CN111976465A

CN111976465A - Drive device and chassis

Info

Publication number: CN111976465A
Application number: CN202010785458.8A
Authority: CN
Inventors: 白文宝; 王鑫
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-08-06
Filing date: 2020-08-06
Publication date: 2020-11-24
Anticipated expiration: 2040-08-06
Also published as: CN111976465B

Abstract

The invention discloses a driving device and a chassis, wherein the driving device comprises: the connecting seat is used for connecting the chassis; the travelling mechanism is rotatably arranged on the connecting seat along the vertical direction and comprises two travelling wheels with independent driving functions; a locking mechanism having a locked state and an unlocked state; when the locking mechanism is in a locking state, the walking mechanism can be locked to rotate on the connecting seat, and the two walking wheels can walk in a reverse direction or at a differential speed to enable the connecting seat to drive the chassis to steer; when the locking mechanism is in an unlocking state, the travelling mechanism can rotate on the connecting seat, and the two travelling wheels can make the travelling mechanism turn relative to the connecting seat by travelling in opposite directions or at different speeds. The invention can realize independent steering of the walking mechanism and integral steering of the driving device, so that the chassis can realize in-situ steering, transverse movement and oblique movement along any direction, the driving device has simple structure, and the mode of driving the chassis to walk and steer is flexible.

Description

Drive device and chassis

Technical Field

The invention relates to the technical field of driving equipment, in particular to a driving device and a chassis.

Background

At present, a driving system of a moving chassis on the market is complex in structure, a plurality of mechanisms or assemblies are needed to be matched for use when the chassis is steered, transversely moved and adjusted to walk along a set direction, so that the driving wheel of the chassis is overstaffed in arrangement, high in cost and difficult in debugging of a walking wheel, and driving and walking of the chassis are not facilitated.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a driving device to solve the problems that the existing driving device for the chassis is complex in structure and cannot flexibly realize chassis steering and moving.

The invention also aims to provide a chassis and a driving device applying the chassis.

A driving apparatus according to an embodiment of the present invention includes: the connecting seat is used for connecting the chassis; the travelling mechanism is rotatably arranged on the connecting seat along the vertical direction and comprises two travelling wheels with independent driving functions; a deadlocking mechanism having a locked state and an unlocked state; when the locking mechanism is in the locking state, the walking mechanism can be locked to rotate on the connecting seat, and the two walking wheels can walk in opposite directions or at a different speed to enable the connecting seat to drive the chassis to steer; when the locking mechanism is in the unlocking state, the travelling mechanism can rotate on the connecting seat, and the two travelling wheels travel in the reverse direction or at a differential speed to enable the travelling mechanism to turn relative to the connecting seat.

According to the driving device provided by the embodiment of the invention, the traveling mechanism is rotatably arranged on the connecting seat, the locking mechanism can lock and release the traveling mechanism, and the independent steering of the traveling mechanism and the integral steering of the driving device can be realized, so that the chassis can realize the in-situ steering, the transverse movement and the oblique movement in any direction, the driving device has a simple structure, the mode of driving the chassis to travel and steer is flexible, the cost is reduced, the debugging is convenient, and the whole driving device has strong functionality and can be used as an independent central driving system.

In some embodiments, the deadlocking mechanism comprises: the fixed gear is arranged on the connecting seat; or the fixed gear is a gear ring formed on the connecting seat; a deadlocking gear that engages the fixed gear; the braking part is arranged on the travelling mechanism and connected with the locking gear to release or lock the locking gear.

Optionally, the locking mechanism further comprises: the supporting gear is arranged on the travelling mechanism and is meshed with the fixed gear; and the detection piece is arranged on the supporting gear or the locking gear so as to acquire the rotation angle of the fixed gear of the walking mechanism and control the two walking wheels to walk.

In some embodiments, the driving device further comprises: the floating assembly is arranged between the travelling mechanism and the connecting seat, one end of the floating assembly is connected with the connecting seat, the other end of the floating assembly is connected with the travelling mechanism, and the locking mechanism is arranged on the floating assembly.

