CN217347955U - Low formula qxcomm technology differential turns to drive arrangement - Google Patents

Abstract

The utility model relates to a low formula qxcomm technology differential turns to drive arrangement, running gear in mounting disc and mounting disc, running gear includes the driving case, two walking wheels and two hybrid step motor, two hybrid step motor locate on the driving case, two vertical relative both sides of locating the driving case of walking wheel, and be connected with two hybrid step motor's output shaft transmission respectively, the mounting disc is the cylinder, the coaxial hoop of mounting disc inside wall is equipped with first retaining ring, first retaining ring is close to the upper end of mounting disc, the horizontal symmetry is equipped with a plurality of circumference gyro wheel on the driving case, vertical symmetry is equipped with a plurality of bearing gyro wheel, terminal surface contact under bearing gyro wheel and the first retaining ring, circumference gyro wheel and the contact of mounting disc inside wall. Compared with the prior art, the utility model has the advantages of the size is little, the flexibility is strong, turn to efficient, the stationarity is good and the security is high.

Description

Low formula qxcomm technology differential turns to drive arrangement

Technical Field

The utility model belongs to the technical field of automatic transportation equipment and specifically relates to a short formula qxcomm technology differential turns to drive arrangement is related to.

Background

An Automated Guided Vehicle (AGV), also commonly referred to as an Automated Guided Vehicle, is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a specified guide path and has safety protection and various transfer functions.

At present, AGV trolleys are adopted in a plurality of production workshops or warehouses to convey articles so as to improve the production or storage efficiency. The existing AGV trolley driving mode comprises two modes, namely steering wheel driving and differential driving. The steering wheel can realize omnidirectional movement. The differential drive uses two motors to drive two wheels respectively, and realizes the steering of the wheel train through different speeds of the two wheels.

The steering wheel can realize omnidirectional movement, but has high cost and low load. Differential drive uses two motors to drive two wheels respectively, realizes turning to of train through the different speed of two wheels, and the prior art has also proposed some technical scheme based on differential drive:

chinese patent cn20152209. x proposes an AGV driving device with differential steering function, which comprises a fixed plate, a supporting plate, wheel baffles and a spring sleeve, wherein one end of a spring support rod extends out of the spring sleeve and is fixedly connected with the supporting plate, a support seat is arranged at the bottom of the supporting plate, driving mechanisms are symmetrically arranged on two sides of the support seat, each driving mechanism comprises a transmission shaft, a motor and a driving wheel, two ends of the transmission shaft are respectively connected with one sides of the support seat and the wheel baffles through bearings, the driving wheel is fixedly connected with the transmission shaft, the motor is positioned on the outer side of the wheel baffles and is fixedly connected with the wheel baffles, the motor is engaged with the transmission shaft through a gear, a follower wheel is arranged on the inner side of the driving wheel, and a measurement and control shaft sleeve, a rotary encoder and a measurement and control shaft are arranged on the fixed plate;

the device has strong bearing capacity, but the whole structure is complex, the size is large, the device is not beneficial to the small-size and simplified design of AGV equipment, in addition, the driving device can not realize in-situ steering, the AGV equipment adopting the driving device can not finish angle adjustment in a limited space to a small extent, the side shifting capacity is poor, the pose adjusting precision is low, when the AGV equipment for transporting goods, such as a forklift, adopts the patent, the rapid adjustment can not be carried out to the expected pose, and the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a short formula qxcomm technology differential turns to drive arrangement in order to overcome the defect that above-mentioned prior art exists, and the size is little, and the flexibility is strong, turns to efficiently, and the stationarity is good, and the security is high.

The purpose of the utility model can be realized through the following technical scheme:

the utility model provides a short formula qxcomm technology differential turns to drive arrangement, running gear in including mounting disc and mounting disc, running gear include drive box, two walking wheels and two hybrid step motor, two hybrid step motor locate on the drive box, two walking wheels vertically locate the relative both sides of drive box, and be connected with two hybrid step motor's output shaft transmission respectively, the mounting disc be the cylinder, the coaxial hoop of mounting disc inside wall be equipped with first retaining ring, first retaining ring be close to the upper end of mounting disc, the drive box go up the horizontal symmetry and be equipped with a plurality of circumference gyro wheel, vertical symmetry is equipped with a plurality of bearing gyro wheel, bearing gyro wheel and first retaining ring under the end face contact, circumference gyro wheel and the contact of mounting disc inside wall.

