WO2021213066A1

WO2021213066A1 - Driving device and agv having same

Info

Publication number: WO2021213066A1
Application number: PCT/CN2021/080557
Authority: WO
Inventors: 吴超
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2020-04-22
Filing date: 2021-03-12
Publication date: 2021-10-28
Also published as: CN113525552A; CN113525552B

Abstract

A driving device (100) and an AGV having same. The driving device (100) comprises: a driving wheel assembly (10); a supporting body (20), the driving wheel assembly (10) being hinged to the supporting body (20) so as to enable the driving wheel assembly (10) to swing around a transverse axis relative to the supporting body (20); and a mounting frame (30), an accommodating cavity being formed in the mounting frame (30), the supporting body (20) and the driving wheel assembly (10) being arranged in the accommodating cavity, the mounting frame (30) being supported by the supporting body (20), and the driving wheel assembly (10) being arranged in a manner of being capable of rotating around a longitudinal axis of the accommodating cavity.

Description

Driving device and AGV with the same

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on April 22, 2020, the application number is 202010322808.7, and the invention title is "driving device and AGV with it", the entire content of which is incorporated into this application by reference .

Technical field

The present disclosure belongs to the field of guided transportation equipment, and specifically relates to a driving device and an AGV having the same.

Background technique

This section provides only background information related to the present disclosure, which is not necessarily prior art.

AGV (Automated Guided Vehicle) means an automatic guided transport vehicle, commonly known as an "unmanned guided vehicle". It is equipped with electromagnetic or optical automatic guidance devices, capable of driving along a pre-set guidance path, and has safety protection and various A heavy-duty transport vehicle with transfer function.

The AGV chassis structure in the related technology is more complicated and requires high road surface flatness. When driving on uneven roads, only one driving wheel may land on the ground, resulting in insufficient traction, resulting in slipping and loss of direction. And other phenomena.

Summary of the invention

The purpose of the present disclosure is to at least solve the problem that the AGV in the related art requires a high level of road surface smoothness. This purpose is achieved through the following technical solutions:

In the first aspect of the embodiments of the present disclosure, a driving device is provided, including: a driving wheel assembly; a support body, the driving wheel assembly is hinged to the support body, so that the driving wheel assembly can be relative to the support body Swing around a transverse axis; a mounting frame, a containing cavity is formed in the mounting frame, the support body and the drive wheel assembly are arranged in the containing cavity, the support body supports the mounting frame, the The driving wheel assembly is arranged in a rotatable manner around the longitudinal axis of the containing cavity.

According to the driving device of the embodiment of the present disclosure, a housing cavity is formed in the mounting frame, the support body and the driving wheel assembly are arranged in the housing cavity, and the support body supports the mounting frame, and the driving wheel assembly can be wound around the longitudinal direction of the housing cavity. The axis rotation is arranged, and at the same time, the drive wheel assembly is hinged with the support body, so that the drive wheel assembly can swing relative to the support body about the transverse axis. As a result, a "universal joint" structure is formed between the drive wheel assembly and the mounting frame. That is to say, the drive wheel assembly has two degrees of freedom of rotation relative to the mounting frame, one of which is the freedom of rotation of the drive wheel assembly about the longitudinal axis, and the other is the freedom of swing about the transverse axis. The former is used to realize the steering function of the AGV under the action of the drive wheel assembly, and the latter is used to adapt the drive wheel assembly to the fluctuations of the road surface and keep the drive wheel assembly in effective contact with the road surface, thereby avoiding insufficient traction. Causes slippage, out of control and other phenomena. It can be seen that when the driving device of the embodiment of the present disclosure is applied to an AGV, it can effectively reduce the AGV's requirements on the smoothness of the road surface.

In addition, the driving device according to the embodiment of the present disclosure may also have the following additional technical features:

In some embodiments of the present disclosure, the supporting body is a horizontal supporting plate, and the driving wheel assembly is arranged below the horizontal supporting plate.

In some embodiments of the present disclosure, the driving device further includes a connecting shaft, the driving wheel assembly and the horizontal support plate are connected by the connecting shaft, and the central axis of the connecting shaft is connected to the transverse axis. coincide.

In some embodiments of the present disclosure, the support body includes two vertical plates arranged at intervals, and the driving wheel assembly is arranged between the two vertical plates.

