CN212737754U

CN212737754U - Drive mechanism and connecting piece

Info

Publication number: CN212737754U
Application number: CN202021742342.8U
Authority: CN
Inventors: 俞文涛
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2021-03-19
Anticipated expiration: 2030-08-19

Abstract

The utility model discloses a driving mechanism and a connecting piece, wherein the driving mechanism comprises a differential driving component and a connecting piece, the differential driving component comprises a shell and a differential driving unit for supporting the shell, and the differential driving unit can rotate around the supporting direction relative to the shell; the differential drive unit is connected with the encoder through a connecting piece, the connecting piece comprises a first connecting part fixedly connected with the differential drive unit, a third connecting part connected with the encoder and a second connecting part connecting the first connecting part and the third connecting part, and the first connecting part and the second connecting part move along a third direction and are fixed along a second direction; the second connecting portion and the third connecting portion move along the second direction and are fixed along the third direction, and the supporting direction, the second direction and the third direction are perpendicular to each other. The technical scheme can solve the problem that the differential drive unit can not accurately transmit the rotation condition of the differential drive unit to the encoder due to the displacement phenomenon of the differential drive unit relative to the encoder along the horizontal direction at present.

Description

Drive mechanism and connecting piece

Technical Field

The utility model relates to a connection structure technical field especially relates to an actuating mechanism and connecting piece.

Background

In an Automated Guided Vehicle (AGV), the driving force can be provided by a differential drive unit, which respectively performs steering and moving by rotating and rolling relative to the frame. Moreover, an encoder is usually fixed on the frame of the AGV, and the encoder connected with the differential drive unit is used for acquiring the angle of the differential drive unit rotating around the vertical direction, so that the AGV can acquire the real-time orientation of the AGV and the accuracy of the moving route is ensured.

However, the differential drive unit usually supports the frame by means of a housing, and in order to ensure that the differential drive unit can rotate relative to the housing, a movable gap needs to be provided between the differential drive unit and the housing, so that if the differential drive unit is displaced relative to the housing (i.e. the encoder) in the horizontal direction during the operation of the AGV, the differential drive unit may not accurately transmit the rotation of the differential drive unit to the encoder.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a drive mechanism and connecting piece to solve present as differential drive unit and take place the displacement phenomenon along the relative encoder of horizontal direction, probably lead to the problem that differential drive unit can't accurately transmit the rotation condition of self to the encoder.

In order to solve the above problem, the utility model adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a driving mechanism for supporting a vehicle frame, the vehicle frame is fixed with an encoder, the driving mechanism includes:

the differential drive assembly comprises a shell and a differential drive unit, the shell is fixed on the frame and supported on the differential drive unit, and the differential drive unit can rotate around a supporting direction relative to the shell;

the differential drive unit is connected with the encoder through the connecting piece, the connecting piece comprises a first connecting part, a second connecting part and a third connecting part, the first connecting part is fixedly connected with the differential drive unit, the third connecting part is connected with the encoder, the third connecting part is connected with the first connecting part through the second connecting part, and the first connecting part and the second connecting part can move relatively along a third direction and are relatively fixed in the second direction; the second connecting part and the third connecting part can move relatively along the second direction and are relatively fixed in the third direction, and the second direction and the third direction are mutually vertical and are both vertical to the supporting direction.

In a second aspect, the embodiment of the present invention further provides a connecting piece, configured to connect a first connected piece and a second connected piece distributed along a first direction, where the connecting piece includes a first connecting portion, a second connecting portion, and a third connecting portion, the first connecting portion is configured to be fixed to the first connected piece, the third connecting portion is configured to be connected to the second connected piece, and the third connecting portion is connected to the first connecting portion through the second connecting portion;

the first connecting part and the second connecting part can move relatively in a preset range along a third direction and are relatively fixed in the second direction; the second connecting part and the third connecting part can move relatively in a preset range along the second direction and are relatively fixed in the third direction; any two of the first direction, the second direction, and the third direction are perpendicular to each other.

In a third aspect, the embodiment of the present invention further provides a connecting piece, configured to connect a first connected piece and a second connected piece distributed along a first direction, where the connecting piece includes a first connecting portion, a second connecting portion, and a third connecting portion, the first connecting portion is used to be fixed to the first connected piece, the third connecting portion is used to be connected to the second connected piece, and the third connecting portion is connected to the first connecting portion through the second connecting portion;

a first limiting part and a second limiting part which are opposite along a second direction are arranged on one side, facing the second connecting part, of the first connecting part, a first surface, facing the second limiting part, of the first limiting part is of a planar structure perpendicular to the second direction, the second connecting part is clamped between the first limiting part and the second limiting part, and the surface, facing the first surface, of the second connecting part is attached to the first surface;

the second connecting portion towards one side of third connecting portion with the third connecting portion towards in one side of second connecting portion, one is equipped with the lug, and the other is equipped with the recess, the lug with the recess is pegged graft the cooperation, the lug with the recess is in first direction with the equal relative motion of second direction, the lug with the recess is in the third direction relatively fixed, wherein, arbitrary both mutually perpendicular in first direction, the second direction with in the third direction.