Optionally, the floating assembly includes: the connecting seat is arranged on the mounting seat, and the locking mechanism is arranged on the mounting seat; the pivoting piece is arranged on the walking mechanism and provided with a rotating shaft arranged along the horizontal direction, the pivoting piece is pivotally connected with the mounting seat around the rotating shaft, and the two walking wheels are arranged on two opposite sides of the rotating shaft; and one end of the elastic piece is connected with the mounting seat, and the other end of the elastic piece is connected with the travelling mechanism.

Optionally, the traveling mechanism further includes: the support frame, pivot spare the elastic component, two the walking wheel is established on the support frame, it has accommodation space to inject on the support frame, pivot spare the elastic component, part the locking mechanism is located in the accommodation space.

Optionally, the number of the elastic members is two, the two elastic members are located on two opposite sides of the rotating shaft, and part of the locking mechanism is arranged between the two elastic members.

In some embodiments, the road wheel comprises: wheel and driving motor, driving motor connects the wheel, driving motor establishes in the accommodation space, driving motor establishes the elastic component with between the pivot piece, driving motor establishes the below of mount pad.

In some embodiments, the support frame comprises: the first supporting plate is arranged along the vertical direction, and the pivoting piece is arranged on the first supporting plate; the second supporting plate is arranged at one end of the first supporting plate in the horizontal direction; the third supporting plate is arranged at the other end of the first supporting plate in the horizontal direction; the two traveling wheels are correspondingly arranged on the second supporting plate and the third supporting plate, the other end of the elastic piece is connected with the second supporting plate or the third supporting plate, and the accommodating space is defined by the second supporting plate, the third supporting plate and the first supporting plate together.

A chassis according to an embodiment of the invention comprises a main body and a drive device provided on the main body, the drive device being a drive device of a chassis according to any of the preceding claims.

According to the chassis provided by the embodiment of the invention, the chassis can be steered in situ, transversely moved and obliquely moved in any direction through the driving device, the driving device is simple in structure, the mode of driving the chassis to walk and steer is flexible, the cost is reduced, and the debugging is facilitated.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic perspective view of a driving device according to an embodiment of the present invention;

FIG. 2 is a first exploded view of a driving device according to an embodiment of the present invention;

FIG. 3 is a second exploded view of the driving device according to the embodiment of the present invention;

FIG. 4 is a first schematic structural diagram of a chassis according to an embodiment of the present invention;

fig. 5 is a second schematic structural diagram of the chassis according to the embodiment of the present invention.

Reference numerals:

100. a drive device;

10. a connecting seat;

20. a traveling mechanism;

21. a traveling wheel; 211. a wheel; 212. a drive motor;

22. a support frame; 221. a first support plate; 222. a second support plate; 223. a third support plate;

30. a locking mechanism;

31. fixing a gear; 32. locking the gear; 33. a stopper; 34. a support gear; 35. a detection member;

40. a floating assembly;

41. a mounting seat; 42. a pivot member; 43. an elastic member;

1000. a chassis; 200. a main body; o1, center axis of rotation; o2 and a rotating shaft.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The driving apparatus 100 according to the embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in fig. 1, a driving apparatus 100 according to an embodiment of the present invention includes: connecting seat 10, running gear 20, locking mechanism 30.

Connecting seat 10 is used for connecting chassis 1000, and running gear 20 rotationally establishes on connecting seat 10 along vertical direction, that is to say, running gear 20 has rotation center axis O1 along vertical direction setting, and running gear 20 rotates around rotation center axis O1 and establishes on connecting seat 10, and running gear 20 includes two walking wheels 21 that have independent drive.

The deadlocking mechanism 30 has a locked state and an unlocked state. When the locking mechanism 30 is in a locked state, the walking mechanism 20 can be prevented from rotating on the connecting seat 10, and the two walking wheels 21 can drive the chassis 1000 to rotate by traveling reversely or at different speeds, that is, when the locking mechanism 30 is in a locked state, the walking mechanism 20 and the connecting seat 10 are locked, that is, the walking mechanism 20 is fixed on the connecting seat 10 and cannot perform a rotation motion, and at the moment, the two walking wheels 21 can drive the connecting seat 10 to rotate around the rotation central axis O1 along with the walking mechanism 20 by traveling reversely, so as to drive the chassis 1000 to rotate in situ; or, at this time, the two traveling wheels 21 travel at different speeds, that is, one traveling wheel 21 rotates faster than the other traveling wheel 21, and the two traveling wheels can also drive the connecting seat 10 to rotate around the rotation central axis O1 along with the traveling mechanism 20, so that the chassis 1000 turns in place. For example, when the chassis 1000 is a car body, the car body can be steered in situ, and then the two road wheels 21 travel in the same direction to drive the chassis 1000 to move in the adjusted direction.