Further, a second check ring is arranged on the inner side wall of the mounting disc in a coaxial and annular mode, and the second check ring is close to the lower end portion of the mounting disc.

Furthermore, a second notch corresponding to the circumferential roller is arranged on the second retaining ring.

Further, the mounting disc further comprises a circular cover plate, the outer diameter of the cover plate is the same as the inner diameter of the mounting disc, and the cover plate is fixed on the upper end face of the first retaining ring through a bolt.

Further, still include angle sensor, second mounting panel and second installation axle, angle sensor establish on the drive box through the second mounting panel, the second installation axle locate on the second mounting panel, angle sensor cover on the second installation axle, angle sensor and apron fixed connection.

Furthermore, the drive box comprises a bottom plate, and two first side plates and two second side plates which are vertically arranged on the bottom plate, wherein the first side plates, the second side plates and the bottom plate form a motor bin in a surrounding manner, and the two hybrid stepping motors are arranged in the motor bin.

Furthermore, the drive box further comprises an outer seat cover, a second groove is formed in the second side plate, a second through hole is formed in the second groove, a sleeve which is provided with a first groove and penetrates through the bottom of the first groove is arranged on the outer seat cover, the outer seat cover is fixed on the second side plate through bolts, the first groove and the second groove are matched to form a gear bin, the output shaft of the hybrid stepping motor is inserted into the gear bin through the second through hole and sleeved with a first gear, a second gear is arranged in the second groove, the first gear is meshed with the second gear, a bearing is arranged in the sleeve, the traveling wheel is connected with a transmission shaft, and the end part of the transmission shaft penetrates through the bearing and is in transmission connection with the second gear.

Furthermore, the driving box further comprises a mounting block, the mounting block is fixed on the second side plate through a bolt, a mounting hole is vertically formed in the mounting block, the circumferential roller is a needle bearing, and a needle roller of the circumferential roller is inserted into the mounting hole.

Further, first curb plate on be equipped with first through-hole, first curb plate on be equipped with first mounting panel, first mounting panel on be equipped with the first installation axle that passes first through-hole, the bearing gyro wheel be deep groove ball bearing, the bearing gyro wheel cover on first installation axle.

Furthermore, a fixed disc is vertically arranged on the outer side wall of the mounting disc.

Compared with the prior art, the utility model discloses have with following beneficial effect:

(1) the utility model comprises a mounting disc and a walking mechanism in the mounting disc, wherein the walking mechanism comprises a driving box, two walking wheels and two hybrid stepping motors, the two hybrid stepping motors are arranged on the driving box, the two walking wheels are vertically arranged at two opposite sides of the driving box and are respectively connected with output shafts of the two hybrid stepping motors in a transmission way, the mounting disc is cylindrical, the inner side wall of the mounting disc is coaxially and annularly provided with a first retainer ring which is close to the upper end part of the mounting disc, the driving box is horizontally and symmetrically provided with a plurality of circumferential rollers which are vertically and symmetrically provided with a plurality of bearing rollers, the bearing rollers are in surface contact with the lower end surface of the first retainer ring, the circumferential rollers are in surface contact with the inner side wall of the mounting disc, the mounting disc is fixed on a mobile device, the mounting disc is supported on the bearing rollers through the first retainer ring to play a role of bearing, the bearing rollers can roll along the lower end surface of the first retainer ring, the circumference roller rolls along the inner side wall of the mounting disc, has a limiting effect, so that the driving box is always positioned on the central position in the mounting disc, the two walking wheels are respectively controlled by the two hybrid stepping motors, when the two walking wheels are at the same speed, the driving device integrally moves forward, and when the two walking wheels have a speed difference, the driving device realizes steering, so that the forward direction of the driving device can be adjusted under the condition that the mounting disc does not displace, the flexibility is strong, a plurality of driving devices are arranged on the mobile equipment, the forward direction of each driving device can be independently adjusted under the condition that the mobile equipment is in situ motionless, the lateral movement and steering capacity of the mobile equipment are greatly improved, the forward direction and the pose of the mobile equipment can be rapidly adjusted in a small range in a limited space, and the efficiency is greatly improved;

(2) the utility model discloses running gear realizes the function of bearing and turning to simultaneously in the mounting disc, simple structure and compactness, and is with low costs, compares with prior art, the differential steering drive device that the utility model provides has reduced the size greatly, has especially reduced the size on the vertical direction, to the mobile device that undertakes the freight type, has reduced the liftoff height of mobile device, is favorable to the small-size, the simplified design of mobile device, has improved the stationarity in the driving process simultaneously;