The utility model discloses a technical scheme can reach following beneficial effect:

the utility model discloses an actuating mechanism and connecting piece thereof, actuating mechanism includes differential drive unit and connecting piece, the connecting piece includes first connecting portion, second connecting portion and third connecting portion, first connecting portion with if differential drive unit etc. first by connecting piece fixed connection, third connecting portion with if encoder etc. second by connecting piece interconnect, and the second connecting portion are connected between first connecting portion and third connecting portion to guarantee that differential drive unit can be with the help of connecting piece and encoder interconnect. The differential drive unit can support the frame through the shell, and can rotate relative to the shell around the supporting direction, so that the purposes of steering and moving are achieved, and the encoder is fixed on the frame.

The first connecting part and the second connecting part can move relatively along the third direction and are relatively fixed in the second direction; the second connecting part and the third connecting part can move relatively along the second direction and are relatively fixed in the third direction; the second direction and the third direction are perpendicular to each other and perpendicular to the supporting direction.

Based on the above structure, when the differential drive unit is displaced in the second direction relative to the encoder, the relative displacement in the second direction generated by the differential drive unit and the encoder can be compensated by causing the second connecting portion and the third connecting portion to perform relative movement; the relative displacement of the differential drive unit and the encoder in the third direction can be compensated by causing the first connecting part and the second connecting part to move relatively.

Therefore, based on above-mentioned cooperation relation between first connecting portion and the second connecting portion, at first connecting portion along with differential drive unit around the relative encoder pivoted in-process of support direction, first connecting portion can drive the second connecting portion and rotate in the above-mentioned direction in the lump, and in the same way, the second connecting portion can drive the third connecting portion and rotate around support direction, and the third connecting portion are connected with the encoder, can transmit differential drive unit's rotation action to the encoder accurately, consequently, the embodiment of the utility model discloses an among the above-mentioned actuating mechanism, even if differential drive unit appears and takes place the displacement phenomenon along horizontal direction (the direction of perpendicular to support direction) relative shell, also can guarantee that differential drive unit can transmit self for the encoder around support direction pivoted angle accurately.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is an exploded view of a connector according to an embodiment of the present invention;

fig. 2 is an exploded view of the connector disclosed in the embodiment of the present invention in another direction;

fig. 3 is an assembly view of a connector according to an embodiment of the present invention;

fig. 4 is an assembled sectional view of a connector according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a connecting member disclosed in an embodiment of the present invention in another direction.

Description of reference numerals:

100-a first connecting part, 200-a second connecting part, 300-a third connecting part, 310-a groove, 410-a first limiting part, 420-a second limiting part, 430-a bump, 510-a differential drive unit, 520-an encoder, 530-a driving wheel, 540-a wire and 550-a frame.

Detailed Description

To make the purpose, technical solution and advantages of the present invention clearer, the following will combine the embodiments of the present invention and the corresponding drawings to clearly and completely describe the technical solution of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in fig. 1-5, an embodiment of the present invention discloses a driving mechanism, which can be used to support a frame 550, and an encoder 520 can be fixed on the frame 550 to obtain the rotation condition of the driving mechanism. The drive mechanism includes a differential drive assembly and a linkage.

The differential driving assembly includes a housing and a differential driving unit 510, the housing can be fixed on the frame 550, and the housing is supported on the differential driving unit 510, and the differential driving unit 510 can rotate around the supporting direction relative to the housing. Specifically, the shape of the housing may be determined according to the structure of the differential driving unit 510, and the housing may be sleeved outside the differential driving unit 510, so that the differential driving unit 510 can provide a supporting function for the housing. More specifically, the housing may be a cylindrical structure, which is supported on the differential driving unit 510 through the top surface, and by making the side surface have a certain distance from the differential driving unit 510, the differential driving unit 510 is ensured to be able to rotate relative to the housing, and the differential driving unit 510 is ensured to drive the housing to move, thereby achieving the steering and driving functions.

The differential driving unit 510 can be connected with the encoder 520 through the connecting member, so that the rotation of the differential driving unit 510 can be transmitted to the encoder 520 through the connecting member, and the relative displacement between the differential driving unit 510 and the encoder 520 in a certain range is not affected.

The connecting member includes a first connecting portion 100, a second connecting portion 200 and a third connecting portion 300, and in the using process of the connecting member, the first connecting portion 100 is fixedly connected with the differential driving unit 510, so that both the displacement and the rotation of the differential driving unit 510 can be transmitted to the first connecting portion 100, and similarly, the third connecting portion 300 is connected with the encoder 520, so that the rotation of the differential driving unit 510 can be transmitted to the encoder 520. Alternatively, the differential drive unit 510 may be coupled to two drive wheels 530 and the encoder 520 may be mounted on the frame 550 of the AGV.

