, the elastic members 130 are provided in multiple numbers and are arranged at intervals around the guide hole.

[0050] In the embodiment of the present application, by providing multiple elastic members 130 and arranging the multiple elastic members 130 at intervals around the guide hole, the elastic force between the mounting plate 120 and the first support seat 110 can be evenly distributed, which is more conducive to the balance of the differential drive device. In addition, when the differential drive device bears a relatively large load, the multiple elastic members 130 can bear part of the load respectively, which can better provide a buffering and damping effect for the differential drive device and can improve the use stability and service life of the elastic members 130.

[0051] In some optional embodiments, three elastic members 130 can be used, which are arranged at intervals in a triangle around the guide hole. Four elastic members 130 can also be used, which are connected to the four corner positions of the mounting plate 120 around the guide hole. Of course, the number and arrangement of the elastic members 130 can be flexibly selected and set according to actual needs, and the present embodiment does not limit this.

[0052] In some embodiments, as shown in Figure 3 As shown, the outer circumferential surface of the guide column 140 is provided with a wear-resistant layer 150.

[0053] In specific applications, by providing the wear-resistant layer 150 on the outer circumferential surface of the guide column 140, the damage of the guide column 140 during long-term expansion and contraction movement in the guide hole can be reduced, thereby improving the service life of the guide column 140 and reducing the disassembly and maintenance work caused by the wear of the guide column 140 in the later period. It can be understood that the wear-resistant layer 150 can be selected from wear-resistant paint with wear-resistant function, such as ceramic coating, polymer coating, etc. The wear-resistant layer 150 can also be selected from lubricating oil. By applying lubricating oil on the surface of the guide column 140, the friction between the guide column 140 and the guide hole can be reduced, thereby reducing the damage to the guide column 140. Of course, the specific material type of the wear-resistant layer 150 can be flexibly selected according to actual needs, and the present embodiment does not limit this.

[0054] In some other embodiments, as shown in Figure 3 As shown, a buffer block 160 is further arranged between the mounting plate 120 and the first support seat 110, and the buffer block 160 is mounted on the first support seat 110 and / or the mounting plate 120.

[0055] In specific application, by arranging the buffer block 160 between the mounting plate 120 and the first support base 110, not only the collision between the mounting plate 120 and the first support base 110 can be avoided to cause noise, but also the damage of the first support base 110, the mounting plate 120 or other components caused by the direct collision between the mounting plate 120 and the first support base 110 can be avoided. It should be noted that the buffer block 160 can be made of elastic material, such as resin or rubber, which is not limited in the embodiment.

[0056] In specific application, the installation position of the buffer block 160 can be flexibly set according to actual needs, for example, the buffer block 160 can be arranged on the mounting plate 120, or on the first support base 110, or on the mounting plate 120 and the first support base 110 at the same time. Of course, the buffer block 160 can also be arranged in the elastic member 130, such as the inside of the spring, which can not only protect the mounting plate 120, but also protect the spring, avoiding damage of the spring due to excessive compression when the mounting plate 120 bears too much load.

[0057] Optionally, as shown in Figure 3 The side of the first support base 110 facing the mounting plate 120 is provided with a buffer layer 170.

[0058] In the embodiment of the application, by arranging the buffer layer 170 on the side of the first support base 110 facing the mounting plate 120, the rigid collision of the first support base 110 and the vehicle frame connected with the mounting plate 120 can be avoided, so as to cause damage to the first support base 110 or the vehicle frame. It should be understood that the buffer layer 170 can be made of elastic material, such as resin or rubber, and the number and thickness of the buffer layer 170 can be flexibly adjusted, which is not limited in the embodiment.

[0059] Optionally, as shown in Figure 2 The driving mechanism 400 includes a driving assembly 410, a first connecting plate 420 and a second support base 430. The first connecting plate 420 is connected with the second rotating member 300. The driving assembly 410 is arranged on the side of the first connecting plate 420 away from the second rotating member 300. The driving assembly 410 is rotationally connected with the second support base 430. The driving assembly 410 can swing relative to the first connecting plate 420 around the second direction Y. The second direction Y is perpendicular to the first direction X. The sensor 220 is arranged on the second support base 430.

[0060] In the embodiment of the present application, the differential drive device can adapt to the road surface with ups and downs through the rotation connection of the driving assembly 410 and the second support seat 430. When one side of the driving assembly 410 is in contact with the recessed ground, the driving assembly 410 can swing around the second direction Y to make angle adjustment, so that the other side of the driving assembly 410 is always in contact with the road surface. In this way, the two sides of the driving assembly 410 can simultaneously contact the road surface, thereby improving the driving stability of the differential drive device.

