摘要：【中文】本申请实施例提供一种自锁装置、底盘结构、物流配送机器人及控制方法。其中，自锁装置包括：第一液压缸和第二液压缸；其中，所述第一液压缸具有第一油腔和第二油腔；所述第二液压缸具有第三油腔和第四油腔；所述第一油腔通过第一连通管与所述第三油腔连通；所述第二油腔通过第二连通管与所述第四油腔连通，且所述第二连通管上设有控制部件；所述控制部件处于第一工作状态时，所述第二油腔与所述第四油腔断开，所述第一液压缸的长度锁定；所述控制部件处于第二工作状态时，所述第二油腔与所述第四油腔连通，所述第一液压缸的长度可变。本申请实施例提供的技术方案，适于空间尺寸较小的底盘，结构简单，易于实现。 【EN】The embodiment of the application provides a self-locking device, a chassis structure, a logistics distribution robot and a control method. Wherein, self-lock device includes: a first hydraulic cylinder and a second hydraulic cylinder; wherein the first hydraulic cylinder has a first oil chamber and a second oil chamber; the second hydraulic cylinder has a third oil chamber and a fourth oil chamber; the first oil chamber is communicated with the third oil chamber through a first communicating pipe; the second oil chamber is communicated with the fourth oil chamber through a second communicating pipe, and a control part is arranged on the second communicating pipe; when the control part is in a first working state, the second oil chamber is disconnected with the fourth oil chamber, and the length of the first hydraulic cylinder is locked; when the control component is in a second working state, the second oil chamber is communicated with the fourth oil chamber, and the length of the first hydraulic cylinder is variable. The technical scheme provided by the embodiment of the application is suitable for the chassis with smaller space size, simple in structure and easy to realize.

摘要：【中文】本申请实施例提供了一种传动装置和对开门装置，所述传动装置具体包括：固定齿轮和输出齿轮；第一传动齿轮和第二传动齿轮；所述第一传动齿轮和所述固定齿轮啮合，所述第二传动齿轮与所述输出齿轮啮合；以及，行星架；其中，所述行星架的一端、所述固定齿轮、以及所述输出齿轮同轴设置，所述行星架的另一端、所述第一传动齿轮和所述第二传动齿轮同轴设置。本申请实施例通过各齿轮之间的啮合来实现反向旋转，传动同步性较好，精度较高，而且，本申请实施例的传动装置中，所述行星架的一端与固定齿轮、输出齿轮同轴设置，另一端与第一传动齿轮、第二传动齿轮同轴设置，各部件的布局较为紧凑，占用的空间较小。 【EN】The embodiment of the application provides a transmission and to opening door device, transmission specifically includes: a fixed gear and an output gear; a first transmission gear and a second transmission gear; the first transmission gear is meshed with the fixed gear, and the second transmission gear is meshed with the output gear; and, a planet carrier; the fixed gear is arranged on the fixed gear, the output gear is arranged on the fixed gear, and the other end of the planet carrier is coaxially arranged with the first transmission gear and the second transmission gear. This application embodiment realizes the counter rotation through the meshing between each gear, and the transmission synchronism is better, and the precision is higher, moreover, among the transmission of this application embodiment, the one end and fixed gear, the coaxial setting of output gear of planet carrier, the other end and first drive gear, the coaxial setting of second drive gear, the overall arrangement of each part is comparatively compact, and the space that occupies is less.