It should be noted that the measuring head on the encoder 520 may be fixedly connected to the third connecting portion 300, or the measuring head and the third connecting portion may be relatively fixed in the direction around the supporting direction, so as to ensure that the third connecting portion 300 can accurately transmit the angle around the supporting direction generated by the differential driving unit 510 to the encoder 520. Of course, other connection manners may be adopted to enable the encoder 520 to detect the rotation angle of the third connection portion 300 around the supporting direction during the rotation of the third connection portion 300. Specifically, the first connecting portion 100 and the differential driving unit 510 may be fixed to each other by a connecting member such as a screw, and the third connecting portion 300 and the encoder 520 may be connected to each other by a member such as a bearing. For convenience of the following description, the supporting direction is named herein as a first direction.

In order to ensure that the second connection part 200 can be stably connected between the first connection part 100 and the third connection part 300, at least one of the first connection part 100 and the third connection part 300 may be engaged with the second connection part 200 by some structure so that the second connection part 200 is not separated from between the first connection part 100 and the third connection part 300, so that the third connection part 300 can be connected with the first connection part 100 through the second connection part 200.

The first connecting portion 100 and the second connecting portion 200 are relatively movable along a third direction and relatively fixed in a second direction; meanwhile, the second connecting portion 200 and the third connecting portion 300 are movable relative to each other along the second direction and fixed relative to each other in the third direction, and the second direction and the third direction are perpendicular to each other and both perpendicular to the first direction, i.e., the supporting direction. With the above technical solution, the first connection part 100 may limit the movement of the second connection part 200 in the second direction, and the third connection part 300 may limit the movement of the second connection part 200 in the third direction, so that it may be ensured that the second connection part 200 does not separate from between the first connection part 100 and the second connection part 200.

More specifically, the matching relationship between the first connecting portion 100 and the second connecting portion 200, and the matching relationship between the second connecting portion 200 and the third connecting portion 300 can be implemented by a slide rail and slide groove type combination structure, taking the first connecting portion 100 and the second connecting portion 200 as an example, a slide groove can be disposed on a side surface of the first connecting portion 100 facing the second connecting portion 200, and a slide rail can be disposed on the second connecting portion 200 facing the first connecting portion 100, by extending the slide rail and the slide groove along the third direction, the first connecting portion 100 can move relative to the second connecting portion 200 along the third direction, and the first connecting portion 100 and the second connecting portion 200 are relatively fixed in the second direction perpendicular to the third direction.

Or, the first connection portion 100 and the second connection portion 200 may form the above-mentioned matching relationship by means of a shaft-hole type combination structure, in detail, a protrusion structure similar to a rotating shaft may be disposed on a surface of the first connection portion 100 facing the second connection portion 200, and a counter bore is formed on a surface of the second connection portion 200 facing the first connection portion 100, so that the protrusion structure can move in the hole along the third direction by making a dimension of the counter bore in the third direction larger than a dimension of the protrusion structure in the third direction, and at the same time, by making a dimension of the counter bore in the second direction equal to a dimension of the protrusion structure in the second direction, it is ensured that the protrusion structure cannot move relative to the hole in the second direction, so that the first connection portion 100 and the second connection portion 200 can be relatively fixed in the second direction. Of course, more components can be adopted to be matched with each other between the first connecting portion 100 and the second connecting portion 200, so that a structure similar to a planar pair is formed between the two, which can also ensure that the matching relationship between the first connecting portion 100 and the second connecting portion 200 can meet the above requirement, similarly, the second connecting portion 200 and the third connecting portion 300 are also the same, and in consideration of the conciseness of text, the description is not repeated here.

It should be noted that the first direction, the second direction and the third direction may be three coordinate axes perpendicular to each other in a three-dimensional rectangular coordinate system, and more specifically, the first direction may be a direction z in fig. 3, the second direction may be a direction y in fig. 3, and the third direction may be a direction x in fig. 3.

The utility model discloses an actuating mechanism and connecting piece thereof, actuating mechanism includes differential drive unit 510 and connecting piece, the connecting piece includes first connecting portion 100, second connecting portion 200 and third connecting portion 300, first connecting portion 100 and differential drive unit 510 fixed connection, the second such as third connecting portion 300 and encoder 520 is by connecting piece interconnect, and second connecting portion 200 is connected between first connecting portion 100 and third connecting portion 300, thereby guarantee that differential drive unit 510 can be with the help of connecting piece and encoder 520 interconnect. Wherein the differential driving unit 510 can support the frame 550 through the housing, and the differential driving unit 510 can rotate around the supporting direction relative to the housing, thereby achieving the purpose of steering and moving, and the encoder 520 is fixed on the frame 550.

The first connecting portion 100 and the second connecting portion 200 are relatively movable along the third direction and relatively fixed in the second direction; the second connecting portion 200 and the third connecting portion 300 are relatively movable in the second direction and relatively fixed in the third direction; the second direction and the third direction are perpendicular to each other and are both perpendicular to the supporting direction, namely the first direction.