When the locking mechanism 30 is in the unlocked state, the traveling mechanism 20 can rotate on the connecting seat 10, and the two traveling wheels 21 travel reversely or at different speeds to enable the traveling mechanism 20 to turn relative to the connecting seat 10, that is, when the locking mechanism 30 is in the unlocked state, the traveling mechanism 20 is in the movable state and can perform rotary motion on the connecting seat 10, and at the moment, the two traveling wheels 21 travel reversely to drive the traveling mechanism 20 to rotate on the connecting seat 10 around a rotation central axis O1, so that the traveling mechanism 20 turns relative to the connecting seat 10; or, at this time, the two road wheels 21 travel at different speeds, that is, one road wheel 21 rotates faster than the other road wheel 21, and can also drive the traveling mechanism 20 to rotate on the connecting seat 10 around the rotation central axis O1, so as to implement different movement modes according to the rotation angle, for example, as shown in fig. 5, when the rotation angle of the traveling mechanism 20 on the connecting seat 10 is 90 degrees, the two road wheels 21 travel in the same direction to implement the lateral movement of the chassis 1000, and when the rotation angle is other angles, the two road wheels 21 travel in the same direction to implement the oblique movement of the chassis 1000 in any angle.

According to the driving device 100 of the embodiment of the invention, the traveling mechanism 20 is rotatably arranged on the connecting seat 10, the locking mechanism 30 can lock and release the traveling mechanism 20, and can realize independent steering of the traveling mechanism 20 and integral steering of the driving device 100, so that the chassis 1000 can realize pivot steering, transverse movement and oblique movement along any direction, the driving device 100 has a simple structure, the mode of driving the chassis 1000 to travel and steer is flexible, the cost is reduced, and the debugging is convenient, and the whole driving device 100 has strong functionality and can be used as an independent central driving system.

In some embodiments, as shown in fig. 2 and 3, the deadlocking mechanism 30 includes: fixed gear 31, dead lock gear 32, brake 33. The fixed gear 31 is arranged on the connecting seat 10; alternatively, the fixed gear 31 is a gear ring formed on the connecting seat 10, that is, the fixed gear 31 may be a separate component provided on the connecting seat 10, and the fixed gear 31 may also be formed on the connecting seat 10; the deadlocking gear 32 engages the fixed gear 31; the braking member 33 is disposed on the traveling mechanism 20, and the braking member 33 is connected to the locking gear 32 to release or lock the locking gear 32. It can be understood that, when the stopper 33 locks the dead lock gear 32, the dead lock gear 32 is kept stopped and cannot rotate, and the dead lock mechanism 30 is in a locked state and the connection seat 10 and the traveling mechanism 20 are locked because the fixed gear 31 is engaged with the dead lock gear 32. When the braking member 33 releases the dead lock gear 32, the dead lock mechanism 30 is in an unlocked state, the connecting base 10 and the traveling mechanism 20 can rotate relatively, and the dead lock gear 32 can rotate around the fixed gear 31 along with the reverse traveling of the two traveling wheels 21. The locking mechanism 30 in this form has a simple structure, and easily controls the locking and releasing between the traveling mechanism 20 and the connecting base 10.

In some embodiments, the fixed gear 31 is an external gear, the dead lock gear 32 is engaged with the outside of the fixed gear 31, and the dead lock gear 32 rotates around the outer ring of the fixed gear 31 when the traveling mechanism 20 turns relative to the connecting base 10. The fixed gear 31 may also be an internal gear, and the dead lock gear 32 is engaged with an inner side of the fixed gear 31, and the dead lock gear 32 rotates around an inner ring of the fixed gear 31 when the traveling mechanism 20 turns with respect to the link base 10. Of course, the fixed gear 31 may also be an external gear ring or an internal gear ring, and the specific analysis is the same as that described above, and will not be described herein again.

