A driving component and a smart mobile device

Abstract

Some embodiments of the present specification provide a drive assembly and a smart mobile device, wherein the drive assembly includes: a first drive wheel assembly and a second drive wheel assembly; and a clutch mechanism disposed between the first drive wheel assembly and the second drive wheel assembly. The first drive wheel assembly and the second drive wheel assembly each include a drive wheel and a driven wheel that can selectively engage with the drive wheel. The clutch mechanism includes: a cam; two ejector rods connected to the cam, with the cam disposed between the two; the two ejector rods respectively abutting against the end faces of the two driven wheels; the rotation of the cam between the first position and the second position enables the two ejector rods to move along the clutch direction between an ejection position and a reset position; when the two ejector rods are in the ejection position, the first drive wheel assembly and the second drive wheel assembly are both in a separated state; when the two ejector rods are in the reset position, the first drive wheel assembly and the second drive wheel assembly are in an engaged state.

Description

Technical Field

[0001] This specification relates to the field of clutch mechanisms, and in particular to a drive assembly and an intelligent mobile device thereof. Background Art

[0002] The motion mechanisms (e.g., rollers) of intelligent mobile devices (such as surgical robots) are typically powered by drive motors, which typically transmit power to the motion mechanisms through gears or sprockets. The drive motors are typically powered by batteries. To ensure the mobile device can move under all circumstances, especially when the battery is depleted, a mechanical clutch is required.

[0003] Based on the above reasons, the present specification provides a drive assembly for a mobile device, which has a reliable structure and can make it more convenient for the operator to clutch the power transmission between the drive motor and the drive wheel (i.e., cut off the power transmission between the drive motor and the drive wheel), and can ensure that two or more groups of drive motors and drive wheels are clutched at the same time. The clutching process is reliable and smooth, and the clutch state can be maintained after the clutching is completed until the operator performs a reset operation. Summary of the Invention

[0004] Some embodiments of the present specification provide a drive assembly for a mobile device, characterized by comprising: a first drive wheel assembly and a second drive wheel assembly; and a clutch mechanism disposed between the first drive wheel assembly and the second drive wheel assembly; the first drive wheel assembly comprising a first drive wheel and a first driven wheel selectively meshing with the first drive wheel; the second drive wheel assembly comprising a second drive wheel and a second driven wheel selectively meshing with the second drive wheel; the clutch mechanism comprising: a cam; a first push rod and a second push rod connected to the cam, the cam being disposed between the first push rod and the second push rod; the first push rod and the second push rod abutting end surfaces of the first driven wheel and the second driven wheel, respectively; rotation of the cam between a first position and a second position enables the first push rod and the second push rod to move along a clutch direction between an ejection position and a reset position; when the first push rod and the second push rod are in the ejection position, the first drive wheel assembly and the second drive wheel assembly are both in a disengaged state; when the first push rod and the second push rod are in the reset position, the first drive wheel assembly and the second drive wheel assembly are in an engaged state.

[0005] In some embodiments, the clutch mechanism further includes a first top claw and a second top claw; the first top claw is arranged between the first push rod and the first driven wheel, and the second top claw is arranged between the second push rod and the second driven wheel; the number of the first top claw and the second top claw ranges from 2 to 5.

[0006] In some embodiments, the number of the first top claws and the second top claws is four, the four first top claws are evenly in contact with the end surface of the first driven wheel, and the four second top claws are evenly in contact with the end surface of the second driven wheel.

[0007] In some embodiments, the cam includes a first cam curve and a second cam curve, the end of the first push rod can move along the first cam curve, and the end of the second push rod can move along the second cam curve. The first cam curve and the second cam curve are symmetrical relative to the center of the cam. When the cam rotates, the motion trajectory of the first push rod and the motion trajectory of the second push rod are the same.

[0008] In some embodiments, the first cam curve and the second cam curve each include a P-segment cam curve, a Q-segment cam curve, and a T-segment cam curve connected in sequence, and the pressure angle of the P-segment cam curve is greater than the pressure angles of the Q-segment cam curve and the T-segment cam curve.

[0009] In some embodiments, the pressure angle of the P-segment cam curve ranges from 30 degrees to 40 degrees.

