Driving device and AGV

Abstract

The utility model discloses a driving device and an AGV (Automatic Guided Vehicle). The driving device comprises a fixed bracket, a floating bracket, a driving wheel mechanism and a pressurizing mechanism, the fixing support is used for being fixedly connected with a vehicle body of the AGV. The floating bracket is hinged with the fixed bracket; the driving wheel mechanism comprises a driving source and a driving wheel, the fixed end of the driving source is connected with the floating support, and the power end of the driving source is connected with the driving wheel; the pressurizing mechanism comprises a power source and a first elastic piece, the fixed end of the power source is hinged to the fixed support, one end of the first elastic piece is connected with the power end of the power source, and the other end of the first elastic piece is hinged to the floating support; the power end of the power source enables the floating support to swing by compressing the first elastic piece so as to pressurize the driving wheel mechanism. According to the scheme, the problem that the reliability of the AGV is poor can be solved.

Description

Technical Field

[0001] This utility model relates to the field of AGV technology, and in particular to a drive device and an AGV. Background Technology

[0002] With societal development, logistics systems are becoming increasingly automated and intelligent. AGVs (Automated Guided Vehicles) are essential in current logistics sorting and transportation operations. An AGV is a transport vehicle capable of traveling along a prescribed path, possessing safety protection and various transfer functions.

[0003] In related technologies, AGVs include a vehicle body and a drive unit. The drive unit is connected to the vehicle body and can drive the vehicle body to move.

[0004] However, when the load on the vehicle is large, the uneven load distribution reduces the friction between the drive wheels and the ground. For example, when the center of gravity of the load on the vehicle is far from the drive unit, the side of the vehicle closer to the drive unit will be lifted by the load. This reduces the pressure on the drive unit from the lifted area, further decreasing the friction between the drive wheels and the ground. Consequently, the AGV's driving force is weak, increasing the risk of slippage and making it difficult for the AGV to operate normally. Therefore, the reliability of AGVs in this technology is relatively poor. Utility Model Content

[0005] This utility model discloses a driving device and an AGV to solve the problem of poor reliability of AGV.

[0006] To solve the above problems, the present invention adopts the following technical solution:

[0007] A drive device for use in an AGV, the drive device comprising:

[0008] A fixed bracket is used to fix the AGV to the vehicle body;

[0009] A floating support, which is hinged to the fixed support;

[0010] A drive wheel mechanism, comprising a drive source and a drive wheel, wherein the fixed end of the drive source is connected to the floating bracket, and the power end of the drive source is connected to the drive wheel;

[0011] A pressurizing mechanism includes a power source and a first elastic element. The fixed end of the power source is hinged to the fixed bracket. One end of the first elastic element is connected to the power end of the power source, and the other end of the first elastic element is hinged to the floating bracket. The power end of the power source compresses the first elastic element to cause the floating bracket to swing, thereby pressurizing the drive wheel mechanism.

[0012] An AGV includes a vehicle body and the aforementioned drive device, wherein the fixed bracket is fixedly connected to the vehicle body.

[0013] The technical solution adopted in this utility model can achieve the following beneficial effects:

[0014] The drive device disclosed in this utility model addresses the issue that, under heavy load conditions, uneven load distribution causes localized areas of the vehicle body to be lifted by the load, thus reducing the pressure on the drive wheels. To increase the pressure on the drive wheels, the power source compresses a first elastic element, generating a greater elastic force. This elastic force is applied to a floating support. Since the floating support is hinged to the fixed support, the elastic force from the first elastic element allows the floating support to swing relative to the fixed support. The force on the floating support is transmitted to the drive source, which then transmits it to the drive wheels, increasing pressure on the drive wheels and ensuring they are firmly in contact with the ground. This increases the friction between the drive wheels and the ground, improving the drive wheels' grip and preventing slippage. This enhances the reliability of the AGV. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0016] Figure 1 This is a schematic diagram of the structure of the driving device disclosed in the embodiment of this utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the fixed bracket of the driving device disclosed in the embodiment of this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the floating support of the driving device disclosed in the embodiments of this utility model;