In some embodiments of the present disclosure, the driving device further includes a connecting shaft, and the two vertical plates and the driving wheel assembly are connected by the connecting shaft. The axes coincide.

In some embodiments of the present disclosure, the mounting frame includes a top plate and a ring-shaped enclosure fixedly connected to the top plate, and the top plate and the enclosure jointly enclose the containing cavity; the driving device further includes The first rolling element, the first rolling element is arranged between the driving wheel assembly and the enclosure or between the support body and the enclosure.

In some embodiments of the present disclosure, the driving device further includes a plurality of second rolling elements arranged on the supporting body, and the supporting body supports the top plate through the plurality of second rolling elements.

In some embodiments of the present disclosure, the first rolling element is a ball, a roller or a bearing.

In some embodiments of the present disclosure, the second rolling element is a ball, a roller or a bearing.

In some embodiments of the present disclosure, the driving wheel assembly includes a driving wheel and a power unit connected to the driving wheel, and the power unit is hinged with the support body.

In some embodiments of the present disclosure, the axle of the driving wheel is perpendicular to the transverse axis.

In some embodiments of the present disclosure, a limiting groove arranged in an annular shape is formed on the side wall of the accommodating cavity, and the end of the connecting shaft extends out of the driving wheel assembly and is arranged in the limiting groove middle.

The second aspect of the embodiments of the present disclosure proposes an AGV, which includes the driving device in any of the foregoing embodiments.

According to the AGV of the embodiment of the present disclosure, a housing cavity is formed in the mounting frame of the driving device, the support body and the drive wheel assembly are arranged in the housing cavity, and the support body supports the mounting frame, and the drive wheel assembly can surround the housing cavity. The longitudinal axis of the drive wheel is arranged in a rotating manner, and at the same time, the drive wheel assembly is hinged with the support body, so that the drive wheel assembly can swing relative to the support body about the transverse axis. As a result, a "universal joint" structure is formed between the drive wheel assembly and the mounting frame. That is to say, the drive wheel assembly has two degrees of freedom of rotation relative to the mounting frame, one of which is the freedom of rotation of the drive wheel assembly about the longitudinal axis, and the other is the freedom of swing about the transverse axis. The former is used to realize the steering function of the AGV under the action of the drive wheel assembly, and the latter is used to adapt the drive wheel assembly to the fluctuations of the road surface and keep the drive wheel assembly in effective contact with the road surface, thereby avoiding insufficient traction. Causes slippage, out of control and other phenomena. It can be seen that when the driving device of the embodiment of the present disclosure is applied to an AGV, it can effectively reduce the AGV's requirements on the smoothness of the road surface.

Description of the drawings

In order to explain the embodiments of the present disclosure and the technical solutions of the prior art more clearly, the following briefly introduces the drawings that need to be used in the embodiments and the prior art. Obviously, the drawings in the following description are merely present For some of the disclosed embodiments, for those of ordinary skill in the art, other embodiments can be obtained based on the drawings without creative work.

Fig. 1 is a schematic diagram of a driving device of some embodiments of the present disclosure;

Fig. 2 is an exploded schematic diagram of the driving device of some embodiments of the present disclosure;

Fig. 3 is another exploded schematic diagram of the driving device of some embodiments of the present disclosure;

4 is a schematic front view of the driving device of some embodiments of the present disclosure (the top plate is omitted);

Fig. 5 is a schematic top view of the driving device of some embodiments of the present disclosure (the top plate is omitted).

The symbols in the drawings are as follows:

100: drive device;

10: Drive wheel assembly;

11: driving wheel;

12: Power unit;

20: Support body;

21: vertical board;

30: Mounting frame;

31: Top plate;

32: fence;

33: Limit slot;

40: connecting shaft;

50: The first rolling piece;

60: The second rolling piece.

Detailed ways

Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the drawings show exemplary embodiments of the present disclosure, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

It should be understood that the terms used in the text are only for the purpose of describing specific example embodiments, and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "said" as used in the text may also mean that the plural forms are included. The terms "including", "including", "containing" and "having" are inclusive, and therefore indicate the existence of the stated features, steps, operations, elements and/or components, but do not exclude the existence or addition of one or Various other features, steps, operations, elements, parts, and/or combinations thereof. The method steps, processes, and operations described in the text are not interpreted as requiring them to be executed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used in the text to describe multiple elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be These terms are restricted. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless clearly indicated by the context, terms such as "first", "second" and other numerical terms do not imply an order or order when used in the text. Therefore, the first element, component, region, layer or section discussed below may be referred to as a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature as shown in the figure. These relative terms are, for example, "inner", "outer", and "inner". ", "outside", "below", "below", "above", "above", etc. This spatial relationship term is intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then elements described as "below other elements or features" or "below other elements or features" will then be oriented as "above the other elements or features" or "over the other elements or features". Above features". Thus, the example term "below" can include an orientation of above and below. The device can be otherwise oriented, such as rotated 90 degrees or in other directions, and the spatial relative relationship descriptors used in the text are explained accordingly.