[0010] In some embodiments, when the first ejector rod and the second ejector rod are both located at the ejection position, the directions of the acting forces of the first ejector rod and the second ejector rod both pass through the center of the cam.

[0011] In some embodiments, the clutch mechanism further includes a first restoring member and a second restoring member, wherein the first restoring member and the second restoring member are respectively used to restore the first ejector rod and the second ejector rod from the ejection position to the reset position.

[0012] In some embodiments, a guide groove is provided on the edge of the cam, and ends of the first push rod and the second push rod are both provided in the guide groove and can move along the guide groove.

[0013] In some embodiments, the clutch mechanism further includes a retaining mechanism, which includes a first retaining member and a second retaining member provided on a base, wherein the first retaining member is used to retain the cam in the first position, and the second retaining member is used to retain the cam in the second position.

[0014] In some embodiments, the first retaining member and / or the second retaining member comprises a magnet, and the magnet is used to attract the cam.

[0015] In some embodiments, the cam includes a metal portion or a magnetic portion for cooperating with the first retaining member and / or the second retaining member.

[0016] In some embodiments, the clutch mechanism further includes a handle connected to the cam.

[0017] In some embodiments, the clutch mechanism further includes a cam motor and a controller, the cam motor is transmission-connected to the cam, and the controller is used to control the operation of the cam motor.

[0018] Some embodiments of the present specification provide a smart mobile device, comprising: a base; a drive motor, the drive motor comprising a first drive motor and a second drive motor; the drive assembly described in the aforementioned embodiment, the first drive wheel and the second drive wheel being transmission-connected to the first drive motor and the second drive motor, respectively; and an action mechanism, the action mechanism comprising two rollers, the two rollers being transmission-connected to the first driven wheel and the second driven wheel, respectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, like numbers represent like structures, wherein:

[0020] Figure 1 is a cross-sectional view of a drive assembly according to some embodiments of the present specification;

[0021] Figure 2 yes Figure 1 A cross-sectional view of the drive assembly in direction A;

[0022] Figure 3 is a cross-sectional view of a drive assembly according to other embodiments of this specification;

[0023] Figure 4 yes Figure 3 A cross-sectional view of the drive assembly in direction A;

[0024] Figure 5 is a schematic diagram of a P-segment cam curve according to some embodiments of this specification;

[0025] Figure 6 is a schematic diagram of a Q-segment cam curve according to some embodiments of this specification;

[0026] Figure 7is a schematic diagram of a T-segment cam curve according to some embodiments of this specification;

[0027] Figure 8 is a schematic diagram of the cooperation between the cam and the first retaining member according to some embodiments of this specification;

[0028] Figure 9 is a schematic structural diagram of a first drive wheel assembly in an engaged position according to some embodiments of this specification;

[0029] Figure 10 is a schematic structural diagram of a first drive wheel assembly in a disengaged position according to some embodiments of this specification;

[0030] Figure 11 is a schematic structural diagram of a cam according to other embodiments of this specification;

[0031] Figure 12 It is a schematic diagram of the structure of a smart mobile device according to some embodiments of this specification.

[0032] Reference numerals: drive assembly 100; first drive wheel assembly 10; first drive wheel 11; first drive wheel 12; first housing 13; second drive wheel assembly 20; second drive wheel 21; second driven wheel 22; second housing 23; clutch mechanism 30; cam 31; handle 311; groove 312; cam motor 313; first push rod 32; second push rod 33; first top claw 341; second top claw 342; first connecting member 351; second connecting member 352; first linear motion mechanism 3 61; second linear motion mechanism 362; spline shaft 363; spline sleeve 364; first hollow cylinder 3641; second hollow body 3642; first retaining member 371; second retaining member 372; cam follower 38; first reset member 391; second reset member 392; smart mobile device 1000; base 400; drive motor 500; first drive motor 510; second drive motor 520; action mechanism 600; first action mechanism 610; second action mechanism 620. DETAILED DESCRIPTION

[0033] To more clearly illustrate the technical solutions of the embodiments of this specification, the following briefly describes the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this specification. Those skilled in the art can apply this specification to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0034] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The term "based on" means "at least partially based on". The term "some embodiments" means "at least one embodiment"; the term "other embodiments" means "at least one other embodiment". The relevant definitions of other terms will be given in the following description.