[0019] Figure 4 and Figure 5 This is a schematic diagram of the pressurization mechanism of the drive device disclosed in an embodiment of the present utility model;

[0020] Figure 6 This is a schematic diagram of the structure of the second elastic element of the driving device disclosed in an embodiment of the present utility model;

[0021] Figures 7 to 9 This is a schematic diagram of the drive wheel mechanism of the drive device disclosed in an embodiment of the present utility model;

[0022] Figure 10 This is a schematic diagram of the structure of the rotary support component of the drive device disclosed in the embodiment of this utility model;

[0023] Figure 11 and Figure 12 This is a layout diagram of two drive devices for the AGV disclosed in the embodiments of this utility model.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100-Drive device, 110-Fixed bracket, 111-First base plate, 112-First hinge seat, 113-Second hinge seat, 120-Floating bracket, 121-Second base plate, 122-Third hinge seat, 123-Fourth hinge seat, 130-Drive wheel mechanism, 131-Drive source, 1311-Mounting housing, 1311a-Second hinge protrusion, 1312-First motor module, 1313-Second motor module, 132-Drive wheel, 1321-First drive wheel, 1322-Second drive wheel, 140-Boosting mechanism, 141-Power source, 142-First elastic element, 142 1-First hinge part, 1422-First guide sleeve, 1422a-First annular protrusion, 1423-First guide rod, 1423a-Second annular protrusion, 1424-First spring, 150-Rotary support member, 151-Inner ring body, 1511-First hinge protrusion, 152-Outer ring body, 161-First hinge shaft, 162-Second hinge shaft, 163-Third hinge shaft, 164-Fourth hinge shaft, 170-Second elastic member, 171-Second hinge part, 172-Third hinge part, 173-Second guide sleeve, 174-Second guide rod, 175-Second spring, 200-Vehicle body. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0027] The technical solutions disclosed in the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0028] like Figures 1 to 10 As shown, this utility model embodiment discloses a drive device 100, which is applied to an AGV. The disclosed drive device 100 includes a fixed bracket 110, a floating bracket 120, a drive wheel mechanism 130, and a pressurization mechanism 140.

[0029] The fixed bracket 110 is fixedly connected to the AGV body 200. The fixed bracket 110 is used to connect the drive unit 100 and the AGV body 200. The fixed bracket 110 and the body 200 can be connected by bolts, rivets, or other components. Of course, the fixed bracket 110 and the body 200 can also be connected by other components, which is not limited in this article.

[0030] The floating bracket 120 is hinged to the fixed bracket 110, allowing the floating bracket 120 to swing relative to the fixed bracket 110. Optionally, the floating bracket 120 and the fixed bracket 110 can be hinged using components such as a hinge shaft, a universal hinge, or a hinge.

[0031] The drive wheel mechanism 130 is the main component of the drive device 100. The drive wheel mechanism 130 includes a drive source 131 and a drive wheel 132. The drive source 131 is the power component of the drive wheel mechanism 130, and the drive wheel 132 is the actuating component. The fixed end of the drive source 131 can be connected to the floating support 120, and the power end of the drive source 131 is connected to the drive wheel 132. In this case, the drive source 131 drives the drive wheel 132 to rotate, thereby realizing the forward and backward operation of the drive device 100. Optionally, the drive source 131 can be a motor, and the drive shaft of the motor can be fitted onto the drive wheel 132. Alternatively, the drive source 131 can be a combination of a motor and a reducer. Of course, the drive source 131 can also be other power mechanisms, which are not limited herein.