(3) the mounting plate of the utility model wraps the travelling mechanism, thereby avoiding the travelling mechanism from being exposed outside, having high safety and reducing failure rate;

(4) the mounting disc of the utility model is cylindrical and is integrally fixed on the mobile device, the effective contact area is large, the connection is stable, meanwhile, the mounting disc has a limiting function on the travelling mechanism, and the travelling mechanism can not shake in the mounting disc, so the stability in the travelling process is greatly improved;

(5) the inner side wall of the installation disc of the utility model is coaxially and annularly provided with a second retainer ring, the second retainer ring is close to the lower end part of the installation disc, plays a role in limiting the circumferential rollers and prevents the running mechanism from being separated from the installation disc,

(6) the second notch corresponding to the circumferential roller is arranged on the second baffle ring, and the travelling mechanism can be taken out from the mounting disc after the position of the circumferential roller is aligned with the position of the second notch, so that the maintenance is convenient;

(7) the outer diameter of the cover plate of the utility model is the same as the inner diameter of the mounting disc, and the cover plate is fixed on the upper end surface of the first baffle ring through the bolt, thereby playing the roles of packaging and protecting the travelling mechanism;

(8) the utility model discloses angle sensor establishes on the drive box through the second mounting panel, second installation axle locate on the second mounting panel, angle sensor cover is on the second installation axle, angle sensor and apron fixed connection, every drive arrangement on the mobile device of controller control accomplishes respective operation that turns to or go forward, angle sensor measures the turned angle of drive unit, and feed back to the controller, the controller is again through controlling two hybrid step motor, carry out the fine setting of turned angle, in order to ensure that the current position of drive arrangement accords with the requirement of whole mobile device;

(9) the utility model discloses the drive box still includes the outer seat lid, be equipped with the second recess on the second curb plate, be equipped with the second through-hole on the second recess, the outer seat is covered and is equipped with first recess and link up the sleeve of first recess bottom, the outer seat lid passes through the bolt fastening on the second curb plate, first recess and second recess phase-match, constitute a gear storehouse, hybrid step motor output shaft inserts in the gear storehouse through the second through-hole, and the cover has first gear, be equipped with the second gear in the second recess, first gear and second gear meshing, be equipped with the bearing in the sleeve, the walking wheel is connected with the transmission shaft, the transmission shaft tip passes the bearing, and be connected with second gear transmission, the whole thickness of gear storehouse is thin, compact structure, the whole small of drive box;

(10) the utility model discloses be equipped with the fixed disk on the mounting disc lateral wall perpendicularly, the accessible fixed disk is fixed the mounting disc on the mobile device, and the structure is firm.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a schematic structural diagram of a traveling mechanism;

FIG. 3 is an assembled cross-sectional view of the circumferential roller and the mounting plate;

FIG. 4 is a cross-sectional view of the road wheel;

FIG. 5 is an internal structural view of the gear housing;

FIG. 6 is an internal structural view of the motor compartment;

FIG. 7 is a schematic view of the structure of the driving box;

FIG. 8 is a schematic structural view of a mounting plate;

FIG. 9 is a cross-sectional view of the mounting plate;

FIG. 10 is a schematic view of the cover plate;

FIG. 11 is a schematic view of a second side plate;

FIG. 12 is a schematic view of a first groove structure;

FIG. 13 is a schematic structural view of the sleeve;

FIG. 14 is a cross-sectional view of the first side panel;

FIG. 15 is a schematic view of a mounting block;

FIG. 16 is a schematic view of a forklift truck carrying pallet

FIG. 17 is a schematic view of the structure of the tray;

the reference numbers in the figures illustrate:

1. the novel forklift comprises a cover plate, 2. a mounting plate, 3. a hybrid stepping motor, 4. a first side plate, 5. a second side plate, 6. a travelling wheel, 7. a bearing roller, 8. a circumferential roller, 9. an angle sensor, 10. a bottom plate, 11. an outer seat cover, 12. a sleeve, 13. a slot, 14. a tray, 15. a first groove, 16. a third through hole, 17. a forklift, 18. a fork shovel, 19. a forklift base, 21. a fixed disc, 22. a first retaining ring, 23. a second retaining ring, 24. a first notch, 31. a first gear, 32. a sealing ring, 33. a second gear, 34. a bearing, 35. a transmission shaft, 41. a first through hole, 51. a second groove, 52. a second through hole, 71. a first mounting plate, 72. a first mounting shaft, 81. a mounting block, 82. a mounting hole, 91. a second mounting plate, 92. a second mounting shaft.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