[0035] This specification provides a drive assembly for a mobile device, which can connect the power source (e.g., a drive motor) and the motion mechanism (e.g., a roller) of the mobile device, and can selectively transmit the power of the power source to the motion mechanism. The operator can switch the power transmission relationship between the motion mechanism and the power source of the mobile device by manipulating the drive assembly. When the power source is able to work normally, the power of the power source can be transmitted to the motion mechanism through the drive assembly. When the power source fails to work normally (e.g., loses power or is insufficiently powered), the power transmission between the motion mechanism and the power source can be cut off by the drive assembly, thereby enabling the operator to control the movement of the mobile device in a safer and more reliable manner (e.g., manually push).

[0036] In some embodiments, combined Figure 1-4 As shown, the drive assembly 100 may include a first drive wheel assembly 10, a second drive wheel assembly 20, and a clutch mechanism 30 disposed between the first drive wheel assembly 10 and the second drive wheel assembly 20. The first drive wheel assembly 10 may be connected to the first motion mechanism 610 and the first drive motor 510. The second drive wheel assembly 20 may be connected to the second motion mechanism 620 and the second drive motor 520.

[0037] In some embodiments, the first drive motor 510 and the second drive motor 520 can be the same drive motor or different drive motors. When the first drive wheel assembly 10 and / or the second drive wheel assembly 20 are in an engaged state, the first drive motor 510 and the second drive motor 520 can respectively drive the first action mechanism 610 and the second action mechanism 620 to move through the first drive wheel assembly 10 and the second drive wheel assembly 20. Accordingly, when the first drive wheel assembly 10 and the second drive wheel assembly 20 are in a separated state, the power of the drive motor cannot be transmitted to the action mechanism. In some embodiments, when the first drive wheel assembly 10 and the second drive wheel assembly 20 are in a separated state, the operator can manually control the movement of the first action mechanism 610 and the second action mechanism 620, for example, by manually pushing.

[0038] The clutch mechanism 30 can switch the first drive wheel assembly 10 and / or the second drive wheel assembly 20 from a disengaged state to an engaged state, or vice versa. In some cases, after the drive assembly 100 is set up, the operator can use the clutch mechanism 30 to switch the operating state of the first drive wheel assembly 10 and the second drive wheel assembly 20. This allows the operator to safely, promptly, and conveniently cut off the power transmission between the movement mechanism and the drive motor when the drive motor fails to operate normally, allowing the operator to control the movement of the mobile device in a safer and more reliable manner.

[0039] In some embodiments, as Figure 1 As shown, taking the first drive wheel assembly 10 as an example, the first drive wheel assembly 10 may include a first drive wheel 11 and a first driven wheel 12 selectively engageable with the first drive wheel 11. In some embodiments, the first drive wheel assembly 10 may include a first housing 13, within which the first drive wheel 11 and the first driven wheel 12 may be housed. In some embodiments, the rotational axis of the first drive wheel 11 may be coaxially fixed with the output shaft of a first drive motor 510 (e.g., a drive motor), and the first drive motor 510 may drive the rotational axis of the first drive wheel 11 to rotate. In some embodiments, the first driven wheel 12 is transmission-connected (e.g., via a chain) to a first actuator 610 (e.g., a roller) located outside the first housing 13. The first driven wheel 12 may selectively engage with the first drive wheel 11 under the influence of a clutch mechanism 30. When the first drive wheel 11 and the first driven wheel 12 engage, the first drive motor 510 may drive the first drive wheel 11 to rotate, thereby driving the first driven wheel 12 to rotate about its own rotational axis, ultimately driving the first actuator 610 to rotate. Accordingly, when the first drive wheel 11 is separated from the first driven wheel 12, the power generated by the first drive motor 510 cannot be transmitted to the first driven wheel 12 via the first drive wheel 11. In the embodiments of this specification, when the first drive wheel 11 is engaged with the first driven wheel 12, the first drive wheel assembly 10 is said to be in an engaged state. Correspondingly, when the first drive wheel 11 is separated from the first driven wheel 12, the first drive wheel assembly 10 is said to be in a disengaged state.