Optionally, the braking member 33 is a brake, and the brake and the locking gear 32 may be connected through a speed reducer 36.

In some embodiments, the locking mechanism 30 may also be a cylinder locking mechanism, for example, the locking mechanism 30 is a two-finger cylinder, and two output ends of the two-finger cylinder can also lock and release the connecting seat 10 and the traveling mechanism 20 by clamping or releasing the connecting seat 10. In addition, the locking mechanism 30 may also be a latch structure, for example, a cylinder is connected with a positioning pin, a pin hole (not shown) is provided on the connecting base 10, and the cylinder drives the positioning pin to be inserted into or pulled out of the pin hole, so that locking and releasing between the connecting base 10 and the running mechanism 20 can also be achieved. Of course, the locking mechanism 30 may have other configurations, and will not be described in detail herein.

Optionally, as shown in fig. 3, the locking mechanism 30 further includes: the supporting gear 34 and the detecting part 35, the supporting gear 34 is arranged on the traveling mechanism 20, the supporting gear 34 is meshed with the fixed gear 31, and the supporting gear 34 and the locking gear 32 are meshed with the fixed gear 31, so that the stability of the traveling mechanism 20 in rotation relative to the connecting seat 10 can be ensured. The detection piece 35 is arranged on the supporting gear 34 or the locking gear 32 to obtain the rotation angle of the traveling mechanism 20 and control the two traveling wheels 21 to travel, for example, the detection piece 35 is arranged on the supporting gear 34 to obtain the rotation angle of the traveling mechanism 20 relative to the connecting seat 10 by detecting the rotation number or angle of the supporting gear 34, and further control the traveling of the two traveling wheels 21, so as to realize the transverse movement and the oblique movement along any angle of the chassis 1000; for another example, the detecting element 35 may also be disposed on the dead lock gear 32, and the same effect can be achieved by detecting the number of rotation turns or the angle of the dead lock gear 32, which is not described herein again.

Optionally, the detecting member 35 is an angle sensor, which can better detect the number of rotation turns and the angle of the supporting gear 34 or the dead lock gear 32. The detecting member 35 may be an encoder, and may perform the same function. Of course, the detecting member 35 can also be other detecting elements, which are not described in detail herein. In some embodiments, the driving device 100 further comprises: the floating assembly 40, the floating assembly 40 is set between the running gear 20 and the connecting seat 10, one end of the floating assembly 40 is connected with the connecting seat 10 and the other end is connected with the running gear 20, the locking mechanism 30 is set on the floating assembly 40. That is, the floating assembly 40 may have an elastic floating effect on the traveling mechanism 20 and the connecting seat 10, thereby achieving a shock-absorbing effect and improving the overall stability and adaptability of the driving device 100 to the traveling ground.

Alternatively, as shown in fig. 2 and 3, the floating assembly 40 includes: a mounting seat 41, a pivoting piece 42 and an elastic piece 43. The connecting seat 10 is arranged on the mounting seat 41, and the locking mechanism 30 is arranged on the mounting seat 41; the pivoting piece 42 is arranged on the walking mechanism 20, the pivoting piece 42 is provided with a rotating shaft O2 arranged along the horizontal direction, the pivoting piece 42 is connected with the mounting seat 41 in a pivoting way around a rotating shaft O2, and the two walking wheels 21 are arranged on two opposite sides of the rotating shaft O2; one end of the elastic member 43 is connected to the mounting base 41 and the other end is connected to the traveling mechanism 20. For example, when the advancing directions of the two traveling wheels 21 are referred to as the front-rear direction, the rotation axes O2 of the pivotal members 42 are distributed in the front-rear direction, the left-right floating of the mount base 41 with respect to the traveling mechanism 20 via the pivotal members 42 is realized, and the elastic members 43 play a role in shock absorption.

In some embodiments, the elastic member 43 is a shock absorber, one end of which is pivotally disposed on the mounting base 41 and the other end of which is pivotally disposed on the running gear 20.