[0032] The pressurization mechanism 140 includes a power source 141 and a first elastic element 142. The fixed end of the power source 141 can be hinged to the fixed bracket 110. Here, the fixed end of the power source 141 can be the outer shell of the power source 141 or a hinged structure mounted on the shell. The fixed end of the power source 141 and the fixed bracket 110 can be hinged via components such as a hinge shaft, a universal hinge, or a hinge. One end of the first elastic element 142 is connected to the power end of the power source 141, and the other end of the first elastic element 142 is hinged to the floating bracket 120. The first elastic element 142 and the fixed bracket 110 can be hinged via components such as a hinge shaft, a universal hinge, or a hinge. The power end of the power source 141 compresses the first elastic element 142 to cause the floating bracket 120 to swing, thereby pressurizing the drive wheel mechanism 130.

[0033] In specific operation, when the vehicle body 200 is under heavy load, the uneven distribution of the load on the vehicle body 200 causes some areas of the vehicle body 200 to be lifted by the load. This reduces the friction between the drive wheel 132 and the ground, resulting in a smaller driving force for the AGV and causing it to slip. To prevent the AGV from slipping, the power end of the power source 141 can compress the first elastic element 142. Here, the power end of the power source 141 extends, causing the first elastic element 142 to be compressed. This results in the first elastic element 142 generating a large elastic force, which is applied to the floating support 120. Since the floating support 120 is hinged to the fixed support 110, the elastic force generated by the first elastic element 142 allows the floating support 120 to swing relative to the fixed support 110. Here, the floating support 120 swings towards the ground, so the force on the floating support 120 is transmitted to the drive source 131, and then to the drive wheel 132, thereby increasing the pressure on the drive wheel 132 so that the drive wheel 132 is tightly attached to the ground. This increases the friction between the drive wheel 132 and the ground, thereby improving the grip of the drive wheel 132 and avoiding the risk of the drive wheel 132 of the drive device 100 slipping.

[0034] In the embodiments disclosed in this application, the pressurizing mechanism 140 can pressurize the drive wheel mechanism 130, thereby ensuring that the AGV has a large driving force, thus avoiding the risk of slippage and ensuring that the AGV can operate normally, thereby improving the reliability of the AGV.

[0035] In addition, this application uses a pressurizing mechanism 140 to pressurize the drive wheel 132, thus enabling the AGV to transport large loads.

[0036] Furthermore, the drive device 100 disclosed in this application also has good road adaptability. When the drive wheel 132 travels on an uneven road surface, the elastic force generated by the compression or extension of the first elastic element 142 is transmitted to the drive wheel 132 through the floating bracket 120, causing the drive wheel 132 to swing up and down with the floating bracket 120 to adapt to the uneven bottom surface, thereby preventing the drive wheel 132 from being suspended in the air, thus further improving the reliability of AGV operation. The road adaptability of the drive device 100 mentioned here refers to the elasticity of the first elastic element 142 itself, which can extend or shorten, not to the compression action of the power source 141. Of course, during the AGV's operation, better road adaptability can also be achieved through the combined effect of the driving action of the power source 141 and the elasticity of the first elastic element 142 itself.

[0037] For example, on relatively rugged roads, the first elastic element 142 alone cannot meet the driving requirements. The first elastic element 142 can be compressed by the power source 141 to increase the extension range of the first elastic element 142 to adapt to the road surface, thereby ensuring that the AGV can pass safely.

[0038] In the above scheme, the drive wheel mechanism 130 can be a single-wheel drive structure, that is, the number of drive wheels 132 in the drive wheel mechanism 130 is one. Alternatively, the drive wheel mechanism 130 can also be a dual-wheel drive mechanism, with two drive wheels 132 in the drive wheel mechanism 130. In this case, the two drive wheels 132 require two motors to drive them, and both motors need to be fixedly connected to the floating bracket 120.

[0039] In another alternative embodiment, the drive source 131 may include a mounting housing 1311, a first motor module 1312, and a second motor module 1313. The mounting housing 1311 may be connected to the floating bracket 120. Both the first motor module 1312 and the second motor module 1313 may be housed within the mounting housing 1311. The drive shafts of the first motor module 1312 and the second motor module 1313 are coaxially arranged and extend from opposite sides of the mounting housing 1311. In this case, the drive source 131 is a dual-output shaft motor, meaning it has two drive shafts and shares a single mounting housing 1311. That is, the first motor module 1312 and the second motor module 1313 share the same housing. Both the first motor module 1312 and the second motor module 1313 may include components such as a stator, rotor, and drive shafts, primarily referring to the drive components.