[0040] In some embodiments, the second drive wheel assembly 20 may include a second drive wheel 21 and a second driven wheel 22 that is selectively meshed with the second drive wheel 21. In some embodiments, the second drive wheel assembly 20 may include a second housing 23, and the second drive wheel 21 and the second driven wheel 22 may be housed within the second housing 23. In some embodiments, the rotation axis of the second drive wheel 21 may be coaxially fixed with the output shaft of a second drive motor 520 (e.g., a drive motor), and the second drive motor 520 may drive the second drive wheel 21 to rotate along its own rotation axis. In some embodiments, the second driven wheel 22 is transmission-connected to a second action mechanism 620 (e.g., a roller) located outside the second housing 23. The operating principle of the second drive wheel assembly 20 may be the same or similar to that of the first drive wheel assembly 10 and will not be further described herein.

[0041] In some embodiments, the clutch mechanism 30 can be connected to the first driven wheel 12 and the second driven wheel 22, and switch the working states of the first drive wheel assembly 10 and the second drive wheel assembly 20 by driving the first driven wheel 12 and the second driven wheel 22 to move along their own central axis directions respectively.

[0042] In some embodiments, the clutch mechanism 30 may include a cam 31, a first push rod 32, and a second push rod 33. The cam 31 is arranged between the first push rod 32 and the second push rod 33, and the ends of the first push rod 32 and the second push rod 33 are both connected to the cam 31. The head end of the first push rod 32 and the head end of the second push rod 33 are respectively in contact with the end surfaces of the first driven wheel 12 and the second driven wheel 22. The cam 31 can rotate around its own center between the first position and the second position, so that the first push rod 32 and the second push rod 33 move between the ejection position and the reset position along the clutch direction. When the first push rod 32 and the second push rod 33 are in the ejection position, the first drive wheel assembly 10 and the second drive wheel assembly 20 are in a separated state. Correspondingly, when the first push rod 32 and the second push rod 33 are in the reset position, the first drive wheel assembly 10 and the second drive wheel assembly 20 are in an engaged state. In the embodiment of this specification, the clutch direction may refer to the movement direction of the first driven wheel 12 and the second driven wheel 22, for example, in Figure 1 、 Figure 3 In the figure, the movement direction of the first driven wheel 12 is the direction of its own central axis, which can be represented by the arrow X.

[0043] In this embodiment, the rotational motion of the cam 31 can be converted into linear motion of the first push rod 32 and the second push rod 33 in the clutch direction through the cooperation between the cam 31 and the first push rod 32 and the second push rod 33. Since the first push rod 32 and the second push rod 33 respectively abut the end surfaces of the first driven wheel 12 and the second driven wheel 22, when the first push rod 32 and the second push rod 33 move toward the ejection position along the clutch direction, they will push the first driven wheel 12 and the second driven wheel 22 to separate from the first drive wheel 11 and the second drive wheel 21 respectively.

[0044] In some embodiments, the first push rod 32 and the second push rod 33 can be returned to the reset position under the drive of the cam 31. In some embodiments, the ends of the first push rod 32 and the second push rod 33 can be set in the guide groove 312 of the cam 31 and can move relative to the guide groove 312. When the cam 31 rotates to the second position, the ends of the first push rod 32 and the second push rod 33 can move in the guide groove 312, thereby moving from the ejection position to the reset position. For more description of the guide groove 312, please refer to the following text. Figure 8 and embodiments thereof.

[0045] In some embodiments, the first push rod 32 and the second push rod 33 can be restored to the reset position by other components. In some embodiments, the first driven wheel 12 and the second driven wheel 22 can also be reset by the first reset member 391 and the second reset member 392. The reset member can restore the first push rod 32 and the second push rod 33 from the ejected position to the reset position, thereby allowing the first driven wheel 12 and the second driven wheel 22 to engage with the corresponding drive wheel again. More details about the first reset member 391 and the second reset member 392 can be found below. Figure 9-10 and embodiments thereof.