As shown in FIGS. 1 and 2, the first aspect of the embodiments of the present disclosure proposes a driving device 100, and the driving device 100 includes a driving wheel assembly 10, a support body 20 and a mounting frame 30. Specifically, the driving wheel assembly 10 is hinged to the supporting body 20 so that the driving wheel assembly 10 can swing relative to the supporting body 20 about a transverse axis. An accommodating cavity is formed in the mounting frame 30, the support body 20 and the driving wheel assembly 10 are arranged in the accommodating cavity, the support body 20 supports the mounting frame 30, and the driving wheel assembly 10 is arranged to be rotatable about the longitudinal axis of the accommodating cavity. It can be understood that when the driving device 100 is applied to an AGV, it can be connected to the AGV through the mounting frame 30. Wherein, in the illustrated state, the transverse axis is located in the horizontal direction, the longitudinal axis is located in the vertical direction, and the transverse axis is orthogonal to the longitudinal axis.

According to the driving device 100 of the embodiment of the present disclosure, a receiving cavity is formed in the mounting frame 30, the supporting body 20 and the driving wheel assembly 10 are arranged in the containing cavity, and the supporting body 20 supports the mounting frame 30 and the driving wheel assembly 10 The drive wheel assembly 10 is hinged to the support body 20 so that the drive wheel assembly 10 can swing relative to the support body 20 about the transverse axis. Thus, a "universal joint" structure is formed between the drive wheel assembly 10 and the mounting frame 30. That is to say, the drive wheel assembly 10 has two degrees of freedom of rotation relative to the mounting frame 30, one of which is the freedom of rotation of the drive wheel assembly 10 about the longitudinal axis, and the other is the freedom of swing about the transverse axis. The former is used to realize the steering function of the AGV under the driving action of the drive wheel assembly 10, and the latter is used to make the drive wheel assembly 10 adapt to the fluctuations of the road surface, so that the drive wheel assembly 10 maintains effective contact with the road surface, thereby avoiding the occurrence of Insufficient traction can cause skidding and loss of direction control. It can be seen that when the driving device 100 of the embodiment of the present disclosure is applied to an AGV, it can effectively reduce the AGV's requirements for the smoothness of the road surface.

In some embodiments of the present disclosure, the supporting body 20 is a horizontal supporting plate. As shown in FIG. 2, the driving wheel assembly 10 is arranged under the horizontal supporting plate. Among them, the horizontal support plate refers to a plate structure arranged in a horizontal direction. In addition, when the AGV is running on the road, the direction parallel to the road can be understood as the horizontal direction, and the direction toward the road is the downward direction. In the embodiment of the present disclosure, the driving wheel assembly 10 is arranged below the horizontal support plate, so that the horizontal support plate can support the mounting frame 30.

In some embodiments of the present disclosure, as shown in FIG. 2, the driving device 100 further includes a connecting shaft 40. The driving wheel assembly 10 and the horizontal support plate are connected by a connecting shaft 40, and the central axis of the connecting shaft 40 coincides with the transverse axis. . Specifically, the middle part of the connecting shaft 40 is penetrated through the horizontal support plate, and the two ends of the connecting shaft 40 are correspondingly penetrated through the connecting holes provided on the two side plates of the driving wheel assembly 10. Or it is also possible to connect two connecting shafts 40 on the two sides of the horizontal support plate respectively, and the two connecting shafts 40 respectively pass through the connecting holes provided on the two side plates of the driving wheel assembly 10, wherein the connecting shaft 40 and the driving The connecting holes on the two side plates of the wheel assembly 10 can be a clearance fit. In this way, the hinged connection between the driving wheel assembly 10 and the support body 20 is realized, so that the driving wheel assembly 10 can swing relative to the support body 20 about the transverse axis.

