CN209833360U - Differential drive device and automated guided vehicle - Google Patents
Differential drive device and automated guided vehicle Download PDFInfo
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- CN209833360U CN209833360U CN201920616035.6U CN201920616035U CN209833360U CN 209833360 U CN209833360 U CN 209833360U CN 201920616035 U CN201920616035 U CN 201920616035U CN 209833360 U CN209833360 U CN 209833360U
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Abstract
The embodiment of the utility model discloses differential drive device and automated guided transporting vehicle relates to and removes wheeled robot technical field, can adapt to the roughness on ground betterly to can keep with the contact on ground. Including coupling assembling and differential drive assembly, coupling assembling is located the differential drive assembly top, just coupling assembling is articulated with the differential drive assembly. The utility model discloses specially adapted requires on the higher wheeled mobile robot to ground roughness, for example automated guided transporting vehicle.
Description
Technical Field
The utility model relates to a remove wheeled robot technical field, especially relate to a differential drive and automated guided transporting vehicle.
Background
An Automated Guided Vehicle (AGV) is a Vehicle equipped with an electromagnetic or optical automatic guide device, and capable of traveling along a predetermined guide path using a rechargeable battery or the like as a power source.
The inventor finds out in the process of realizing the invention: the walking wheels of the existing automatic guide transport vehicle can not be self-adaptive to the flatness of the ground in the driving process, and the walking wheels of the vehicle body can not be in good contact with the ground due to the unevenness of the ground, so that the power performance of a vehicle driving device can be influenced particularly when the vehicle turns.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a differential driving device and an automated guided vehicle, which can better adapt to the flatness of the ground, so as to maintain the contact with the ground.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a differential driving apparatus, including: coupling assembling and differential drive assembly, coupling assembling is located the differential drive assembly top, just coupling assembling is articulated with the differential drive assembly.
Preferably, the differential driving assembly includes a balance member, a first driving wheel assembly and a second driving wheel assembly, the first driving wheel assembly and the second driving wheel assembly are connected to the balance member, and the balance member is hinged to the connecting assembly.
Preferably, the connection assembly comprises a swivel support;
the rotary supporting piece comprises a rotary body and a supporting body rotationally connected with the rotary body, and the rotary body is hinged with the balance member; alternatively, the first and second electrodes may be,
the rotary supporting piece comprises a rotary body and a supporting body rotationally connected with the rotary body, and the supporting body is hinged with the balance member.
Preferably, a connecting plate is further arranged between the rotary support and the balance member;
when the revolving body is hinged with the balance member, the revolving body of the revolving support member is fixedly connected with the connecting plate, and the connecting plate is hinged with the balance member; alternatively, the first and second electrodes may be,
when the supporting body is hinged with the balance member, the supporting body of the rotary supporting piece is fixedly connected with the connecting plate, and the connecting plate is hinged with the balance member.
Preferably, the hinge is a pin hinge or a universal joint hinge.
Preferably, the first driving wheel assembly comprises a first travelling wheel and a first driving mechanism connected with the first travelling wheel, the first travelling wheel is positioned at one side of the hinge position, the second driving wheel assembly comprises a second travelling wheel and a second driving mechanism connected with the second travelling wheel, and the second travelling wheel is positioned at the other side of the hinge position;
the first driving mechanism and the second driving mechanism are respectively movably connected with the balance member;
and a damping assembly is vertically connected between the balance member and the first driving mechanism and/or the second driving mechanism.
Preferably, the articulation is a hinge.
Preferably, the first driving mechanism and the second driving mechanism comprise speed reducers, fixing lugs are arranged on the side parts of the speed reducers, and through holes are formed in the fixing lugs;
the damping assembly comprises a damping spring and a guide rod, the damping spring is sleeved on the guide rod, the upper end of the guide rod is connected with the balance member, and the lower end of the guide rod penetrates through a through hole in the fixing lug to be connected onto the limiting part.
Preferably, the upper end of the guide rod is hinged to the balancing member.