[0046] In some embodiments, as Figure 1 and Figure 3 As shown, the clutch mechanism 30 may further include a first pawl 341 and a second pawl 342. The first pawl 341 may be disposed between the first push rod 32 and the first driven wheel 12, and may be used to connect the first push rod 32 and the first driven wheel 12. The second pawl 342 may be disposed between the second push rod 33 and the second driven wheel 22, and may be used to connect the second push rod 33 and the second driven wheel 22. By way of example only, the distal end of the first pawl 341 may be connected to the leading end of the first push rod 32 (i.e., the end of the first push rod 32 away from the cam 31), and the leading end of the first pawl 341 may abut against the end surface of the first driven wheel 12. When the first push rod 32 moves in the clutch direction, the force applied by the cam 31 to the first push rod 32 may be transmitted to the first driven wheel 12 via the first pawl 341.

[0047] In order to enable the first top claw 341 and the second top claw 342 to transmit force to the first driven wheel 12 and the second driven wheel 22 more evenly, so that the first driven wheel 12 and the second driven wheel 22 move more smoothly, in some embodiments, the number of the first top claw 341 and the second top claw 342 can be multiple, and the multiple first top claws 341 can be evenly distributed on the end surface of the first driven wheel 12, and the multiple second top claws 342 can be evenly distributed on the end surface of the second driven wheel 22. In some embodiments, the number of the first top claw 341 and the second top claw 342 can be in the range of 2 to 5. As an example only, in combination Figure 1 and Figure 3 As shown, the number of first top claws 341 can be four, and the four first top claws 341 can be evenly distributed around the rotation axis of the first driven wheel 12, with the spacing between two adjacent first top claws 341 being the same. In another example, when the number of first push rods 32 is two, the two first top claws 341 can be symmetrically distributed with respect to the central axis of the first driven wheel 12.

[0048] In some embodiments, combined Figure 1 and Figure 3 As shown, the clutch mechanism 30 may further include a connecting member, which may include a first connecting member 351 and a second connecting member 352. The first connecting member 351 is arranged between the first push rod 32 and the first top claw 341, and the first connecting member 351 is used to evenly transfer the force of the first push rod 32 to the multiple first top claws 341. The second connecting member 352 is arranged between the second push rod 33 and the second top claw 342, and the second connecting member 352 is used to evenly transfer the force of the second push rod 33 to the multiple second top claws 342. In some cases, by providing the first connecting member 351, the force of the first push rod 32 can be evenly transferred to the end face of the first driven wheel 12, thereby further improving the movement smoothness of the first driven wheel 12. Correspondingly, by providing the second connecting member 352, the force of the second push rod 33 can be evenly transferred to the end faces of the multiple second driven wheels 22, thereby further improving the movement smoothness of the second driven wheel 22. Just as an example, Figure 1 and Figure 3 As shown, both the first connecting member 351 and the second connecting member 352 are plate-shaped structures, such as a circular disk. The distal end of the first push rod 32 is connected to the cam 31, and the distal end of the first push rod 32 can be connected to the center of the circular disk. The distal end of the first push claw 341 is connected to the end surface of the circular disk. Multiple first push claws 341 can be evenly distributed around the center of the circular disk. Accordingly, the configuration of the second push claw 342 can be the same or similar as that of the first push claw 341, and will not be further described here.

[0049] In some embodiments, as Figure 1 and Figure 3As shown, the clutch mechanism 30 may further include a linear motion mechanism, which may include a first linear motion mechanism 361 and a second linear motion mechanism 362. The first linear motion mechanism 361 may be used to cause the first driven wheel 12 to smoothly perform linear motion along its central axis during the rotation of the cam 31. The second linear motion mechanism 362 may be used to cause the second driven wheel 22 to smoothly perform linear motion along its central axis during the rotation of the cam 31.

[0050] In some embodiments, the first linear motion mechanism 361 and the second linear motion mechanism 362 may include a ball spline mechanism. Figure 1 and Figure 3 As shown, the ball spline mechanism may include a spline shaft 363 and a spline sleeve 364 adapted to the spline shaft. The spline sleeve 364 is a hollow structure and can be fixed to the first driven wheel 12. For example, the spline sleeve 364 can pass through the first driven wheel 12 along the central axis of the first driven wheel 12. The spline shaft 363 can be fixed to the first housing 13 of the first drive wheel assembly 10, and the central axis of the spline shaft 363 is parallel to the central axis of the first driven wheel 12. The spline sleeve 364 can be mounted on the spline shaft 363 and can move along the central axis of the spline shaft 363. When the force of the first push rod 32 is applied to the first driven wheel 12, the first driven wheel 12 and the spline sleeve 364 fixed thereto can move along the spline shaft 363 to prevent the movement direction of the first driven wheel 12 from changing, further improving the smoothness of the movement of the first driven wheel 12.