As shown in FIG. 3, FIG. 4 and FIG. 5, in some other embodiments of the present disclosure, the support body 20 includes two vertical plates 21 arranged at intervals, and the driving wheel assembly 10 is arranged between the two vertical plates 21. Among them, the vertical board 21 refers to a board structure with a board surface arranged in a vertical direction. In the embodiment of the present disclosure, two vertical plates 21 arranged at intervals can also support the mounting frame 30.

In some embodiments of the present disclosure, the driving device 100 further includes a connecting shaft 40. The two vertical plates 21 and the driving wheel assembly 10 are connected by a connecting shaft 40, and the central axis of the connecting shaft 40 coincides with the transverse axis. Specifically, the middle part of the connecting shaft 40 is penetrated through the driving wheel assembly 10, and the two ends of the connecting shaft 40 are correspondingly penetrated through the two vertical plates 21, thereby realizing the hinged connection between the driving wheel assembly 10 and the support body 20. In turn, the wheel drive assembly 10 can swing relative to the supporting body 20 about the transverse axis.

In some embodiments of the present disclosure, the mounting frame 30 includes a top plate 31 and a ring-shaped enclosure 32 fixedly connected to the top plate 31. The top plate 31 and the enclosure 32 are combined to accommodate the support body 20 and the drive wheel assembly 10. Cavity, and the enclosure 32 is located below the top plate 31. Here, the ring-shaped enclosure 32 may mean that the cross-sectional shape of the inner wall and the outer wall of the enclosure 32 are both circular, or the cross-sectional shape of the inner wall of the enclosure 32 is circular, and the cross-sectional shape of the outer wall is rectangular, square, or other shapes. . Wherein, the top plate 31 and/or the enclosure 32 can be used to connect with the vehicle body of the AGV. After the mounting frame 30 is connected to the vehicle body, the top plate 31 is arranged horizontally. In addition, the driving device 100 further includes a first rolling member 50. The first rolling member 50 is arranged between the driving wheel assembly 10 and the enclosure 32 or between the support body 20 and the enclosure 32. The first rolling member 50 is used to make the driving wheel When the assembly 10 rotates around the longitudinal axis of the accommodating cavity, it can roll on the inner wall of the enclosure 32. Therefore, it is beneficial to ensure the smooth and stable rotation of the driving wheel assembly 11.

In some embodiments of the present disclosure, there are a plurality of first rolling elements 50, and the plurality of first rolling elements 50 are arranged at intervals. This facilitates the stable rotation relationship between the drive wheel assembly 10 and the mounting frame 30. Further, the first rolling element 50 may be a ball, a roller, a bearing, or the like.

In some embodiments of the present disclosure, as shown in FIG. 2, when the supporting body 20 is a horizontal supporting plate, the first rolling member 50 can be arranged on the driving wheel assembly 10 or on the horizontal supporting plate. When the driving wheel assembly 10 rotates around the longitudinal axis, the driving wheel assembly drives the first rolling member 50 to roll on the inner wall of the enclosure 32, that is, the first rolling member 50 rolls on the inner wall of the enclosure 32 to achieve driving The wheel assembly 10 rotates around the longitudinal axis of the accommodating cavity more smoothly and stably.

As shown in FIG. 3, when the supporting body 20 adopts two vertical plates 21, the first rolling member 50 can be arranged on the driving wheel assembly 10 or the vertical plate 21, wherein, since the driving wheel assembly 10 is arranged on the two vertical plates 21 Therefore, the manner in which the first rolling element 50 is arranged on the vertical plate 21 can better reduce the possibility of mutual interference between components.

As shown in FIG. 2, in some embodiments of the present disclosure, the driving device 100 further includes a plurality of second rolling elements 60 arranged on the supporting body 20, and the supporting body 20 supports the top plate through the plurality of second rolling elements 60 31. As a result, the weight of the AGV body is mainly transmitted to the support body 20 through the second rolling member 60, so that the first rolling member 50 does not bear the weight of the vehicle body, thereby preventing the first rolling member 50 from being deformed or even destroy.

In some embodiments of the present disclosure, the second rolling member 60 may be a ball, a roller, a bearing, or the like.