Optionally, the traveling mechanism 20 further includes: the support frame 22, the pivoting member 42, the elastic member 43 and the two road wheels 21 are arranged on the support frame 22, an accommodating space (not shown) is defined on the support frame 22, and the pivoting member 42, the elastic member 43 and the part of the locking mechanism 30 are positioned in the accommodating space. That is, by providing the accommodation space, the traveling mechanism 20, the locking mechanism 30, and the floating assembly 40 are compact, and the space can be saved, which has an advantage of small volume.

Alternatively, as shown in fig. 3, there are two elastic members 43, and the two elastic members 43 are located on opposite sides of the rotation axis O2, that is, the two elastic members 43 can provide a shock absorbing effect with a balanced left-right effect on the upper mounting seat 41. The partial locking mechanism 30 is disposed between the two elastic members 43, for example, the stopper 33 of the locking mechanism 30 is located in the accommodating space, in this way, the size of the entire driving device 100 in the vertical direction can be reduced, and the space and the volume can be effectively saved.

In some embodiments, as shown in fig. 3, the road wheels 21 include: wheels 211 and a drive motor 212. The driving motor 212 is connected with the wheels 211, and the driving motor 212 is arranged in the accommodating space, that is, the driving motor 212 is used for driving the wheels 211 to move in the reverse direction and in the forward direction. The driving motor 212 is disposed between the elastic member 43 and the pivoting member 42, and the driving motor 212 is disposed below the mounting seat 41, so that the height dimension of the driving device 100 in the vertical direction is smaller and more compact, which is beneficial to saving space and reducing volume.

In some embodiments, as shown in fig. 3, the support frame 22 includes: a first support plate 221, the first support plate 221 being disposed in a vertical direction, the pivot member 42 being disposed on the first support plate 221; a second support plate 222, the second support plate 222 being provided on one end of the first support plate 221 in the horizontal direction; and a third support side plate 223, the third support plate 223 being provided on the other end of the first support plate 221 in the horizontal direction, specifically, the second support plate 222 and the third support side plate 223 are both arranged in the vertical direction, and the second support plate 222 and the third support side plate 223 are perpendicular to the first support plate 221. The two traveling wheels 21 are correspondingly arranged on the second support plate 222 and the third support plate 223, that is, the left traveling wheel 21 is arranged on the left second support plate 222, and the right traveling wheel 21 is arranged on the right third support plate 223. The other end of the elastic member 43 is connected to the second support plate 222 or the third support plate 223, for example, one end of the elastic member 43 may be connected to the mounting seat 41 and the other end thereof may be connected to the left second support side plate 222, and one end of the elastic member 43 may be connected to the mounting seat 41 and the other end thereof may be connected to the right third support side plate 223. The second support plate 222, the third support plate 223, and the first support plate 221 collectively define an accommodating space.

A specific embodiment of the driving apparatus 100 according to the embodiment of the present invention will be described below with reference to the drawings.

As shown in fig. 1 to 3, a driving apparatus 100 includes: connecting seat 10, running gear 20, locking mechanism 30, floating assembly 40.

The connecting base 10 is used for connecting the chassis 1000, the traveling mechanism 20 has a rotation center axis O1 arranged along the vertical direction, the traveling mechanism 20 is rotatably arranged on the connecting base 10 around the rotation center axis O1, and the traveling mechanism 20 includes two traveling wheels 21 with independent driving.

The deadlocking mechanism 30 has a locked state and an unlocked state. When the locking mechanism 30 is in the locked state, the traveling mechanism 20 can be locked to rotate on the connecting seat 10, the two traveling wheels 21 travel in opposite directions to enable the connecting seat 10 to drive the chassis 1000 to rotate, when the locking mechanism 30 is in the unlocked state, the traveling mechanism 20 can rotate on the connecting seat 10, and when the two traveling wheels 21 travel in opposite directions to enable the traveling mechanism 20 to rotate relative to the connecting seat 10.