Preferably, the differential drive apparatus further includes an angle detection mechanism; the angle detection mechanism comprises an angle detector, an angle detector support and a rotating shaft, one end of the rotating shaft is fixedly connected with the connecting assembly, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector is connected with the differential driving assembly, and the angle detector is fixed on the angle detector support.
Preferably, the differential drive apparatus further includes an angle detection mechanism; the angle detection mechanism comprises an angle detector, an angle detector bracket and a rotating shaft;
when the revolving body is hinged with the balance member, one end of the rotating shaft is fixedly connected with the supporting body, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector bracket is connected with the balance member, and the angle detector is fixed on the angle detector bracket; alternatively, the first and second electrodes may be,
when the supporting body is hinged to the balance member, one end of the rotating shaft is fixedly connected with the rotating body, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector support is connected to the balance member, and the angle detector is fixed to the angle detector support.
In a second aspect, the embodiment of the utility model provides an automatic guide transport vechicle, which comprises a vehicle rack, install on the frame that the first aspect is arbitrary differential drive, differential drive passes through coupling assembling install in on the frame.
The embodiment of the utility model provides a differential drive device and automated guided transporting vehicle, coupling assembling and differential drive assembly, coupling assembling is located differential drive assembly top, just coupling assembling is articulated with differential drive assembly. Since the differential drive assembly is articulated with the connecting assembly, the differential drive assembly can swing leftwards or rightwards relative to the connecting assembly (when being installed on the vehicle frame, namely relative to the vehicle frame) along with the leveling condition of the road surface so as to adapt to the leveling condition of the ground, thereby keeping contact with the ground.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of the differential driving device of the present invention;
fig. 2 is a schematic longitudinal sectional view of an embodiment of the differential drive apparatus.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention provides a differential driving device, which is suitable for various wheeled mobile robots, particularly for automated guided vehicles. The differential drive device includes: coupling assembling and differential drive assembly, coupling assembling is used for installing differential drive device on the frame, coupling assembling is located differential drive assembly top, just coupling assembling is articulated with differential drive assembly. Specifically, the hinge is a pin hinge or a universal joint hinge.
The embodiment of the utility model provides a differential drive device and automated guided transporting vehicle, because differential drive assembly is articulated with coupling assembling, like this, differential drive assembly can be for coupling assembling (when installing on the frame, for the frame promptly) along with the level and smooth situation on road surface, swing the level and smooth situation in order to adapt to ground left or right to can keep the contact with ground.
In one embodiment, the apparatus comprises: the mounting part 1, the rotary support part 2 and the differential driving assembly comprise a balance member 3, a first driving wheel assembly 4 and a second driving wheel assembly 5, wherein the first driving wheel assembly and the second driving wheel assembly are connected to the balance member, and the balance member is hinged with the connecting assembly.
In one embodiment of the invention, the connection assembly comprises a swivel support 2.
The revolving support member 2 may include a revolving body and a support body rotatably connected to the revolving body, and the revolving body is hinged to the balance member. It will be appreciated that the attachment assembly may be attached to the frame by a swivel.
In one embodiment of the present invention, a connecting plate 11 is further provided between the slewing support and the balance member; the revolving body of the revolving support is fixedly connected with a connecting plate 11, and the connecting plate 11 is hinged with the balance member.
Or, in another alternative embodiment, the revolving support 2 includes a revolving body and a support body rotatably connected with the revolving body, and the support body is hinged with the balance member. It will be appreciated that the connection assembly may be connected to the frame by a support.
In one embodiment of the present invention, a connecting plate 11 is further disposed between the rotary support and the balance member, the support body of the rotary support is fixedly connected to the connecting plate 11, and the connecting plate 11 is hinged to the balance member 3.
Specifically, for the convenience of installation, the connecting assembly may further include a mounting member 1, or a mounting structure is provided on the revolving body or the mounting body for mounting on the vehicle frame.