[0051] In some embodiments, as Figure 1 and Figure 3 As shown, the spline sleeve 364 of the ball spline mechanism may include a first hollow cylinder 3641 and a second hollow cylinder 3642. The hollow portions of the first hollow cylinder 3641 and the second hollow cylinder 3642 are used to accommodate the spline shaft 363. The outer diameter of the first hollow cylinder 3641 is smaller than the outer diameter of the second hollow cylinder 3642. The first hollow cylinder 3641 passes through the first driven wheel 12 along the central axis of the first driven wheel 12. The second hollow cylinder 3642 abuts against the end surface of the first driven wheel 12 provided with the first top claw 341.

[0052] In addition to the ball spline mechanism, in some embodiments, the first linear motion mechanism 361 and the second linear motion mechanism 362 may also be a ball screw mechanism, a rack and pinion mechanism, etc. For example, taking a ball screw mechanism as an example, the ball screw mechanism may include a screw and a screw nut coupled to the screw. The screw may be fixed to the first housing of the first driving wheel assembly 10, and the screw nut may be fixed to the first driven wheel 12. The screw nut may move along the screw, thereby driving the first driven wheel 12 to move.

[0053] The second linear motion mechanism 362 may be the same as or similar to the first linear motion mechanism 361 . The specific structure and working principle of the second linear motion mechanism 362 may refer to the description of the first linear motion mechanism 361 , which will not be repeated here.

[0054] In some embodiments, combined Figure 1-4 As shown, the end of the first push rod 32 can move along the edge of the cam 31, and the center of the cam 31 is located on the extension line of the axis of the first push rod 32. Since the distance between the edge of the cam 31 and the center of the cam 31 is different, when the end of the first push rod 32 moves along the edge of the cam 31, the distance between the end of the first push rod 32 and the center of the cam 31 is different. Figure 1-2 As shown, when the cam 31 is in the second position, the distance between the end of the first push rod 32 and the center of the cam 31 is the shortest. At this time, the first push rod 32 is in the reset position in the clutch direction, and the first driven wheel 12 is engaged with the first driving wheel 11. In another example, Figure 3-4 As shown, when the cam 31 is in the first position, the distance between the end of the first push rod 32 and the center of the cam 31 is larger (compared to when the cam 31 is in the second position), and the first push rod 32 is larger than Figure 1-2 The first driven wheel 12 is moved a certain distance in the clutch direction, thereby pushing the first driven wheel 12 to separate from the first driving wheel 11. In this embodiment, the center of the cam 31 can refer to the rotation center of the cam 31, which can be Figure 2 、 Figure 4 Similar to the first push rod 32, the end of the second push rod 33 can move along the edge of the cam 31, and the center of the cam 31 is located on the extension line of the axis of the second push rod 33, which will not be described in detail.

[0055] In some embodiments, combined Figure 5-7As shown, the cam 31 may include a first cam curve and a second cam curve. The distal end of the first push rod 32 can move along the first cam curve, and the distal end of the second push rod 33 can move along the second cam curve. The first and second cam curves are symmetrical about the rotation center of the cam 31, so that when an operator rotates the cam 31, the motion trajectory of the first push rod 32 and the motion trajectory of the second push rod 33 are the same. The motion trajectory of the first push rod 32 and the motion trajectory of the second push rod 33 may refer to the motion trajectory of the distal ends of the first push rod 32 and the second push rod 33. In some embodiments, the distal ends of the first push rod 32 and the second push rod 33 can be considered as a single trajectory point, and connecting all trajectory points in sequence constitutes the motion trajectory. In some embodiments, the motion trajectory of the first push rod 32 may be a straight line parallel to the central axis of the first driven wheel 12, so that when the first push rod 32 moves in the clutch direction, it can push the first driven wheel 12 to move along its own central axis. Correspondingly, the motion trajectory of the second push rod 33 may be a straight line parallel to the central axis of the second driven wheel 22, so that it can push the second driven wheel 22 to move along its own central axis.