[0040] The number of drive wheels 132 is at least two, namely a first drive wheel 1321 and a second drive wheel 1322. The first drive wheel 1321 is connected to the drive shaft of the first motor module 1312, and the second drive wheel 1322 is connected to the drive shaft of the second motor module 1313.

[0041] In this scheme, the drive source 131 adopts a dual-output shaft motor, and the dual-output shaft motors share the same mounting housing 1311. Therefore, the installation area of ​​the drive source 131 in the floating bracket 120 can be reduced and a motor housing connection accessory can be eliminated, thus making the structure of the drive device 100 more compact, which is more conducive to reducing the size of the drive device 100.

[0042] In another alternative embodiment, the drive device 100 may further include a rotary support 150, which may include an inner ring 151 and an outer ring 152. The outer ring 152 is fitted onto the inner ring 151 and is rotatable relative to the inner ring 151 about its central axis. The outer ring 152 is connected to the floating bracket 120, and the inner ring 151 is connected to the mounting housing 1311.

[0043] In specific operation, when the AGV moves forward or backward, the first drive wheel 1321 and the second drive wheel 1322 rotate simultaneously. When the AGV turns, the first drive wheel 1321 and the second drive wheel 1322 rotate in the same direction but with a speed difference. At this time, under the action of the rotating drive wheel 132, the inner ring 151 rotates relative to the outer ring 152, thereby realizing the AGV's turning. When the drive device 100 rotates in place, the first drive wheel 1321 and the second drive wheel 1322 rotate in opposite directions at the same speed.

[0044] In this design, the inner ring 151 and outer ring 152 of the slewing support 150 can rotate relative to each other. By rotating the inner ring 151 and outer ring 152 relative to each other, the slewing can be completed or the device can turn around in place, thus making the turning radius of the drive device 100 smaller.

[0045] Optionally, the outer ring 152 and the inner ring 151 can be rotatably connected by a sliding snap-fit. Alternatively, rolling elements can be provided between the outer ring and the inner ring 151, in which case the slewing support 150 is similar to a bearing structure.

[0046] In the above embodiment, when the drive device 100 travels to an uneven road surface, the road surface where the first drive wheel 1321 is located is higher and the road surface where the second drive wheel 1322 is located is lower. At this time, the second drive wheel 1322 will be suspended in the air, which will reduce the grip of the drive device 100 and thus affect the driving force of the AGV.

[0047] To further avoid the risk of the drive wheel 132 of the drive unit 100 becoming suspended in the air, in another optional solution, the inner ring 151 can be hinged to the mounting housing 1311. In this case, when the road surface where the first drive wheel 1321 is located is higher than the road surface where the second drive wheel 1322 is located is lower, because the mounting housing 1311 is hinged to the inner ring 151, the side of the mounting housing 1311 where the second drive wheel 1322 is mounted will tilt under the force of gravity, causing the second drive wheel 1322 to contact the ground. This avoids the drive wheel 132 becoming suspended in the air, further reducing the risk of the drive wheel 132 of the drive unit 100 becoming suspended, further improving the grip of the drive unit 100, and thus further improving the driving force of the AGV.

[0048] Optionally, the inner ring 151 and the mounting housing 1311 can be hinged together by components such as hinge shafts, universal hinges, and hinges.

[0049] To facilitate the routing of the drive source 131, a routing hole can be provided on the floating bracket 120. The routing hole is opposite to the hollow area of ​​the inner ring of the inner ring body 151, and the routing can pass through the floating bracket 120 and the inner ring body 151 in sequence.