Based on the above-described structure, when the differential drive unit 510 is displaced in the second direction relative to the encoder 520, the relative displacement of the differential drive unit 510 and the encoder 520 in the second direction can be compensated by causing the second link portion 200 and the third link portion 300 to make relative movement; the relative displacement of the differential driving unit 510 and the encoder 520 in the third direction may be compensated for by causing the first connection part 100 and the second connection part 200 to make a relative movement.

Therefore, based on the above-described fitting relationship between the first connection portion 100 and the second connection portion 200, during the rotation of the first coupling portion 100 with the differential drive unit 510 about the first direction relative to the encoder 520, the first connecting portion 100 can drive the second connecting portion 200 to rotate in the above-mentioned direction, and similarly, the second connecting portion 200 can drive the third connecting portion 300 to rotate in the first direction, the third connecting portion 300 is connected to the encoder 520, the rotational motion of the differential driving unit 510 can be accurately transmitted to the encoder 520, and therefore, in the driving mechanism disclosed in the embodiment of the present invention, even if the differential drive unit 510 is displaced from the housing in the horizontal direction (i.e., the direction perpendicular to the supporting direction), it is ensured that the differential drive unit 510 can accurately transmit the angle of rotation of itself about the supporting direction to the encoder 520.

Further, in the connecting member disclosed in the embodiment of the present invention, any adjacent two of the first connecting portion 100, the second connecting portion 200 and the third connecting portion 300 can move relatively in the predetermined range along the first direction, so that when the differential driving unit 510 rotates around the second direction and/or the third direction, the rotation of the differential driving unit 510 can be compensated in a manner that any two of the first connecting portion 100, the second connecting portion 200 and the third connecting portion 300 move relatively in the first direction.

Specifically, the distance between the first connecting portion 100 and the third connecting portion 300 in the first direction may be preset according to actual requirements, and the size of the second connecting portion 200 in the first direction is determined according to the distance, so that the second connecting portion 200 can move relatively between the first connecting portion 100 and the third connecting portion 300 in the first direction, and further the first connecting portion 100 and the second connecting portion 200 can move relatively in the first direction, and the second connecting portion 200 and the third connecting portion 300 can also move relatively in the first direction.

In addition, by providing a fitting structure, for example, a hanging groove on the third connection portion 300, so that at least a portion of the second connection portion 200 is hung on the third connection portion 300, in this case, the gravity of the second connection portion 200 acts on the third connection portion 300, and it is possible to ensure that the second connection portion 200 and the third connection portion 300 can be connected to each other. Furthermore, along the first direction, a gap may be provided between the second connection portion 200 and the first connection portion 100, so as to ensure that the second connection portion 200 can move relative to the first connection portion 100, and of course, by extending the top wall of the hanging groove in a direction away from the first connection portion 100, the second connection portion 200 can still move relative to the third connection portion 300 along the first direction.

As described above, the second connecting portion 200 can be hooked on the third connecting portion 300, and a gap is provided between the second connecting portion 200 and the first connecting portion 100, so as to ensure that the connecting member can eliminate the relative displacement between the differential driving unit 510 and the encoder 520 in the first direction. In another embodiment of the present invention, as shown in fig. 3 and 4, in the first direction, the second connecting portion 200 may be movably supported on the first connecting portion 100, in this case, the gravity of the second connection portion 200 acts on the first connection portion 100, in order to ensure that any adjacent two of the first connecting portion 100, the second connecting portion 200 and the third connecting portion 300 can still relatively move in the first direction, a gap may be provided between the second connecting portion 200 and the third connecting portion 300, and a relative movement may be generated in the first direction by the second connecting portion 200 and the third connecting portion 300, so that the connecting member can eliminate a displacement generated in the first direction between the differential driving unit 510 and the encoder 520, and adopt above-mentioned technical scheme can also reduce the processing degree of difficulty and the equipment degree of difficulty of first connecting portion 100, second connecting portion 200 and third connecting portion 300.

In addition, under the condition of adopting the above technical solution, as above, the second connection portion 200 and the third connection portion 300 are relatively fixed in the third direction, and because a gap is formed between the second connection portion 200 and the third connection portion 300, the second connection portion 200 and the first connection portion 100 can move relatively, so that when the differential drive unit 510 rotates around the second direction relative to the encoder 520, the differential drive unit 510 can drive the first connection portion 100 to rotate around the second direction relative to the second connection portion 200, one end of the first connection portion 100 pushes the second connection portion 200 to move towards the direction close to the third connection portion 300, and the other end of the first connection portion 100 moves towards the direction far from the third connection portion 300, thereby eliminating the rotation action generated by the differential drive unit 510 and the encoder 520 in the direction around the second direction.