[0056] In some cases, since the movement trajectory of the first push rod 32 is the same as the movement trajectory of the second push rod 33, the first push rod 32 and the second push rod 33 can move synchronously to the reset position or the ejection position, thereby synchronously switching the working states of the first drive wheel assembly 10 and the second drive wheel assembly 20, effectively improving operational efficiency.

[0057] In some embodiments, the first cam curve and the second cam curve can be divided into a P-segment cam curve, a Q-segment cam curve, and a T-segment cam curve according to the change in the pressure angle. The P-segment cam curve can refer to the motion trajectory of the ends of the first push rod 32 and the second push rod 33 when the cam 31 is in the second position or near the second position. For example, Figure 5 As shown, point M and point N are two track points on the motion track of the first push rod 32. For the first push rod 32, the P segment cam curve can be the motion track of the first push rod 32 from the ejection position to point M. The Q segment cam curve can refer to the cam 31 being in a state of Figure 5 As shown, the Q-segment cam curve can be the motion trajectory of the first push rod 32 from point M to point N. The T-segment cam curve can refer to the motion trajectory of the ends of the first push rod 32 and the second push rod 33 when the cam 31 is at the first position or near the first position. Figure 5 As shown, the Q-segment cam curve can be the motion trajectory between point N and the reset position.

[0058] In some embodiments, the cam central angle corresponding to the P-segment cam curve may range from 20° to 40°. In some embodiments, the cam central angle corresponding to the P-segment cam curve may range from 22° to 36°. In some embodiments, the cam central angle corresponding to the P-segment cam curve may range from 25° to 30°. In some embodiments, the cam central angle corresponding to the Q-segment cam curve may range from 5° to 10°. In some embodiments, the cam central angle corresponding to the Q-segment cam curve may range from 6° to 9°. In some embodiments, the cam central angle corresponding to the Q-segment cam curve may range from 7° to 8°. In some embodiments, the cam central angle corresponding to the T-segment cam curve may range from 10° to 20°. In some embodiments, the cam central angle corresponding to the T-segment cam curve may range from 12° to 18°. In some embodiments, the cam central angle corresponding to the T-segment cam curve may range from 14° to 16°.

[0059] The pressure angle may refer to the angle between a normal line drawn at the contact point between the contour line of the cam 31 and the first push rod 32 or the second push rod 33, and the moving direction (i.e., clutch direction) of the first push rod 32 or the second push rod 33. For example, Figure 5 As shown, when the cam 31 is in the second position, the pressure angle can be represented by the angle α. Wherein, F1 is the force applied by the operator. F2 is the elastic member (for example, Figure 1 、 Figure 9 and Figure 10 For more details about the elastic member and the elastic force, see Figure 1 、 Figure 9 and Figure 10 and embodiments thereof. L1 is the distance between the force applied by the operator and the center of the cam 31, which may be referred to as the first lever arm length. L2 is the distance between the normal line of the contact point between the contour of the cam 31 and the first push rod 32 and the center of the cam 31, which may be referred to as the second lever arm length. In some embodiments, the pressure angle α can be determined based on the above parameters.

[0060] To reduce operator effort when rotating the cam 31, in some embodiments, the ratio of the first lever arm length L1 to the second lever arm length L2 can be between 10 and 15. In some embodiments, the ratio of the first lever arm length L1 to the second lever arm length L2 can be between 11 and 14. In some embodiments, the ratio of the first lever arm length L1 to the second lever arm length L2 can be between 12 and 13. In some embodiments, the force applied by the operator can be less than 10 N. In some embodiments, the force applied by the operator can be less than 8 N. In some embodiments, the force applied by the operator can be less than 6 N.

[0061] In some embodiments, the pressure angle of the P-segment cam curve can be greater than the pressure angles of other cam curves. To allow the operator to more easily push the cam 31 in the second position, and to allow the elastic member to overcome the resistance to the cam 31's rotation and return the cam 31 in the first position to the second position for reset, the pressure angle α of the P-segment cam curve needs to be controlled within a certain range. In some embodiments, the pressure angle α of the P-segment cam curve can be within the range of 30 to 40 degrees. In some embodiments, the pressure angle α of the P-segment cam curve can be within the range of 32 to 38 degrees. In some embodiments, the pressure angle α of the P-segment cam curve can be within the range of 34 to 36 degrees.