In the embodiment of the junction of the revolving body and the balancing member, because the revolving body is hinged with the balancing member, when the differential driving device of the embodiment is directly installed on the frame through the installation part or the revolving body to be used as the driving device, the balancing member can swing in two directions relative to the revolving body, so that the stress of the driving device is distributed on the first driving wheel assembly and the second driving wheel assembly according to the condition of the road surface to be adaptive to the flatness of the ground, and the first driving wheel assembly and the second driving wheel assembly are kept in contact with the ground.
In the embodiment that the supporting body is hinged with the balance member, because the supporting body is hinged with the balance member, when the differential driving device of the embodiment is indirectly or directly installed on the vehicle frame through the installation part or the supporting body to be used as a driving device, the balance member can swing in two directions relative to the revolving body, so that the stress of the driving device is distributed on the first driving wheel assembly and the second driving wheel assembly according to the condition of the road surface, the flatness of the ground surface is self-adapted, and the first driving wheel assembly and the second driving wheel assembly are kept in contact with the ground surface.
In one embodiment of the invention, the apparatus comprises: installation part 1, rotary support 2, the differential drive assembly includes balance member 3, first drive wheel assembly 4 and second drive wheel assembly 5, rotary support 2 is located below installation part 1, balance member 3 is located below rotary support 2, first drive wheel assembly 4 and second drive wheel assembly 5 are located at the side part or side below balance member 3.
The rotary supporting part 2 comprises a rotary body and a supporting body rotationally connected with the rotary body, the mounting part is fixedly connected with the supporting body, and the rotary body is hinged with the balance member; a first drive wheel assembly 4 is provided at a first end of the balance member and a second drive wheel assembly 5 is provided at a second end of the balance member. In this way, because the revolving body is hinged with the balance member, when the differential driving device of the embodiment is installed on the vehicle frame through the installation part as the driving device, the balance member can swing in two directions relative to the revolving body, so that the stress of the driving device is distributed on the first driving wheel assembly and the second driving wheel assembly according to the condition of the road surface to be adaptive to the flatness of the ground, and the first driving wheel assembly and the second driving wheel assembly are kept in contact with the ground.
In the foregoing embodiment, the mounting member is not limited to a specific plate structure, but may be a structure that is installed by matching a snap-fit and hole structure, for example, the mounting member of the differential drive device may be simplified as a pin, and the frame is correspondingly provided with a groove or hole structure, the pin is inserted into the groove or hole, and the two are installed together by a snap-fit connection. The balance member can be a plate structure, a frame structure or a balance member combined structure. The specific manner of the hinge joint can be as follows: the bottom of the revolving body is provided with a connecting lug, a through hole is arranged on the connecting lug, a through hole arranged at the corresponding position of the connecting lug is arranged on the balance member, and the revolving body and the balance member are hinged together by adopting a hinge pin 6; in another embodiment, the revolving body is hinged with the balance member 3 through a hinge hole on the connecting plate 11 by a hinge pin or a universal joint.
In another embodiment, the apparatus comprises: the device comprises an installation part 1, a rotary support part 2, a balance member 3, a first driving wheel assembly 4 and a second driving wheel assembly 5, wherein the rotary support part 2 is positioned below the installation part 1, the balance member 3 is positioned below the rotary support part 2, and the first driving wheel assembly 4 and the second driving wheel assembly 5 are positioned on the side part or the side lower part of the balance member 3;
the rotary supporting part comprises a rotary body and a supporting body rotationally connected with the rotary body, the mounting part is fixedly connected with the rotary body, and the supporting body is hinged with the balance member; a first drive wheel assembly is disposed at a first end of the balance member and a second drive wheel assembly is disposed at a second end of the balance member.
It will be appreciated that in the foregoing embodiments, the slewing support may be a bearing. When the differential driving device is arranged on the frame, and the automatic guiding transport vehicle receives a turning instruction, the steering of the differential driving device can be realized by controlling the difference between the rotating speed of the first driving wheel component and the rotating speed of the second driving wheel component, so that the turning of the driving vehicle can be realized.