As described above, the matching relationship between the first connection portion 100 and the second connection portion 200 can be implemented by using various structures, and optionally, as shown in fig. 1, the first connection portion 100 is provided with a first limiting portion 410 and a second limiting portion 420 opposite to each other along a second direction, a first surface of the first limiting portion 410 facing the second limiting portion 420 is a planar structure perpendicular to the second direction, the second connection portion 200 is clamped between the first limiting portion 410 and the second limiting portion 420, and a surface of the second connection portion 200 facing the first surface is attached to the first surface.

That is, the first position-limiting portion 410 and the second position-limiting portion 420 can prevent the second connecting portion 200 from displacing relative to the first connecting portion 100 in the second direction, and the first surface of the first position-limiting portion 410 and the surface of the second connecting portion 200 are attached to each other, so that the degree of freedom between the second connecting portion 200 and the first connecting portion 100 is further limited, and thus the second connecting portion 200 and the first connecting portion 100 can only displace relative to each other in the third direction, and meanwhile, when the first connecting portion 100 rotates around the first direction along with the differential driving unit 510, the second connecting portion 200 can only rotate around the first direction along with the differential driving unit 510 along with the first connecting portion 100 under the limiting action of the first position-limiting portion 410 and the second position-limiting portion 420.

Under the condition of adopting above-mentioned technical scheme, the relatively fixed relation in the second side between second connecting portion 200 and first connecting portion 100 is comparatively stable, and first surface still can provide the guide effect for second connecting portion 200 and first connecting portion 100 in the third side's of the equal motion on first spacing portion 410, and above-mentioned technical scheme's the implementation degree of difficulty is less relatively, and need not to set up groove or hole structure on the part, thereby can guarantee that first connecting portion 100 and second connecting portion 200 all have higher structural strength, promote the life of connecting piece.

Specifically, the first connecting portion 100, the second connecting portion 200, the first limiting portion 410 and the second limiting portion 420 can be made of hard materials such as metal, on one hand, the stability of the matching relation between the first connecting portion 100 and the second connecting portion 200 is further guaranteed, on the other hand, the friction loss between the second connecting portion 200 and the first limiting portion 410 can be reduced, and the service life of the whole connecting piece is prolonged. Optionally, the first connecting portion 100, the first limiting portion 410 and the second limiting portion 420 may be formed in an integrated manner, which may further improve the reliability of the fixed connection relationship between the first limiting portion 410 and the first connecting portion 100 and between the second limiting portion 420 and the first limiting portion, and may improve the processing efficiency of the whole connecting piece. Certainly, the dimension of the second connecting portion 200 in the second direction needs to correspond to the distance between the first limiting portion 410 and the second limiting portion 420 in the second direction, so as to ensure that the first limiting portion 410 and the second limiting portion 420 can limit the second connecting portion 200 from being displaced relative to the first connecting portion 100 in the second direction.

In order to further improve the fitting stability of the second connecting portion 200 and the first connecting portion 100 in the third direction, a second surface of the second limiting portion 420 facing the first limiting portion 410 may also be a planar structure perpendicular to the second direction, and a surface of the second connecting portion 200 facing the second surface is attached to the second surface. That is to say, two surfaces of the second connecting portion 200 facing away from each other along the second direction are both planar structures, and are respectively attached to the first surface of the first position-limiting portion 410 and the second surface of the second position-limiting portion 420. In this case, with the aid of two sets of planar structures attached to each other, while the stability of the movable fit relationship between the second connection portion 200 and the first connection portion 100 in the third direction is improved, the fixed fit relationship between the first connection portion 100 and the second connection portion 200 in the second direction is further stabilized, and in addition, in the process that the first connection portion 100 rotates along with the differential driving unit 510 around the first direction, the response speed and the rotation accuracy of the second connection portion 200 can be further improved, so that the rotation amplitude of the second connection portion 200 around the first direction is equal to the rotation amplitude of the differential driving unit 510, and the transmission accuracy of the angle is improved.

As described above, similarly, the matching relationship between the third connecting portion 300 and the second connecting portion 200 can be realized in various ways, based on the condition that the second connecting portion 200 is movably supported on the first connecting portion 100, and the second connecting portion 200 is limited between the first limiting portion 410 and the second limiting portion 420, optionally, one of the sides of the second connecting portion 200 facing the third connecting portion 300 and the side of the third connecting portion 300 facing the second connecting portion 200 is provided with the projection 430, the other one is provided with the groove 310, the projection 430 is in plug-in fit with the groove 310, the projection 430 and the groove 310 are relatively movable in the first direction and the second direction, and the projection 430 and the groove 310 are relatively fixed in the third direction. That is, the second connecting portion 200 and the third connecting portion 300 are engaged with each other by the protrusion 430 and the groove 310, which is simple and easy to implement, and the engagement is stable and reliable.

As shown in fig. 2, the bump 430 may be connected to the third connecting portion 300, and the groove 310 may be disposed on the second connecting portion 200, specifically, the bump 430 and the third connecting portion 300 may be formed by separate molding and then integrated by bonding or welding; accordingly, the grooves 310 may be formed on the second connection portion 200 at positions corresponding to the protrusions 430 by means of drilling, and the sizes of the grooves 310 in the second direction are all larger than the sizes of the protrusions 430 in the second direction, so as to ensure that the protrusions 430 can move in the grooves 310 in the second direction.