A low-type omnidirectional differential steering driving device comprises a mounting disc 2 and a traveling mechanism in the mounting disc 2, wherein the traveling mechanism comprises a driving box, two traveling wheels 6 and two hybrid stepping motors 3, the two hybrid stepping motors 3 are arranged on the driving box, the two traveling wheels 6 are vertically arranged on two opposite sides of the driving box and are respectively in transmission connection with output shafts of the two hybrid stepping motors 3, the mounting disc 2 is cylindrical, a first retainer ring 22 is coaxially and annularly arranged on the inner side wall of the mounting disc 2, the first retainer ring 22 is close to the upper end part of the mounting disc 2, a plurality of circumferential rollers 8 are horizontally and symmetrically arranged on the driving box, a plurality of bearing rollers 7 are vertically and symmetrically arranged, the bearing rollers 7 are in surface contact with the lower end surface of the first retainer ring 22, and the circumferential rollers 8 are in surface contact with the inner side wall of the mounting disc 2;

the hybrid stepping motor 3 is electrically connected with a controller, the mounting disc 2 is fixed on the mobile equipment, the mounting disc 2 is supported on the bearing roller 7 through the first retainer ring 22 to play a role of bearing, the bearing roller 7 can roll along the lower end surface of the first retainer ring 22, the circumferential roller 8 rolls along the inner side wall of the mounting disc 2 to have a limiting function, so that the driving box is always positioned at the central position in the mounting disc 2, the two walking wheels 6 are respectively controlled through the two hybrid stepping motors 3, when the two walking wheels 6 are at the same speed, the driving device integrally advances, when the two walking wheels 6 have a speed difference, the driving device realizes steering, the advancing direction of the driving device can be adjusted under the condition that the mounting disc 2 does not displace, the flexibility is strong, a plurality of driving devices are arranged on the mobile equipment, the advancing direction of each driving device can be independently adjusted under the condition that the mobile equipment is in situ motionless, the lateral movement and steering capacity of the mobile equipment is greatly improved, the advancing direction and the pose of the mobile equipment can be adjusted rapidly in a limited space in a small range, and the efficiency is greatly improved;

the running gear realizes the function of bearing and turning at the same time in the mounting disc 2, simple and compact in construction, with low costs, compared with prior art, the differential steering drive unit that the utility model provides has greatly reduced the size, especially reduced the size on the vertical direction, to the mobile device that undertakes the goods transportation class, has reduced the liftoff height of the mobile device, help the small-scale, simplified design of the mobile device, has improved the stationarity in the course of going at the same time;

the mounting disc 2 wraps the travelling mechanism inside at the same time, so that the travelling mechanism is prevented from being exposed outside, the safety is high, and the failure rate is reduced;

the mounting disc 2 is the cylinder, and monolithic stationary is on the mobile device, and effective area of contact is big, connects stably, and mounting disc 2 has limiting displacement to running gear simultaneously, and running gear can not take place to rock in mounting disc 2, therefore the stationarity of the in-process of traveling improves greatly.

The coaxial hoop of 2 inside walls of mounting disc is equipped with second retaining ring 23, and second retaining ring 23 is close to the lower tip of mounting disc 2, plays the limiting displacement to circumference gyro wheel 8, prevents that running gear from breaking away from in the mounting disc 2.

And a second notch 24 corresponding to the circumferential roller 8 is arranged on the second retainer ring 23, and after the position of the circumferential roller 8 is aligned with the position of the second notch 24, the travelling mechanism can be taken out of the mounting disc 2, so that the maintenance is facilitated.

As shown in fig. 10, the driving device further comprises a circular cover plate 1, the outer diameter of the cover plate 1 is the same as the inner diameter of the mounting disc 2, the cover plate 1 is fixed on the upper end face of the first retainer ring 22 through bolts to play a role in packaging and protecting the traveling mechanism, a plurality of third through holes 16 are symmetrically arranged on the cover plate 1, and the working condition of the traveling mechanism can be observed through the third through holes 16, so that the maintenance is facilitated.