[0050] In one specific embodiment, the inner ring 151 may have a first hinge protrusion 1511 on the side facing the mounting housing 1311, and the outer surface of the mounting housing 1311 may have a second hinge protrusion 1311a. The first hinge protrusion 1511 and the second hinge protrusion 1311a can be hinged together by a first hinge shaft 161. In this case, the inner ring 151 and the mounting housing 1311 rotate relative to each other around the first hinge shaft 161. The axial direction of the first hinge shaft 161 is perpendicular to the arrangement direction of the first drive wheel 1321 and the second drive wheel 1322, as well as the axial direction of the inner ring 151. This embodiment simplifies the hinge structure of the inner ring 151 and the mounting housing 1311, thus simplifying the drive device 100 and reducing manufacturing costs.

[0051] In the above scheme, the first elastic element 142 can be a spring. Of course, the first elastic element 142 can also be other structures, which are not limited in this article.

[0052] This document discloses a specific structure of the first elastic element 142. Of course, the first elastic element 142 can also have other structures, which are not limited herein. Specifically, the first elastic element 142 may include a first hinge portion 1421, a first guide sleeve 1422, a first guide rod 1423, and a first spring 1424. The first hinge portion 1421 can be fixedly connected to the first guide sleeve 1422. Here, the first hinge portion 1421 can be connected to the first guide sleeve 1422 by bolts, rivets, or other components. Alternatively, the first hinge portion 1421 and the first guide sleeve 1422 can be an integral structure. The first hinge portion 1421 can be hinged to the floating support 120. The end of the first guide rod 1423 facing away from the first guide sleeve 1422 is fixedly connected to the power end of the power source 141. The first guide sleeve 1422 can be fitted onto the first guide rod 1423, and the first guide rod 1423 can slide along the axial direction of the first guide sleeve 1422. The first spring 1424 can be fitted outside the first guide sleeve 1422. One end of the first spring 1424 can be connected to the first guide rod 1423, and the other end of the first spring 1424 can be connected to the first guide sleeve 1422.

[0053] In the specific operation, the power end of the power source 141 drives the first guide rod to extend and retract relative to the first guide sleeve 1422, thereby causing the first spring 1424 to extend and retract. The force of the first spring 1424 is transmitted to the floating bracket 120 through the first guide sleeve 1422 and the first hinge part 1421, and then transmitted to the drive wheel mechanism 130.

[0054] In this scheme, the first elastic element 142 is provided with a first guide sleeve 1422 and a first guide rod 1423. The first guide sleeve 1422 and the first guide rod 1423 can guide and limit the extension and retraction direction of the first spring 1424, thereby avoiding the risk of bending deformation of the first spring 1424 during compression, which in turn helps to improve the safety and reliability of the drive device 100.

[0055] Furthermore, the outer wall of the first guide sleeve 1422 may be provided with a first annular protrusion 1422a, and the outer wall of the first guide rod 1423 may be provided with a second annular protrusion 1423a. The first spring 1424 may abut between the first annular protrusion 1422a and the second annular protrusion 1423a. In this design, the two ends of the first spring 1424 abut against the first annular protrusion 1422a and the second annular protrusion 1423a respectively. Therefore, no other components are needed to fasten the first elastic element, which facilitates the assembly of the first elastic element 142 and thus improves the assembly efficiency of the first elastic element 142.

[0056] In the above scheme, the power source 141 can be a linear motor, and the drive shaft of the linear motor can be fixedly connected to the first guide rod 1423. Alternatively, the first guide rod 1423 can be understood as the drive shaft of the linear motor, which is the power end of the power source 141.

[0057] In another alternative, the power source 141 can be a hydraulic cylinder, and the piston rod of the hydraulic cylinder can be fixedly connected to the first guide rod 1423. Here, the piston rod is the power end of the power source 141. The piston rod and the first guide rod 1423 are an integral structure; therefore, the piston rod can also serve as the first guide rod 1423. When the power source 141 is a hydraulic cylinder, a hydraulic system can be installed on the drive device 100, and this hydraulic system is connected to the hydraulic cylinder.