Alternatively, in the case that the second connecting portion 200 and the third connecting portion 300 have a gap along the first direction, the size of the protrusion 430 in the first direction may be equal to the size of the groove 310 in the first direction, so that the third connecting portion 300 can drive the protrusion 430 to move to the depth of the groove 310 together, and the connecting member can eliminate the relative displacement between the differential driving unit 510 and the encoder 520 in the first direction; alternatively, the size of the protrusion 430 in the first direction may be smaller than the size of the groove 310 in the first direction, thereby maximizing the ability of the connector to eliminate the relative displacement of the differential drive unit 510 and the encoder 520 in the first direction.

In another embodiment of the present invention, the protrusion 430 may be disposed on a side surface of the second connection portion 200 facing the third connection portion 300, in which case the groove 310 may be disposed on a side of the third connection portion 300 facing the second connection portion 200. Since the second connecting portion 200 is not provided with the recess 310, the strength of the second connecting portion 200 is prevented from being reduced, and the structural stability of the second connecting portion 200 limited between the first limiting portion 410 and the second limiting portion 420 is ensured to be better, so that the displacement of the differential driving unit 510 in the third direction can be reliably eliminated, and the rotation of the differential driving unit 510 around the first direction can be reliably transmitted. In addition, if the groove 310 is disposed on the second connection portion 200, the size of the groove 310 is necessarily smaller than that of the second connection portion 200, and since the size of the bump 430 is relatively less limited by the size of the second connection portion 200, even the size of the bump 430 can be made larger than that of the second connection portion 200 in the corresponding direction, so that in the case that the size of the second connection portion 200 is limited by the distance between the first position-limiting portion 410 and the second position-limiting portion 420, the bump 430 is disposed on the second connection portion 200, compared to the case that the groove 310 is disposed on the second connection portion 200, the overall structural strength and the structural stability of the connector can be relatively high.

Under the condition that the bump 430 is arranged between the second connecting portion 200 and the third connecting portion 300, the bump 430 can be arranged at any position between the second connecting portion 200 and the third connecting portion 300, and only the positions of the groove 310 and the bump 430 are required to be ensured to correspond to each other, and the size of the bump 430 in the second direction is smaller than that of the groove 310 in the second direction, so that the size of the bump 430 in the third direction is equal to that of the groove 310 in the third direction, and the second connecting portion 200 and the third connecting portion 300 can move relatively in the second direction and are relatively fixed in the third direction.

In order to improve the stability of the fixed fitting relationship between the second connecting portion 200 and the third connecting portion 300 in the third direction, further, the size of the protrusion 430 in the second direction may be larger than that of the protrusion 430 in the third direction, so that the area of the mutual fitting between the protrusion 430 and the groove wall of the groove 310 is larger, which makes the surface-limiting relationship between the protrusion 430 and the groove 310 more stable. In addition, under the condition of adopting the above technical solution, in the process that the second connection part 200 rotates around the first direction along with the first connection part 100, since the protrusion 430 and the groove 310 are mutually matched through a surface with a large area, when the second connection part 200 slightly rotates around the first direction, the rotation can be transmitted to the third connection part 300 through the protrusion 430 and the groove 310.

Moreover, in order to ensure that the protrusion 430 can be inserted into the groove 310, the size of the protrusion 430 in the third direction is slightly smaller than the size of the groove 310 in the third direction, that is, there is a fitting gap between the protrusion 430 and the groove 310, and when the second connection portion 200 rotates around the first direction, the existence of the fitting gap will tend to affect the response speed of the third connection portion 300, and as the size of the protrusion 430 in the second direction gradually increases, the degree of the influence of the fitting gap between the protrusion 430 and the groove 310 on the response speed of the third connection portion 300 will gradually decrease, and when the size of the protrusion 430 in the second direction is larger, it can be considered that the fitting gap between the protrusion 430 and the groove 310 will no longer affect the response speed of the third connection portion 300, that is, when the second connection portion 200 rotates around the first direction, the third connection portion 300 can simultaneously rotate around the first direction, and the rotation is transmitted to the encoder 520 connected to the third connecting portion 300, which can further improve the accuracy of the transmission provided by the entire connecting member.

Further, the projection of the projection 430 may be located between the first position-limiting portion 410 and the second position-limiting portion 420, in which case, on the one hand, the upper limit of the dimension of the projection 430 in the second direction may be made higher, and on the other hand, by making the projection 430 relatively centered, the projection 430 and the groove 310 may be enabled to transmit the rotation action of the second connecting portion 200 to the third connecting portion 300 more uniformly, thereby further improving the transmission precision of the entire connecting member with respect to the angle.