In some embodiments of the present disclosure, as shown in FIG. 2, when the supporting body 20 is a horizontal supporting plate, the second rolling member 60 may be arranged at the corner of the horizontal supporting plate, specifically, at the corner of the horizontal supporting plate. The position is processed to form a protrusion, and then the second rolling member 60 is installed on the protrusion. As a result, the second rolling element 60 is less likely to interfere with other structures. In addition, if the second rolling element 60 adopts a roller or a bearing, its rotation axis can be arranged parallel to the surface of the horizontal support plate, so that the second rolling element 60 can provide a more stable support for the top plate 31.

If shown in 3, when the supporting body 20 includes two vertical plates 21, the second rolling member 60 may be arranged on the outer side of the vertical plate 21, that is, the side facing away from the wheel drive assembly 10. In addition, if the second rolling member 60 With rollers or bearings, the rotating shaft can be arranged parallel to the surface of the horizontal support plate. In addition, the rotating shaft of the roller or bearing can also have an angle with the surface of the horizontal support plate, as long as the roller or bearing can provide support for the top plate 31, and It can scroll normally. In this way, the outer surface of the roller or the outer surface of the bearing of the second rolling element abuts the top plate 31, so that the second rolling element 60 can provide a more stable support for the top plate 31.

In addition, the rotating shaft of the second rolling element 60 and the connecting shaft 40 can also be integrated as an integral part, that is, the end of the connecting shaft 40 can be extended, and the second rolling element 60 can be installed on the end of the connecting shaft 40 Therefore, it can help reduce the number of parts and save costs.

As shown in FIG. 2, in some embodiments of the present disclosure, the drive wheel assembly 10 includes a drive wheel 11 and a power unit 12 connected to the drive wheel 11. The power unit 12 provides power for the rotation of the drive wheel 11, and the power unit 12 It is hinged with the support body 20.

In some embodiments of the present disclosure, the axle of the driving wheel 11 is perpendicular to the transverse axis. In this case, due to the spacing between the driving wheel and the transverse axis, when the power unit 31 swings around the transverse axis, the driving wheel 11 The swing amount of the driving wheel 11 is relatively large, and the height change of the driving wheel 11 is more significant, so that the driving wheel 11 can adapt to the height change of the road surface to a greater extent.

In some embodiments of the present disclosure, the number of driving wheels 11 is two. By implementing different control methods on the two driving wheels 11, it is possible to control the forward direction of the AGV. For example, when the two driving wheels 11 rotate forward at the same speed, the AGV can be driven forward; when the two driving wheels 11 rotate in the reverse direction at the same speed, the AGV can be driven backward; when the two driving wheels 11 rotate at different speeds. When one of the two driving wheels 11 rotates in the forward direction and the other rotates in the reverse direction, the AGV can be driven to turn.

It is understandable that a supporting wheel may be additionally provided at the bottom of the AGV to cooperate with the driving device 100 to jointly support the AGV and move the AGV on the ground. Alternatively, a plurality of driving devices 100 can also be arranged at the bottom of the AGV, so that the AGV can obtain stable support.

In some embodiments of the present disclosure, the power unit 12 includes a motor and a reduction mechanism (not shown in FIG. 2). The motor is connected to the driving wheel 11 through a reduction mechanism. The reduction mechanism may be, for example, a gear reduction mechanism, a planetary gear reduction mechanism, etc. Thereby reducing the output speed of the motor and increasing the output torque of the motor.

In some embodiments of the present disclosure, the number of motors is one. In this case, the deceleration mechanism can be a differential speed reducer. Therefore, one motor can control the two driving wheels 11 to rotate in the same direction at the same speed and at different speeds. The speeds rotate in the same direction or opposite to each other, so that the driving wheel 11 can drive the AGV to move forward, backward, and turn.

In some other embodiments of the present disclosure, the number of motors and deceleration mechanisms can also be two respectively, that is, each motor is connected to a driving wheel 11 through a deceleration mechanism, so that the corresponding driving wheels are connected by different motors. 11 performs control, so that the two driving wheels 11 rotate in the same direction at the same speed, rotate in the same direction at different speeds, or rotate in opposite directions to each other, etc.

In some embodiments of the present disclosure, a ring-shaped limiting groove 33 is formed on the side wall of the accommodating cavity, that is, a ring-shaped limiting groove 33 is formed on the inner side wall of the enclosure 32 to connect the shaft The end of the 40 protrudes from the driving wheel assembly 10 and the supporting body 20 and is arranged in the limiting groove 33. As a result, it can be ensured that the connecting shaft 40 is always in the horizontal direction, so that the support body 20 can effectively and stably support the mounting frame 30 through the connecting shaft 40, so that when the driving device 100 is mounted on the body of the AGV and suspended in the air, The support body 20 and the driving wheel assembly 10 are not easily disconnected from the mounting frame 30 and fall from the mounting frame 30. The embodiment of the second aspect of the present disclosure proposes an AGV, which includes the driving device 100 in any of the foregoing embodiments.