[0058] Furthermore, the hydraulic cylinder can be connected to the hydraulic system of the vehicle body 200. This can be understood as the hydraulic cylinder being connected to the hydraulic system of the vehicle body 200 used to bear the load. For example, the hydraulic system on the vehicle body 200 used to lift the load. When the load on the vehicle body 200 increases, the pressure in the hydraulic system increases, causing the hydraulic cylinder to drive the first guide rod 1423 to extend, thereby increasing the pressure on the first elastic element 142, and thus pressurizing the drive wheel 132. In this design, the power source 141 is related to the load size of the vehicle body 200, allowing the driving force of the drive wheel 132 to be adjusted according to the real-time load size of the vehicle body 200, thus further improving the reliability of the AGV.

[0059] In addition, the hydraulic cylinder is connected to the hydraulic system of the vehicle body 200. At this time, there is no need to install a hydraulic system on the drive unit 100, thus further simplifying the structure of the drive unit 100.

[0060] In another alternative embodiment, the fixed bracket 110 may include a first base plate 111, a first hinge seat 112, and a second hinge seat 113, wherein the first hinge seat 112 and the second hinge seat 113 may be disposed on the same side of the first base plate 111. The floating bracket 120 may include a second base plate 121, a third hinge seat 122, and a fourth hinge seat 123, wherein the third hinge seat 122 and the fourth hinge seat 123 are respectively located on opposite sides of the second base plate 121, and the second base plate 121 may be connected to the driving source 131.

[0061] The first hinge seat 112 and the third hinge seat 122 can be hinged together via the second hinge shaft 162. In this case, the floating bracket 120 and the fixed bracket 110 can rotate relative to the second hinge shaft 162. The second hinge seat 113 can be hinged to the fixed end of the power source 141 via the third hinge shaft 163. Here, a hinge portion can be provided on the housing of the power source 141, and the second hinge seat 113 is hinged to the hinge portion on the housing of the power source 141 via the third hinge shaft 163. The fourth hinge seat 123 can be hinged to the first elastic element 142 via the fourth hinge shaft 164, and the fourth hinge seat 123 is hinged to the aforementioned first hinge portion 1421 via the fourth hinge shaft 164. The axes of the second hinge shaft 162, the third hinge shaft 163, and the fourth hinge shaft 164 are all parallel.

[0062] This design simplifies the hinge structure between the fixed bracket 110, the floating bracket 120, and the first elastic element 142, thus making the drive device 100 simpler and reducing manufacturing costs.

[0063] In another embodiment, the drive unit 100 may also be provided with a second elastic element 170, one end of which can be hinged to the fixed bracket 110, and the other end of which can be hinged to the floating element. In this embodiment, the second elastic element can further increase the pressure on the drive wheel 132, thereby further improving the reliability of the AGV.

[0064] Optionally, the second elastic element 170 can be a spring, but of course, the second elastic element 170 can also be other structures, which are not limited in this article.

[0065] In one specific embodiment, the second elastic element 170 may include a second hinge portion 171, a third hinge portion 172, a second guide sleeve 173, a second guide rod 174, and a second spring 175. The second hinge portion 171 is fixedly connected to the second guide sleeve 173 and is hinged to the floating bracket 120. Here, the second hinge portion 171 may be hinged to the aforementioned fourth hinge seat 123. The end of the second guide rod 174 facing away from the second guide sleeve 173 may be fixedly connected to the third hinge portion 172. The third hinge portion 172 may be hinged to the fixed bracket 110 and the second hinge seat 113. The second guide sleeve 173 can be fitted onto the second guide rod 174. The second guide rod 174 can slide along the axis of the second guide sleeve 173. The second spring 175 is fitted outside the second guide sleeve 173. One end of the second spring 175 can be connected to the second guide rod 174, and the other end of the second spring 175 can be connected to the second guide sleeve 173. At this time, during the extension and retraction of the second spring 175, the second guide rod 174 and the second guide sleeve 173 slide relative to each other.