The deadlocking mechanism 30 includes: the device comprises a fixed gear 31, a locking gear 32, a braking piece 33, a supporting gear 34 and a detection piece 35, wherein the fixed gear 31 is arranged on the connecting seat 10, the locking gear 32 is meshed with the fixed gear 31, the braking piece 33 is arranged on the traveling mechanism 20, and the braking piece 33 is connected with the locking gear 32 to release or lock the locking gear 32. The braking member 33 is a brake, and the brake and the locking gear 32 can be connected through a speed reducer. The supporting gear 34 is arranged on the traveling mechanism 20, the supporting gear 34 is meshed with the fixed gear 31, and the detecting member 35 is arranged on the supporting gear 34 to acquire the rotation angle of the traveling mechanism 20 and control the two traveling wheels 21 to travel, wherein the detecting member 35 is an angle sensor.

The floating assembly 40 is arranged between the traveling mechanism 20 and the connecting seat 10, one end of the floating assembly 40 is connected with the connecting seat 10, the other end of the floating assembly 40 is connected with the traveling mechanism 20, and the locking mechanism 30 is arranged on the floating assembly 40. The floating assembly 40 includes: a mounting seat 41, a pivoting piece 42 and an elastic piece 43. The connecting seat 10 is arranged on the mounting seat 41, and the locking mechanism 30 is arranged on the mounting seat 41; the pivoting piece 42 is arranged on the walking mechanism 20, the pivoting piece 42 is provided with a rotating shaft O2 arranged along the horizontal direction, the pivoting piece 42 is connected with the mounting seat 41 in a pivoting way around a rotating shaft O2, and the two walking wheels 21 are arranged on two opposite sides of the rotating shaft O2; one end of the elastic member 43 is connected to the mounting base 41 and the other end is connected to the traveling mechanism 20. The elastic member 43 is a shock absorber, one end of which is pivotally disposed on the mounting base 41, and the other end of which is pivotally disposed on the traveling mechanism 20. The two elastic members 43 are provided, the two elastic members 43 are located on opposite sides of the rotation axis O2, and the partial locking mechanism 30 is provided between the two elastic members 43.

The traveling mechanism 20 further comprises a support frame 22, the pivoting member 42, the elastic member 43 and the two traveling wheels 21 are arranged on the support frame 22, an accommodating space is defined on the support frame 22, and the pivoting member 42, the elastic member 43 and the part of the locking mechanism 30 are located in the accommodating space.

The road wheels 21 include wheels 211 and drive motors 212. The driving motor 212 is connected with the wheel 211, the driving motor 212 is arranged in the accommodating space, the driving motor 212 is arranged between the elastic member 43 and the pivoting member 42, and the driving motor 212 is arranged below the mounting seat 41.

The support frame 22 includes: a first support plate 221, the first support plate 221 being disposed in a vertical direction, the pivot member 42 being disposed on the first support plate 221; a second support plate 222, the second support plate 222 being provided on one end of the first support plate 221 in the horizontal direction; and a third support plate 223, the third support plate 223 is arranged at the other end of the first support plate 221 in the horizontal direction, the two road wheels 21 are correspondingly arranged on the second support plate 222 and the third support plate 223, the other end of the elastic member 43 is connected with the second support plate 222 or the third support plate 223, and the second support plate 222, the third support plate 223 and the first support plate 221 define a containing space together.

In summary, the driving device 100 of the present invention forms a rotational differential driving system, the driving device 100 has a compact overall structure, occupies a small space, has a low installation height, can realize both the traversing forward and backward movement and the in-situ rotation, and is very suitable for occasions with high requirements for flexibility and size, such as an automatic parking AGV, a sheet handling AGV, and the like. In addition, the driving device 100 of the invention has no steering motor, the connecting seat 10 is connected with the two independently driven travelling wheels 21 to realize complete functions of rotation, oblique movement, steering and the like, the connecting seat 10 is connected with one locking gear 32, the rotation or lateral movement of the chassis 1000 is controlled by the locking mechanism 30, the structure is very compact and effective, and the self-contained damping system can be independently used as a central driving system.

As shown in fig. 4 and 5, a chassis 1000 according to an embodiment of the present invention includes a main body 200 and a driving device 100 provided on the main body 200, the driving device 100 being the driving device 100 according to the foregoing.