The embodiment of the utility model provides a differential drive device and automated guided transporting vehicle is connected through articulated mode between the balanced component that will be connected with first drive wheel subassembly and second drive wheel subassembly and the solid of revolution (for the supporter in another embodiment), like this, the balanced component can be along with the level and smooth situation on road surface for the solid of revolution (when installing on the frame, promptly for the frame), with the level and smooth situation of first drive wheel subassembly and second drive wheel subassembly swing left or right in order to adapt to ground, make drive device's corresponding distribution of atress on first drive wheel subassembly and second drive wheel subassembly to can keep with the contact on ground.
In this embodiment, as an alternative embodiment, the hinge points include a first hinge point and a second hinge point, and the first hinge point and the second hinge point are symmetrically disposed about the rotation shaft of the rotation supporting member. Therefore, when the road surface is uneven, the balance member swings left and right to adapt to the process of leveling the ground, and the swing is more stable and firm, so that the force is better and uniformly acted on the first driving wheel assembly and the second driving wheel assembly.
Referring to fig. 1 and 2, in this embodiment, as an alternative embodiment, the first driving wheel assembly 4 includes a first traveling wheel 41 and a first driving mechanism 42 connected to the first traveling wheel, and the first traveling wheel is located at one side of the hinge position; the second driving wheel assembly comprises a second walking wheel 51 and a second driving mechanism 52 connected with the second walking wheel, and the second walking wheel is positioned on the other side of the hinged position.
The first driving mechanism and the second driving mechanism are respectively movably connected with the balance member, and a damping assembly 7 is vertically connected between the balance member and the first driving mechanism and/or the second driving mechanism.
It can be understood that, in the embodiment, the damping assembly is vertically connected between the balance member and the first driving mechanism and/or the second driving mechanism, so that the damping of the driving device can be realized, and further, when the vehicle is mounted on a vehicle frame, the damping of the whole vehicle body is realized, so as to protect the driving mechanism, such as a driving motor and other components, from being out of order due to bumping.
In this embodiment, the movable connection may include an up-down sliding connection and a rotation connection within a certain angle range, and the first end of the balancing member is connected to the first traveling wheel in an up-down sliding connection or a rotation connection within a certain angle range, so that it is ensured that the components related to the damping direction of the damping assembly can move up and down to achieve effective damping.
In particular, with reference to fig. 1, the articulation is a hinge, the hinge point 12 of which.
In one embodiment of the present invention, the first driving mechanism and the second driving mechanism include a speed reducer 43, a fixing lug 44 is disposed on a side of the speed reducer 43, and a through hole is disposed on the fixing lug; the damping assembly 7 comprises a damping spring 71 and a guide rod 72, the damping spring is sleeved on the guide rod, the upper end of the guide rod is connected with the balance member, and the lower end of the guide rod penetrates through a through hole in the fixing lug to be connected to the limiting piece. Therefore, the first driving assembly and the second driving assembly can integrally float up and down in the vertical direction along the guide rod of the damping assembly, so that the driving assembly including the speed reducer is damped.
In this embodiment, as an alternative embodiment, the upper end of the guide rod is connected to the balance member in a hinged manner. It can be understood that, in the process of damping by the driving device, the balance member and the first driving wheel component or the second driving wheel component can rotate in a certain range through the hinge point, the whole wheel swings backwards, if the damping spring cannot timely stretch up and down, the damping component is either in an inclined position, and if the wheel is prevented from swinging backwards by the force in the up-and-down direction, one end of the vehicle body can be tilted. This embodiment is through setting up to articulated between guide bar and the balance member, and at the shock attenuation in-process like this, even damping spring fails in time to stretch out and draw back from top to bottom, the guide bar also can rotate for the balance member thereupon, can make damper assembly exert the shock attenuation effect better like this.
In this embodiment, as an optional embodiment, the differential driving apparatus further includes an angle detection mechanism; the angle detection mechanism comprises an angle detector 8, an angle detector support 9 and a rotating shaft 10, one end of the rotating shaft 10 is fixedly connected with the connecting assembly, and in one embodiment, when the connecting assembly comprises a mounting piece, one end of the rotating shaft 10 is fixedly connected with the mounting piece 1; the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector bracket is connected with the differential driving assembly, in one embodiment, the differential driving assembly comprises a balance member 3, and the angle detector bracket is connected with the balance member 3; the angle detector is fixed on the angle detector bracket.