According to the AGV of the embodiment of the present disclosure, a housing cavity is formed in the mounting frame 30 of the driving device 100, the support body 20 and the drive wheel assembly 10 are arranged in the housing cavity, and the support body 20 supports the mounting frame 30, and the drive wheel The assembly 10 is arranged to be rotatable around the longitudinal axis of the accommodating cavity. At the same time, the driving wheel assembly 10 is hinged to the supporting body 20 so that the driving wheel assembly 10 can swing relative to the supporting body 20 about the transverse axis. Thus, a "universal joint" structure is formed between the drive wheel assembly 10 and the mounting frame 30. That is to say, the drive wheel assembly 10 has two degrees of freedom of rotation relative to the mounting frame 30, one of which is the degree of freedom that the drive wheel assembly 10 can rotate about the longitudinal axis, and the other is the degree of freedom that the drive wheel assembly 10 can rotate about the transverse axis. The degree of freedom of swing, the former is used to realize the steering function of the AGV under the action of the drive wheel assembly 10, and the latter is used to adapt the drive wheel assembly 10 to the fluctuations of the road surface, so that the drive wheel assembly 10 maintains effective contact with the road surface. In order to avoid the occurrence of insufficient traction and cause slippage, out of control and other phenomena. It can be seen that when the driving device 100 of the embodiment of the present disclosure is applied to an AGV, it can effectively reduce the AGV's requirements for the smoothness of the road surface.

The above are only preferred specific implementations of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or changes within the technical scope disclosed in the present disclosure. All replacements should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

A driving device includes:

Drive wheel assembly;

A support body, the drive wheel assembly is hinged to the support body, so that the drive wheel assembly can swing relative to the support body about a transverse axis;

A mounting frame, a accommodating cavity is formed in the mounting frame, the support body and the driving wheel assembly are arranged in the accommodating cavity, the support body supports the mounting frame, and the driving wheel assembly is It is arranged to rotate around the longitudinal axis of the accommodating cavity.
The driving device according to claim 1, wherein the supporting body is a horizontal supporting plate, and the driving wheel assembly is arranged below the horizontal supporting plate.
The driving device according to claim 2, wherein the driving device further comprises a connecting shaft, the driving wheel assembly and the horizontal support plate are connected by the connecting shaft, and the central axis of the connecting shaft is connected to the connecting shaft. The transverse axes coincide.
The driving device according to claim 1, wherein the supporting body comprises two vertical plates arranged at intervals, and the driving wheel assembly is arranged between the two vertical plates.
The driving device according to claim 4, wherein the driving device further comprises a connecting shaft, and the two vertical plates and the driving wheel assembly are connected by the connecting shaft, and the central axis of the connecting shaft is connected to The transverse axes coincide.
The driving device according to claim 1, wherein the mounting frame includes a top plate and a ring-shaped enclosure fixedly connected to the top plate, and the top plate and the enclosure combine to form the containing cavity;

The driving device further includes a first rolling member, and the first rolling member is disposed between the driving wheel assembly and the enclosure or between the support body and the enclosure.
The driving device according to claim 6, wherein the driving device further comprises a plurality of second rolling elements arranged on the supporting body, and the supporting body is supported by the plurality of second rolling elements.述顶板。 Said the top plate.
The driving device according to claim 6, wherein the first rolling element is a ball, a roller or a bearing.
The driving device according to claim 7, wherein the second rolling element is a ball, a roller or a bearing.
The driving device according to any one of claims 1 to 9, wherein the driving wheel assembly includes a driving wheel and a power unit connected to the driving wheel, and the power unit is hinged to the support body.
The driving device according to claim 10, wherein the axle of the driving wheel is perpendicular to the transverse axis.
The driving device according to claim 3 or 5, wherein a limiting groove arranged in an annular shape is formed on the side wall of the containing cavity, and the end of the connecting shaft extends out of the driving wheel assembly and is arranged in In the limit slot.
An AGV, comprising the driving device according to any one of claims 1 to 12.