Further, the number of the protruding blocks 430 and the number of the grooves 310 are two, and the two protruding blocks 430 and the two grooves 310 are matched in a one-to-one correspondence manner, so that the transmission accuracy and the reliability between the second connecting portion 200 and the third connecting portion 300 are higher, and the two protruding blocks 430 are oppositely arranged along the third direction, in this case, the upper limit of the size of each protruding block 430 in the second direction is relatively higher, and each protruding block 430 can transmit the rotation action to the third connecting portion 300 more uniformly, so that the matching relationship between the second connecting portion 200 and the third connecting portion 300 is more accurate and more reliable.

Specifically, the shapes and sizes of the two bumps 430 can be made to be correspondingly the same, so that the processing difficulty of the whole connecting piece can be reduced, and the same action effect between each bump 430 and the third connecting portion 300 can be ensured. More specifically, in the initial state of the connection member, that is, in the case where the first connection portion 100, the second connection portion 200 and the third connection portion 300 have not been relatively displaced and rotated, in the second direction, the protrusion 430 may be located at the middle position of the groove 310, that is, the distance between two opposite groove walls of the protrusion 430 and the groove 310 in the second direction is equal, which makes the adjustment function provided by the protrusion 430 to the second connection portion 200 and the third connection portion 300 in any one direction of the second direction identical, so that the overall capability of the protrusion 430 to eliminate the displacement of the differential drive unit 510 in the second direction is better.

In addition, the differential driving unit 510 is usually connected to the driving wheel 530, and the driving wheel 530 is usually connected to the power source via the wire 540, and optionally, the first connecting portion 100, the second connecting portion 200, and the third connecting portion 300 may be hollow, so that the wire 540 of the driving wheel 530 can pass through the first connecting portion 100, the second connecting portion 200, and the third connecting portion 300 to be connected to the power source. Specifically, a through hole may be provided at each center position of the first connection portion 100, the second connection portion 200, and the third connection portion 300, the shape of the through hole may be determined according to the actual shape of each component, and the size of each through hole may be determined according to the diameter of the wire 540, which is not limited herein.

Based on the driving mechanism disclosed in any of the above embodiments, the embodiments of the present application further disclose a connecting member, with which a first connected member and a second connected member can be connected, the first connected member and the second connected member being distributed along a first direction, the first connected member may be the differential driving unit 510, and the second connected member may be the encoder 520.

The connecting piece comprises a first connecting part 100, a second connecting part 200 and a third connecting part 300, in the using process of the connecting piece, the first connecting part 100 and a first connected piece can be fixedly connected, so that both the displacement and the rotation of the first connected piece can be transmitted to the first connecting part 100, similarly, the third connecting part 300 is connected with a second connected piece, and the third connecting part 300 is connected with the first connecting part 100 through the second connecting part 200, so that the rotation of the first connected piece is transmitted to the second connected piece.

The first connecting portion 100 and the second connecting portion 200 are relatively movable within a predetermined range along a third direction, and are relatively fixed in the second direction; meanwhile, the second connecting portion 200 and the third connecting portion 300 are relatively movable within a predetermined range along the second direction and relatively fixed in the third direction, and any two of the first direction, the second direction and the third direction are perpendicular to each other. In addition, based on the above detailed description of the specific structural form of the connecting member, the text is not repeated here in view of conciseness.

By adopting the technical scheme, the first connected piece and the second connected piece can be connected together, and the connecting piece can be ensured to accurately transmit the rotation condition of the first connected piece to the second connected piece under the condition that the first connected piece is displaced in a certain range relative to the second connected piece.

The first connection portion 100 is provided with a first limiting portion 410 and a second limiting portion 420 opposite to each other along the second direction on a side facing the second connection portion 200, a first surface of the first limiting portion 410 facing the second limiting portion 420 is a planar structure perpendicular to the second direction, the second connection portion 200 is sandwiched between the first limiting portion 410 and the second limiting portion 420, and a surface of the second connection portion 200 facing the first surface is attached to the first surface. By adopting the above technical scheme, the first connecting portion 100 and the second connecting portion 200 can move relatively in the preset range along the third direction, and are relatively fixed in the second direction.

Meanwhile, one of the side of the second connection part 200 facing the third connection part 300 and the side of the third connection part 300 facing the second connection part 200 is provided with a projection 430, the other is provided with a groove 310, the projection 430 is in plug fit with the groove 310, the projection 430 and the groove 310 move relatively in the first direction and the second direction, and the projection 430 and the groove 310 are relatively fixed in the third direction, so that the second connection part 200 and the third connection part 300 can move relatively in a preset range in the second direction and are relatively fixed in the third direction. Wherein any two of the first direction, the second direction and the third direction are perpendicular to each other. Similarly, based on the above detailed description of the specific structural form of the above-mentioned components in the connecting member, the text is not repeated here in view of conciseness.