It is understood that the driving device 100 is disposed at the center of the main body 200 as a central driving system, and universal wheels (not shown) are provided at four corners of the main body 200 for support. In the driving device 100, as shown in fig. 5, when the locking mechanism 30 is in the unlocked state, the traveling mechanism 20 can rotate relative to the main body 200, and the direction of the traveling mechanism 20 is adjusted; when the locking mechanism 30 is in the locked state, the driving device 100 can drive the main body 200 to pivot.

According to the chassis 1000 of the embodiment of the invention, the driving device 100 can realize the pivot steering, the transverse movement and the oblique movement in any direction of the chassis 1000, the driving device 100 has a simple structure, and the mode of driving the chassis 1000 to walk and steer is flexible, thereby being beneficial to reducing the cost and facilitating the debugging.

Other configurations and the like and operations of the driving apparatus 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A drive device, comprising:

the connecting seat is used for connecting the chassis;

the travelling mechanism is rotatably arranged on the connecting seat along the vertical direction and comprises two travelling wheels with independent driving functions;

a deadlocking mechanism having a locked state and an unlocked state; wherein the content of the first and second substances,

the locking mechanism can lock the running mechanism to rotate on the connecting seat when in the locking state, and the two running wheels run in a reverse direction or at a differential speed to enable the connecting seat to drive the chassis to steer; when the locking mechanism is in the unlocking state, the travelling mechanism can rotate on the connecting seat, and the two travelling wheels travel in the reverse direction or at a differential speed to enable the travelling mechanism to turn relative to the connecting seat.

2. The drive of claim 1, wherein the deadlocking mechanism comprises:

the fixed gear is arranged on the connecting seat; or the fixed gear is a gear ring formed on the connecting seat;

a deadlocking gear that engages the fixed gear;

the braking part is arranged on the travelling mechanism and connected with the locking gear to release or lock the locking gear.

3. The drive of claim 2, wherein the deadlocking mechanism further comprises:

the supporting gear is arranged on the travelling mechanism and is meshed with the fixed gear;

and the detection piece is arranged on the supporting gear or the locking gear to acquire the rotation angle of the walking mechanism and control the two walking wheels to walk.

4. The drive device according to claim 1, further comprising:

the floating assembly is arranged between the travelling mechanism and the connecting seat, one end of the floating assembly is connected with the connecting seat, the other end of the floating assembly is connected with the travelling mechanism, and the locking mechanism is arranged on the floating assembly.

5. The drive of claim 4, wherein the float assembly comprises:

the connecting seat is arranged on the mounting seat, and the locking mechanism is arranged on the mounting seat;

the pivoting piece is arranged on the walking mechanism and provided with a rotating shaft arranged along the horizontal direction, the pivoting piece is pivotally connected with the mounting seat around the rotating shaft, and the two walking wheels are arranged on two opposite sides of the rotating shaft;

and one end of the elastic piece is connected with the mounting seat, and the other end of the elastic piece is connected with the travelling mechanism.

6. The drive of claim 5, wherein the travel mechanism further comprises:

the support frame, pivot spare the elastic component, two the walking wheel is established on the support frame, it has accommodation space to inject on the support frame, pivot spare the elastic component, part the locking mechanism is located in the accommodation space.

7. The drive of claim 6, wherein there are two of said resilient members, two of said resilient members being located on opposite sides of said rotational axis, and a portion of said deadlocking mechanism being disposed between said two resilient members.

8. The drive arrangement of claim 6, wherein the road wheel comprises: wheel and driving motor, driving motor connects the wheel, driving motor establishes in the accommodation space, driving motor establishes the elastic component with between the pivot piece, driving motor establishes the below of mount pad.

9. The drive of claim 6, wherein the support frame comprises:

the pivoting piece is arranged on the first supporting plate;

a second support plate disposed on one end of the first support plate;

the third supporting plate is arranged at the other end of the first supporting plate; the two traveling wheels are correspondingly arranged on the second supporting plate and the third supporting plate, the other end of the elastic piece is connected with the second supporting plate or the third supporting plate, and the accommodating space is defined by the second supporting plate, the third supporting plate and the first supporting plate together.

10. A chassis comprising a main body and a drive arrangement provided on the main body, the drive arrangement being in accordance with any one of claims 1 to 9.