It will be appreciated that in this embodiment the shaft is fixedly connected at one end to the mounting member 1 without relative movement. The angle detector support may be screwed to the balance member. The angle detector is fixed on the angle detector bracket, and the rotating shaft is fastened in an inner hole in the middle of the angle detector in a holding manner. When the first driving wheel component of the differential driving device rotates in a differential mode, the balancing component is driven to rotate, the rotating body (the supporting body in one embodiment) fixedly connected with the balancing component rotates, the mounting part connected with the supporting body (the rotating body in one embodiment) has a relative rotating angle relative to the rotating body, and the upper end of the rotating shaft is fixed on the mounting part, and the lower end of the rotating shaft is mounted on the central hole of the angle detector to rotate, so that the angle detector can read the corresponding rotating angle. The rotation angle detection scheme that this embodiment provided adopts angle detector and pivot lug connection as the intermediate member in order to detect pivoted angle, and the error that the gear backlash produced when having avoided through gear feedback angle to can make rotation angle feedback more accurate.
In another embodiment of the present invention, the differential drive apparatus further comprises an angle detection mechanism; the angle detection mechanism comprises an angle detector 8, an angle detector support 9 and a rotating shaft 10.
When the revolving body is hinged to the balance member, one end of the rotating shaft is fixedly connected with the supporting body, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector support is connected to the balance member, and the angle detector is fixed to the angle detector support.
Or, when the support body is hinged to the balance member, one end of the rotating shaft is fixedly connected with the rotating body, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector support is connected to the balance member, and the angle detector is fixed on the angle detector support
As another alternative embodiment, the mounting member may be further fixedly connected with a rotating shaft fixing seat, and the rotating shaft is fixedly mounted on the rotating shaft fixing seat, so as to facilitate the fixed connection between the rotating shaft and the mounting member.
The differential driving device provided by the embodiment adopts the hinge connection through the transition connecting part between the mounting part and the driving wheel assembly, utilizes the lever principle, can adapt to the flat condition of the ground when the ground is uneven, and evenly distributes the stress of the device to the driving wheel assemblies on two sides, so that the driving wheel assemblies can be kept in contact with the ground better.
Further, the damping of the driving device can also be realized by vertically arranging a damping assembly between the balance member and the driving wheel assembly.
Furthermore, the rotating shaft is fixedly connected to the mounting part and serves as a middle detection part, the rotating shaft is rotatably connected to the angle detector at the other end, the rotating angle of the differential driving device can be read out accurately, errors caused by gear backlash when angles are fed back through gears are avoided, and the rotating angle feedback accuracy is improved.
In this embodiment, as an optional embodiment, an automatic guided vehicle is further provided, which includes a frame, where the differential driving device of any one of the foregoing embodiments is mounted on the frame, and the differential driving device is mounted on the frame through the connecting assembly.
It can be understood that, after the automated guided vehicle receives a turning command, the steering of the differential driving apparatus can be realized by controlling the rotation speed of the first driving wheel assembly to be different from the rotation speed of the second driving wheel assembly, so that the turning of the driven vehicle can be realized.
It is understood that the automated guided vehicle of the present embodiment, due to the use of the differential drive device, can achieve at least the same technical effects as the previous embodiments, and can be referred to each other.
It should be noted that the terms "upper", "lower", and the like, herein indicate orientations and positional relationships, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. As will be appreciated by one of ordinary skill in the art, the situation may be specified.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A differential drive apparatus, comprising: coupling assembling and differential drive assembly, coupling assembling is located the differential drive assembly top, just coupling assembling is articulated with the differential drive assembly.
2. A differential drive apparatus as defined in claim 1 wherein said differential drive assembly includes a balance member, first and second drive wheel assemblies connected to said balance member, said balance member being hingedly connected to said connecting assembly.