[0061] Specifically, the first connecting plate 420 is fixedly connected with the second rotating piece 300, the driving assembly 410 is connected to one side of the first connecting plate 420 away from the second rotating piece 300, the second support seat 430 and the driving assembly 410 are respectively provided with mounting holes, and the rotating shaft 431 penetrates through the mounting holes to rotationally connect the second support seat 430 and the driving assembly 410. In addition, the sensor 220 is detachably connected to the second support seat 430, the information acquisition probe of the sensor 220 is opposite to the bar code strip 210 on the first rotating piece 200, when the driving assembly 410 rotates, the sensor 220 is driven to rotate together, so that the sensor 220 can acquire different position information on the bar code strip 210, and the sensor 220 and the second support seat 430 are detachably connected, so that when the sensor 220 needs to be repaired or replaced, the detachable connection mode provides convenience for the installation or disassembly of the sensor 220.

[0062] Optionally, as shown in Figure 2 The driving mechanism 400 further includes a second limiting piece 440, the second limiting piece 440 is arranged on the driving assembly 410, and the second limiting piece 440 is in limiting cooperation with the second support seat 430 to limit the swing range of the second support seat 430.

[0063] In the embodiment of the present application, the second limiting piece 440 is arranged on the driving assembly 410, and the second limiting piece 440 is in limiting cooperation with the second support seat 430 to control the swing amplitude of the second support seat 430. When the driving mechanism 400 passes through the road surface with a large ups and downs amplitude, if the swing amplitude of the second support seat 430 is too large, the differential drive device is prone to overturning and other dangers, and the arrangement of the second limiting piece 440 can control the swing amplitude of the second support seat 430 within a preset angle range, avoid the rotation angle of the second support seat 430 being too large, and cause the center of gravity of the differential drive device to deviate, thereby causing the differential drive device to overturn and causing safety problems.

[0064] It can be understood that the arrangement mode of the second limiting piece 440 can be flexibly adjusted according to actual conditions to limit the swing amplitude of the second support seat 430, and the present application does not limit this.

[0065] Optionally, as shown in Figure 4As shown, the second support base 430 is provided with a curved surface on the side facing the second limiting member 440, and the second limiting member 440 is provided with a flat surface on the side facing the second support base 430, and the curved surface is at least partially in limiting contact with the flat surface.

[0066] In the embodiment of the present application, by providing the curved surface on the side of the second support base 430 facing the second limiting member 440, and providing the flat surface on the side of the second limiting member 440 facing the second support base 430, and the curved surface is at least partially in limiting contact with the flat surface, when the differential drive device passes through the road surface with ups and downs, the second support base 430 rotates around 431, and the curved surface on 430 can roll relative to the flat surface of the second limiting member 440, when the second support base 430 rotates to the corner of the curved surface, the second support base 430 abuts against the second limiting member 440 to limit the continuous rotation of the second support base 430, thereby limiting the rotation amplitude of the second support base 430, and improving the stability of the differential drive device.

[0067] Optionally, as shown in the drawings, Figure 2 The driving assembly 410 includes a connecting frame 411 and two sets of wheel 4123 assemblies 412, the connecting frame 411 is rotationally connected to the second support base 430, and the two sets of wheel 4123 assemblies 412 are respectively connected to the connecting frame 411, and the two sets of wheel 4123 assemblies 412 are oppositely arranged along a third direction Z, which is perpendicular to the first direction X and the second direction Y.

[0068] In the embodiment of the present application, the second support base 430 and the two sets of wheel assemblies 412 are connected by the connecting frame 411, which can simplify the structure of the driving mechanism 400, and when it is necessary to repair and replace the wheel assemblies 412 or the second support base 430 and other components, it can be conveniently disassembled and installed, providing convenience for maintenance personnel.

[0069] Optionally, as shown in the drawings, Figure 2 to Figure 3 The wheel assembly 412 includes a driving member 4121, a speed reduction member 4122 and a wheel 4123, the wheel 4123 is rotationally connected to the connecting frame 411, the driving member 4121 and the speed reduction member 4122 are both arranged in the connecting frame 411, the speed reduction member 4122 is connected to the wheel 4123, the driving member 4121 is connected to the speed reduction member 4122, and the driving member 4121 drives the wheel 4123 to rotate through the speed reduction member 4122.

[0070] In the embodiment of the present application, the two groups of wheel assemblies 412 are oppositely arranged along the third direction Z, wherein the two driving members 4121 are connected through the connecting frame 411, the output end of the driving member 4121 is connected with the input end of the speed reduction member 4122, and the output end of the speed reduction member 4122 is connected with the wheel 4123 in each group of wheel assemblies 412, the driving member 4121 can drive the wheel 4123 to rotate, the speed reduction member 4122 can reduce the rotating speed of the driving member 4121, and the straight line running and steering functions of the differential driving device can be realized by controlling the speed difference of the two driving members 4121.