[0066] In this design, the second elastic element 170 is provided with a second guide sleeve 173 and a second guide rod 174. The second guide sleeve 173 and the second guide rod 174 can guide and limit the extension and retraction direction of the second spring 175, thereby avoiding the risk of bending deformation of the second spring 175 during compression, which in turn helps to improve the safety and reliability of the drive device 100.

[0067] In the embodiments disclosed in this application, the drive wheel 132 may include a reducer and a wheel body, and the drive source 131 can be connected to the wheel body through the reducer. The drive source 131 first transmits driving force to the reducer, and the reducer drives the wheel body to rotate. The reducer is used to reduce the speed and increase the torque. There are many types of reducers, such as worm gear reducers, planetary gear reducers, etc. Depending on the structure of the reducer, the connection structure between the reducer and the wheel body is different.

[0068] Taking a planetary gear reducer as an example, a planetary gear reducer may include, but is not limited to, a housing, a gear set, and a planet carrier. The housing is used to mount the gear set and the planet carrier. The planet carrier is connected to the output shaft of the drive source 131 via the gear set, and the gear set drives the planet carrier to rotate around its central axis. The gear body is mounted on the planet carrier, and the planet carrier drives the gear body to rotate. Of course, the reducer is not limited to the structure disclosed herein, and may also have other structures, which are not limited herein.

[0069] Based on the drive device 100 disclosed in the embodiments of this application, the embodiments of this application also disclose an AGV, the disclosed AGV including the drive device 100 described in any of the embodiments above.

[0070] The AGV disclosed in this application also includes a vehicle body 200. The specific structure of the vehicle body 200 is known technology and is not limited herein. Figure 11 As shown, a drive unit 100 and two casters can be connected to the vehicle body 200. Or, as... Figure 12 As shown, drive units 100 are installed at two opposite corners of the vehicle body 200, and casters are installed at the other two opposite corners. Of course, the drive units 100 on the AGV disclosed in this application are not limited to... Figure 11 and Figure 12 The arrangement method in this paper can also be other methods, which are not limited in this paper.

[0071] The above embodiments of this utility model mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.

[0072] The above description is merely an embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A driving device applied to an AGV, characterized in that, The driving device (100) comprises: A fixed support (110) for fixed connection with a vehicle body (200) of the AGV; A floating support (120) hinged with the fixed support (110); A driving wheel mechanism (130) comprising a driving source (131) and a driving wheel (132), a fixed end of the driving source (131) being connected with the floating support (120), and a power end of the driving source (131) being connected with the driving wheel (132); A pressure boosting mechanism (140) comprising a power source (141) and a first elastic member (142), a fixed end of the power source (141) being hinged with the fixed support (110), one end of the first elastic member (142) being connected with a power end of the power source (141), and the other end of the first elastic member (142) being hinged with the floating support (120); the power end of the power source (141) swings the floating support (120) by compressing the first elastic member (142) to boost the driving wheel mechanism (130).

2. The drive apparatus according to claim 1, characterized by The driving source (131) comprises a mounting shell (1311), a first motor module (1312) and a second motor module (1313), the mounting shell (1311) being connected with the floating support (120), the first motor module (1312) and the second motor module (1313) being arranged in the mounting shell (1311), a driving shaft of the first motor module (1312) and a driving shaft of the second motor module (1313) being coaxially arranged and respectively extending from opposite sides of the mounting shell (1311); the driving wheel (132) comprises at least two driving wheels, i.e., a first driving wheel (1321) and a second driving wheel (1322), the first driving wheel (1321) being connected with the driving shaft of the first motor module (1312), and the second driving wheel (1322) being connected with the driving shaft of the second motor module (1313).

3. The drive apparatus according to claim 2, characterized by The driving device (100) further comprises a rotary support (150) comprising an inner ring body (151) and an outer ring body (152), the outer ring body (152) being sleeved on the inner ring body (151), and the outer ring body (152) being rotatable relative to the inner ring body (151) about a central axis of the inner ring body (151); the outer ring body (152) is connected with the floating support (120), and the inner ring body (151) is connected with the mounting shell (1311).