The driving device also comprises an angle sensor 9, a second mounting plate 91 and a second mounting shaft 92, wherein the model of the angle sensor 9 is R24HS, the angle sensor 9 is arranged on the driving box through the second mounting plate 91, the second mounting shaft 92 is arranged on the second mounting plate 91, the angle sensor 9 is sleeved on the second mounting shaft 92, the angle sensor 9 is fixedly connected with the cover plate 1,

the controller controls each driving device on the mobile equipment to complete respective steering or advancing operation, the angle sensor 9 measures the rotation angle of the driving unit and feeds the rotation angle back to the controller, and the controller controls the two hybrid stepping motors 3 to finely adjust the rotation angle so as to ensure that the current direction of the driving device meets the requirement of the whole mobile equipment.

The outer side wall of the mounting disc 2 is vertically provided with a fixed disc 21, the mounting disc 2 can be fixed on the mobile device through the fixed disc 21, and the structure is stable.

As shown in fig. 6 and 7, the driving box includes a bottom plate 10, and two first side plates 4 and two second side plates 5 vertically disposed on the bottom plate 10, the first side plates 4, the second side plates 5 and the bottom plate 10 enclose a motor compartment, and the two hybrid stepping motors 3 are disposed in the motor compartment.

As shown in fig. 5, fig. 11, fig. 12 and fig. 13, the driving box further includes an outer seat cover 11, a second groove 51 is formed on the second side plate 5, a second through hole 52 is formed on the second groove 51, a first groove 15 and a sleeve 16 penetrating through the bottom of the first groove 15 are formed on the outer seat cover 11, the outer seat cover 11 is fixed on the second side plate 5 through bolts, the first groove 15 is matched with the second groove 51 to form a gear chamber, an output shaft of the hybrid stepping motor 3 is inserted into the gear chamber through the second through hole 52 and is sleeved with a first gear 31, a second gear 33 is arranged in the second groove 51, the first gear 31 is engaged with the second gear 33, a bearing 34 is arranged in the sleeve 16, the traveling wheel 6 is connected with a transmission shaft 35, and the end of the transmission shaft 35 penetrates through the bearing 34 and is in transmission connection with the second gear 33;

the whole thickness in gear storehouse is thin, and compact structure realizes the reduction of the whole volume of drive box, and second recess 51 terminal surface edge is equipped with sealing washer 32, guarantees the leakproofness in gear storehouse.

As shown in fig. 15, the driving box further includes a mounting block 81, the mounting block 81 is fixed to the second side plate 5 by bolts, a mounting hole 82 is vertically formed in the mounting block 81, the circumferential roller 8 is a needle bearing, a needle of the circumferential roller 8 is inserted into the mounting hole 82, and the circumferential roller 8 rotates around the needle.

As shown in fig. 14, a first through hole 41 is formed in the first side plate 4, a first mounting plate 71 is formed on the first side plate 4, a first mounting shaft 72 passing through the first through hole 41 is formed on the first mounting plate 71, the bearing roller 7 is a deep groove ball bearing, the bearing roller 7 is sleeved on the first mounting shaft 72, and the bearing roller 7 can rotate around the first mounting shaft 72.

As shown in fig. 16, the mobile device applied in this embodiment is a forklift 17, the forklift 17 transports the pallet 14 through the fork shovels 18, as shown in fig. 17, the pallet 14 is provided with slots 13 at the bottom which are matched with the fork shovels 18, the forklift 17 is provided with a plurality of driving devices at the bottom, and the controller controls the steering and the advancing of each driving device on the forklift 17, so that the fork shovels 18 of the forklift 17 are quickly aligned with the slots 13 and inserted into the slots 13, and the fork shovels 18 are lifted again to lift the pallet 14;

the forklift base 19 of the forklift 17 has a certain height, which limits the height of the lowest position that the forklift shovel 18 can reach, and by adopting the driving device provided by the embodiment, the height of the forklift base 19 is greatly reduced, so that the forklift shovel 18 can be suitable for pallets 14 of various sizes.