The utility model discloses what the key description in the above embodiment is different between each embodiment, and different optimization characteristics are as long as not contradictory between each embodiment, all can make up and form more preferred embodiment, consider that the literary composition is succinct, then no longer describe here.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A drive mechanism for supporting a vehicle frame (550), the vehicle frame (550) having an encoder (520) affixed thereto, the drive mechanism comprising:

a differential drive assembly including a housing and a differential drive unit (510), the housing being fixed to the frame (550) and supported by the differential drive unit (510), the differential drive unit (510) being rotatable relative to the housing about a support direction;

a connector, through which the differential drive unit (510) is interconnected with the encoder (520), the connector including a first connector (100), a second connector (200), and a third connector (300), the first connector (100) being fixedly connected with the differential drive unit (510), the third connector (300) being connected with the encoder (520), the third connector (300) being interconnected with the first connector (100) through the second connector (200), the first connector (100) and the second connector (200) being relatively movable in a third direction and relatively fixed in a second direction; the second connecting part (200) and the third connecting part (300) can move relatively along the second direction and are relatively fixed in the third direction, and the second direction and the third direction are perpendicular to each other and are perpendicular to the supporting direction.

2. The drive mechanism according to claim 1, wherein any adjacent two of the first connecting portion (100), the second connecting portion (200), and the third connecting portion (300) are relatively movable within a predetermined range in the supporting direction.

3. The driving mechanism according to claim 1, wherein the first connecting portion (100) is provided with a first limiting portion (410) and a second limiting portion (420) which are opposite to each other along the second direction, a first surface of the first limiting portion (410) facing the second limiting portion (420) is a planar structure perpendicular to the second direction, the second connecting portion (200) is clamped between the first limiting portion (410) and the second limiting portion (420), and a surface of the second connecting portion (200) facing the first surface is attached to the first surface; the second surface of the second limiting part (420) facing the first limiting part (410) is of a plane structure perpendicular to the second direction, and the surface of the second connecting part (200) facing the second surface is attached to the second surface.

4. The drive mechanism according to claim 1, wherein one of a side of the second connection portion (200) facing the third connection portion (300) and a side of the third connection portion (300) facing the second connection portion (200) is provided with a projection (430), the other is provided with a groove (310), the projection (430) is in plug-in fit with the groove (310), the projection (430) and the groove (310) are relatively movable in both the support direction and the second direction, and the projection (430) and the groove (310) are relatively fixed in the third direction; the dimension of the bump (430) in the second direction is greater than the dimension of the bump (430) in the third direction.

5. The drive mechanism according to claim 4, wherein a projection of the projection (430) is located between the first stop portion (410) and the second stop portion (420).

6. The driving mechanism as claimed in claim 4, wherein the number of the protrusions (430) and the number of the grooves (310) are two, two of the protrusions (430) are oppositely arranged along the third direction, and the two protrusions (430) and the two grooves (310) are correspondingly matched with each other.

7. The drive mechanism according to claim 4, wherein the projection (430) is arranged on a side of the second connection portion (200) facing the third connection portion (300).

8. The drive mechanism according to claim 1, wherein the first connection portion (100), the second connection portion (200) and the third connection portion (300) are all hollow structures for threading.

9. A connecting member for connecting a first connected member and a second connected member distributed in a first direction, characterized in that the connecting member comprises a first connecting portion (100), a second connecting portion (200) and a third connecting portion (300), the first connecting portion (100) is used for fixing with the first connected member, the third connecting portion (300) is used for connecting with the second connected member, the third connecting portion (300) is connected with the first connecting portion (100) through the second connecting portion (200);

the first connecting part (100) and the second connecting part (200) can move relatively in a preset range along a third direction and are relatively fixed in a second direction; the second connecting part (200) and the third connecting part (300) can move relatively in a preset range along the second direction and are relatively fixed in the third direction; any two of the first direction, the second direction, and the third direction are perpendicular to each other.

10. A connecting member for connecting a first connected member and a second connected member distributed in a first direction, characterized in that the connecting member comprises a first connecting portion (100), a second connecting portion (200) and a third connecting portion (300), the first connecting portion (100) is used for fixing with the first connected member, the third connecting portion (300) is used for connecting with the second connected member, the third connecting portion (300) is connected with the first connecting portion (100) through the second connecting portion (200);

a first limiting portion (410) and a second limiting portion (420) which are opposite to each other along a second direction are arranged on one side, facing the second connecting portion (200), of the first connecting portion (100), a first surface, facing the second limiting portion (420), of the first limiting portion (410) is of a planar structure perpendicular to the second direction, the second connecting portion (200) is clamped between the first limiting portion (410) and the second limiting portion (420), and the surface, facing the first surface, of the second connecting portion (200) is attached to the first surface;

one of the second connecting portion (200) facing one side of the third connecting portion (300) and the third connecting portion (300) facing one side of the second connecting portion (200) is provided with a convex block (430), the other one of the second connecting portion and the third connecting portion is provided with a groove (310), the convex block (430) is in inserting fit with the groove (310), the convex block (430) and the groove (310) move relatively in the first direction and the second direction, the convex block (430) and the groove (310) are relatively fixed in the third direction, and any two of the first direction, the second direction and the third direction are perpendicular to each other.