4. The drive apparatus according to claim 3, characterized by The inner ring body (151) is hinged with the mounting shell (1311).

5. The drive apparatus according to claim 4, characterized by The inner ring body (151) is provided with a first hinged protrusion (1511) on one side of the mounting shell (1311), the outer surface of the mounting shell (1311) is provided with a second hinged protrusion (1311a), the first hinged protrusion (1511) and the second hinged protrusion (1311a) are hinged through a first hinged shaft (161), and the axis direction of the first hinged shaft (161) is perpendicular to the arrangement directions of the first driving wheel (1321) and the second driving wheel (1322) and the axis direction of the inner ring body (151).

6. The drive apparatus according to claim 1, characterized by The first elastic member (142) comprises a first hinged part (1421), a first guide sleeve (1422), a first guide rod (1423) and a first spring (1424), the first hinged part (1421) is fixedly connected with the first guide sleeve (1422), the first hinged part (1421) is hinged with the floating support (120), one end of the first guide rod (1423) away from the first guide sleeve (1422) is fixedly connected with the power end of the power source (141), the first guide sleeve (1422) is sleeved on the first guide rod (1423), the first guide rod (1423) is slidably connected with the first guide sleeve (1422) along the axis direction of the first guide sleeve (1422), the first spring (1424) is sleeved outside the first guide sleeve (1422), one end of the first spring (1424) is connected with the first guide rod (1423), and the other end of the first spring (1424) is connected with the first guide sleeve (1422).

7. The drive apparatus according to claim 6, characterized by The outer side wall of the first guide sleeve (1422) is provided with a first annular protrusion (1422a), the outer side wall of the first guide rod (1423) is provided with a second annular protrusion (1423a), and the first spring (1424) abuts between the first annular protrusion (1422a) and the second annular protrusion (1423a).

8. The drive apparatus according to claim 6, characterized by The power source (141) is a hydraulic oil cylinder, and the hydraulic oil cylinder is connected with a hydraulic system of the vehicle body (200).

9. The drive apparatus according to claim 1, characterized by The fixed support (110) comprises a first base plate (111), a first hinged seat (112) and a second hinged seat (113), the first hinged seat (112) and the second hinged seat (113) are arranged on the same side of the first base plate (111); the floating support (120) comprises a second base plate (121), a third hinged seat (122) and a fourth hinged seat (123), the third hinged seat (122) and the fourth hinged seat (123) are respectively arranged on the opposite sides of the second base plate (121), and the second base plate (121) is connected with the driving source (131). The first hinged seat (112) and the third hinged seat (122) are hinged through a second hinged shaft (162); the second hinged seat (113) and the fixed end of the power source (141) are hinged through a third hinged shaft (163); the fourth hinged seat (123) and the first elastic member (142) are hinged through a fourth hinged shaft (164); wherein the axes of the second hinged shaft (162), the third hinged shaft (163) and the fourth hinged shaft (164) are parallel.

10. The drive apparatus according to claim 1, characterized by The driving device (100) further comprises a second elastic member (170), the second elastic member (170) comprises a second hinged part (171), a third hinged part (172), a second guide sleeve (173), a second guide rod (174) and a second spring (175), the second hinged part (171) is fixedly connected with the second guide sleeve (173), and the second hinged part (171) is hinged with the floating support (120); one end of the second guide rod (174) away from the second guide sleeve (173) is fixedly connected with the third hinged part (172), and the third hinged part (172) is hinged with the fixed support (110); the second guide sleeve (173) is sleeved on the second guide rod (174), the second guide rod (174) can be slidingly matched with the second guide sleeve (173) in the axial direction of the second guide sleeve (173), and the second spring (175) is sleeved outside the second guide sleeve (173), one end of the second spring (175) is connected with the second guide rod (174), and the other end of the second spring (175) is connected with the second guide sleeve (173).

11. An AGV, characterized by The driving device (100) comprises a vehicle body (200) and the driving device (100) according to any one of claims 1 to 10, and the fixed support (110) is fixedly connected with the vehicle body (200).

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