This embodiment has provided a short formula differential of qxcomm technology to turn to drive arrangement, can realize adjusting drive arrangement's direction of advance under the condition that mounting disc 2 does not take place the displacement, and the flexibility is strong, and running gear realizes the bearing simultaneously in mounting disc 2 and turns to the function, and simple structure and compactness are with low costs, compare in prior art, the utility model provides a differential turns to drive arrangement has reduced the size greatly, has especially reduced vertical ascending size, and mounting disc 2 is the cylinder, and monolithic stationary is on the mobile device, and effective area of contact is big, connects stably, and mounting disc 2 has limiting displacement to running gear simultaneously, and running gear can not take place to rock in mounting disc 2, consequently the stationarity of driving in-process improves greatly.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the teachings of the present invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. The low type omnidirectional differential steering driving device is characterized by comprising a mounting disc (2) and a traveling mechanism in the mounting disc (2), wherein the traveling mechanism comprises a driving box, two traveling wheels (6) and two hybrid stepping motors (3), the two hybrid stepping motors (3) are arranged on the driving box, the two traveling wheels (6) are vertically arranged on two opposite sides of the driving box and are respectively in transmission connection with output shafts of the two hybrid stepping motors (3), the mounting disc (2) is cylindrical, a first check ring (22) is coaxially and annularly arranged on the inner side wall of the mounting disc (2), the first check ring (22) is close to the upper end part of the mounting disc (2), the driving box is horizontally and symmetrically provided with a plurality of circumferential idler wheels (8), and the vertical symmetry is provided with a plurality of bearing idler wheels (7), the bearing roller (7) is in contact with the lower end face of the first retainer ring (22), and the circumferential roller (8) is in contact with the inner side wall of the mounting disc (2).

2. A low, omni-directional, differential steering driving device according to claim 1, wherein the inner sidewall of the mounting plate (2) is coaxially and annularly provided with a second retaining ring (23), and the second retaining ring (23) is close to the lower end of the mounting plate (2).

3. A low, omni-directional, differential steering drive as claimed in claim 2 wherein the second retainer (23) is provided with a second notch (24) corresponding to the circumferential roller (8).

4. A low, omni-directional, differential steering drive according to claim 1, further comprising a circular cover plate (1), wherein the outer diameter of said cover plate (1) is the same as the inner diameter of the mounting plate (2), and said cover plate (1) is fixed to the upper end surface of the first retainer ring (22) by bolts.

5. The low type omnidirectional differential steering driving device according to claim 4, further comprising an angle sensor (9), a second mounting plate (91) and a second mounting shaft (92), wherein the angle sensor (9) is arranged on the driving box through the second mounting plate (91), the second mounting shaft (92) is arranged on the second mounting plate (91), the angle sensor (9) is sleeved on the second mounting shaft (92), and the angle sensor (9) is fixedly connected with the cover plate (1).

6. The low type omnidirectional differential steering driving device according to claim 1, wherein the driving box comprises a bottom plate (10), and two first side plates (4) and two second side plates (5) vertically arranged on the bottom plate (10), the first side plates (4), the second side plates (5) and the bottom plate (10) enclose a motor compartment, and the two hybrid stepping motors (3) are arranged in the motor compartment.

7. The low-type omnidirectional differential steering driving device according to claim 6, wherein the driving box further comprises an outer seat cover (11), the second side plate (5) is provided with a second groove (51), the second groove (51) is provided with a second through hole (52), the outer seat cover (11) is provided with a first groove (15) and a sleeve (16) penetrating through the bottom of the first groove (15), the outer seat cover (11) is fixed on the second side plate (5) through a bolt, the first groove (15) and the second groove (51) are matched to form a gear bin, the output shaft of the hybrid stepping motor (3) is inserted into the gear bin through the second through hole (52) and sleeved with a first gear (31), the second groove (51) is internally provided with a second gear (33), and the first gear (31) is engaged with the second gear (33), the sleeve (16) is internally provided with a bearing (34), the traveling wheel (6) is connected with a transmission shaft (35), and the end part of the transmission shaft (35) penetrates through the bearing (34) and is in transmission connection with the second gear (33).

8. The low type omnidirectional differential steering driving device as defined in claim 6, wherein said driving box further comprises a mounting block (81), said mounting block (81) is fixed on the second side plate (5) by bolts, said mounting block (81) is vertically provided with a mounting hole (82), said circumferential roller (8) is a needle bearing, and a needle of said circumferential roller (8) is inserted into said mounting hole (82).

9. The low omnidirectional differential steering driving device according to claim 6, wherein the first side plate (4) is provided with a first through hole (41), the first side plate (4) is provided with a first mounting plate (71), the first mounting plate (71) is provided with a first mounting shaft (72) penetrating through the first through hole (41), the bearing roller (7) is a deep groove ball bearing, and the bearing roller (7) is sleeved on the first mounting shaft (72).

10. A low omni-directional differential steering driving apparatus according to claim 1, wherein the mounting plate (2) is vertically provided with a fixing plate (21) on the outer side wall.

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