3. A differential drive as claimed in claim 2 wherein said connection assembly includes a swivel support;
the rotary supporting piece comprises a rotary body and a supporting body rotationally connected with the rotary body, and the rotary body is hinged with the balance member; alternatively, the first and second electrodes may be,
the rotary supporting piece comprises a rotary body and a supporting body rotationally connected with the rotary body, and the supporting body is hinged with the balance member.
4. A differential drive as claimed in claim 2 wherein a web is also provided between the slewing support and the balance member;
when the revolving body is hinged with the balance member, the revolving body of the revolving support member is fixedly connected with the connecting plate, and the connecting plate is hinged with the balance member; alternatively, the first and second electrodes may be,
when the supporting body is hinged with the balance member, the supporting body of the rotary supporting piece is fixedly connected with the connecting plate, and the connecting plate is hinged with the balance member.
5. A differential drive as claimed in claim 1 wherein the articulation is a pin articulation or a universal joint articulation.
6. The differential drive of any one of claims 2 to 4 wherein the first drive wheel assembly includes a first road wheel and a first drive mechanism coupled to the first road wheel, the first road wheel being located on one side of the articulation location, the second drive wheel assembly including a second road wheel and a second drive mechanism coupled to the second road wheel, the second road wheel being located on the other side of the articulation location;
the first driving mechanism and the second driving mechanism are respectively movably connected with the balance member;
and a damping assembly is vertically connected between the balance member and the first driving mechanism and/or the second driving mechanism.
7. A differential drive as claimed in claim 5 wherein the articulation is an articulation.
8. The differential drive of claim 6 wherein the first and second drive mechanisms include a speed reducer having a fixing lug on a side thereof, the fixing lug having a through hole;
the damping assembly comprises a damping spring and a guide rod, the damping spring is sleeved on the guide rod, the upper end of the guide rod is connected with the balance member, and the lower end of the guide rod penetrates through a through hole in the fixing lug to be connected onto the limiting part.
9. A differential drive as claimed in claim 8 wherein the guide rod upper end is hingedly connected to the balance member.
10. The differential drive apparatus as claimed in claim 1 further comprising an angle detection mechanism; the angle detection mechanism comprises an angle detector, an angle detector support and a rotating shaft, one end of the rotating shaft is fixedly connected with the connecting assembly, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector is connected with the differential driving assembly, and the angle detector is fixed on the angle detector support.
11. A differential drive apparatus as defined in claim 3 further comprising an angle detection mechanism; the angle detection mechanism comprises an angle detector, an angle detector bracket and a rotating shaft;
when the revolving body is hinged with the balance member, one end of the rotating shaft is fixedly connected with the supporting body, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector bracket is connected with the balance member, and the angle detector is fixed on the angle detector bracket; alternatively, the first and second electrodes may be,
when the supporting body is hinged to the balance member, one end of the rotating shaft is fixedly connected with the rotating body, the other end of the rotating shaft is rotatably connected with the angle detector, the angle detector support is connected to the balance member, and the angle detector is fixed to the angle detector support.
12. An automated guided vehicle comprising a frame, wherein the frame is provided with a differential drive of any one of claims 1 to 11, the differential drive being mounted to the frame via the coupling assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201920616035.6U CN209833360U (en) | 2019-04-30 | 2019-04-30 | Differential drive device and automated guided vehicle |
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| CN201920616035.6U CN209833360U (en) | 2019-04-30 | 2019-04-30 | Differential drive device and automated guided vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115139777A (en) * | 2022-04-30 | 2022-10-04 | 共享智能装备有限公司 | Differential driving wheel structure with independently suspended wheels |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115139777A (en) * | 2022-04-30 | 2022-10-04 | 共享智能装备有限公司 | Differential driving wheel structure with independently suspended wheels |
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Address after: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Hikvision Robot Co.,Ltd. Address before: 310052 Floor 5, Building 1, Building 2, No. 700, Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd. |