[0071] It should be noted that the driving member 4121 can be selected as a motor, the motor has high driving efficiency, fast response speed, high control precision, and can provide the driving position precision and speed of the differential driving device; the speed reduction member 4122 can be selected as a speed reduction motor, the speed reduction motor has low energy consumption, high efficiency and compact structure, and can make the structure of the differential driving device more compact and simple, of course, the driving member 4121 and the speed reduction member 4122 can be flexibly selected according to actual needs, and the embodiment is not limited thereto.

[0072] Optionally, the embodiment of the present application further provides an automatic guided vehicle, which comprises the differential driving device in the above embodiment.

[0073] In the embodiment of the present application, the first rotating member 200 and the second rotating member 300 are rotationally connected, the damping mechanism 100 is connected to one end of the first rotating member 200, and the driving mechanism 400 is connected to the other end of the first rotating member 200 away from the damping mechanism 100, so that the structure of the differential driving device can be more compact and simple; at the same time, the rotating state of the driving mechanism 400 can be fed back by using the cooperation of the bar code strip 210 and the sensor 220, so that the structure of the differential driving device can be further simplified, thereby providing convenience for the later installation and maintenance of the differential driving device.

[0074] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0075] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A differential drive apparatus, characterized by, The application relates to a damping mechanism, a first rotating part, a second rotating part and a driving mechanism. The first rotating part is sleeved outside the second rotating part, the second rotating part can rotate relative to the first rotating part in a first direction, the damping mechanism is connected with the first rotating part, and the driving mechanism is connected with the second rotating part; a bar code strip is arranged on the outer surface of the first rotating part, and a sensor is arranged on the driving mechanism, and the sensor is used for identifying the bar code strip. The damping mechanism comprises a first supporting base, a mounting plate and an elastic piece.

2. The differential drive of claim 1, wherein, The first supporting base is fixedly connected with the first rotating part, the mounting plate is movably connected with the first supporting base, and the elastic piece is arranged between the first supporting base and the mounting plate. The damping mechanism further comprises a guide column, a guide hole is arranged in the first supporting base, one end of the guide column is connected with the mounting plate, and the other end of the guide column penetrates through the guide hole; the guide column can move in the first direction in the guide hole.

3. The differential drive of claim 2, wherein, The damping mechanism further comprises a first limiting piece, the first limiting piece is connected with the end of the guide column away from the mounting plate, and the hole wall of the guide hole is provided with a limiting table; the first limiting piece is in limiting cooperation with the limiting table, so as to limit the displacement of the guide column in the first direction.

4. The differential drive of claim 3, wherein, The elastic piece is provided in a plurality of forms, and the plurality of elastic pieces are arranged around the guide hole at intervals.

5. The differential drive apparatus of claim 3, wherein The outer circumferential surface of the guide column is provided with a wear-resistant layer. The mounting plate and the first supporting base are further provided with a buffer block. The side of the first supporting base, which faces the mounting plate, is provided with a buffer layer. The driving mechanism comprises a driving assembly, a first connecting plate and a second supporting base; the first connecting plate is connected with the second rotating part; the driving assembly is arranged on the side of the first connecting plate away from the second rotating part; the driving assembly is rotatably connected with the second supporting base; the driving assembly can swing relative to the first connecting plate in a second direction; the second direction is perpendicular to the first direction; and the sensor is arranged on the second supporting base.

6. A differential drive as claimed in any one of claims 1 to 5, wherein, The driving mechanism further comprises a second limiting piece, which is arranged on the driving assembly; the second limiting piece is in limiting cooperation with the second supporting base, so as to limit the swing range of the second supporting base.

7. A differential drive arrangement according to claim 6, characterised in that, The side of the second supporting base, which faces the second limiting piece, is provided with a curved surface; the side of the second limiting piece, which faces the second supporting base, is provided with a flat surface; and the curved surface is at least partially in limiting contact with the flat surface.

8. A differential drive arrangement according to claim 7, characterised in that, The driving assembly comprises a connecting frame and two groups of wheel assemblies; the connecting frame is rotatably connected with the second supporting base; the two groups of wheel assemblies are respectively connected with the connecting frame; and the two groups of wheel assemblies are oppositely arranged in a third direction; the third direction is perpendicular to the first direction and the second direction.

9. The differential drive apparatus of claim 6, wherein, ​ 10. The differential drive apparatus of claim 9, wherein, The wheel assembly comprises a driving member, a speed reduction member and a wheel, the wheel is rotationally connected to the connecting frame, the driving member and the speed reduction member are arranged in the connecting frame, the speed reduction member is connected with the wheel, the driving member is connected with the speed reduction member, and the driving member drives the wheel to rotate through the speed reduction member.

11. An automated guided vehicle, characterized by The differential drive device comprises the differential drive device according to any one of claims 1-10.

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