[0062] Just as an example, combined with Figure 5-7 As shown, during the process of the cam 31 rotating from the second position to the first position, the end of the first push rod 32 sequentially contacts the P segment cam curve, the Q segment cam curve and the T segment cam curve. Figure 5 As shown, the cam 31 is in the first position at this time. The end of the first push rod 32 is located on the P segment cam curve. At this time, the distance between the end of the first push rod 32 and the center of the cam 31 is the shortest. As the cam 31 rotates clockwise, the pressure angle α gradually increases, and the resistance to the rotation of the cam 31 also increases. When the end of the first push rod 32 is located on the Q segment cam curve (as shown Figure 6 As shown in FIG3 , as the cam 31 rotates clockwise, the pressure angle of the Q segment cam curve gradually decreases, and the resistance to the rotation of the cam 31 becomes smaller and smaller. When the cam 31 rotates to the first position, the end of the first push rod 32 is located on the T segment cam curve (as shown in FIG3 ). Figure 7 As shown in FIG, the distance between the ends of the first push rod 32 and the second push rod 33 and the center of the cam 31 is the longest (that is, located at the maximum radius of the cam 31). Since the direction of the force exerted by the first push rod 32 and the second push rod 33 on the cam 31 is Figure 7 The dashed lines A and B (shown in the middle) both pass through the center of the cam 31. Therefore, the pressure angle at this point is zero, and the resistance to the rotation of the cam 31 is small or almost negligible. Furthermore, since the first and second push rods 32 and 33 do not generate torque on the cam 31, it is more conducive to maintaining the cam 31 in the first position.

[0063] In this embodiment, by dividing the cam curve into three sections with different pressure angles, the operator can feel the change in resistance during the rotation of the cam 31, so that the operator can judge the position of the cam 31 based on the resistance. When the resistance is 0, it indicates that the cam is in the first position, and the rotation operation can be stopped, which can effectively improve the operator's work efficiency.

[0064] In some embodiments, combined Figure 2 and Figure 8 As shown, the clutch mechanism 30 may further include a holding mechanism, which may include a first holding member 371 and a second holding member 372 provided on the base. The first holding member 371 may be used to hold the cam 31 in the first position, and the second holding member 372 may be used to hold the cam 31 in the second position. The base 400 in this embodiment may be a mobile device (e.g., Figure 10 The base 400 is the same or similar to the mobile device 1000 in FIG.

[0065] In some embodiments, the first retaining member 371 and the second retaining member 372 may be magnetic, and the cam 31 may be magnetic. The cam 31 is held in a specific position by magnetic attraction between the first retaining member 371, the second retaining member 372, and the cam 31. When the operator wishes to rotate the cam 31, they simply separate the cam 31 from the first retaining member 371 or the second retaining member 372. For example, the first retaining member 371 and the second retaining member 372 may be magnets, and the cam 31 may be made of a magnetic material or a metal material. In some embodiments, at least a portion or all of the cam 31 may be made of a metal or magnetic material. In other embodiments, the cam 31 may be magnetic, and the first retaining member 371 and the second retaining member 372 may be magnetic. For example, the cam 31 may be provided with a magnet, and the first retaining member 371 and the second retaining member 372 may be made of a magnetic material or a metal material.

[0066] In some embodiments, the first retaining member 371 and the second retaining member 372 may be a spring pin mechanism, which may include a lock core rod and a spring pin adapted to fit the lock core rod. The lock core rod may be mounted on the cam 31, and the spring pin may be mounted on the base. An operator may press the spring pin to engage the lock core rod, thereby securing the cam 31 in a specific position. Pressing the spring pin again may cause the lock core rod to pop out of the spring pin, allowing the cam 31 to rotate again.

[0067] In some embodiments, as Figure 8 As shown, the clutch mechanism 30 may further include a handle 311, which may be provided on the cam 31. After the handle 311 is provided, the operator can rotate the cam 31 by manipulating the handle 311, which is more convenient than directly rotating the cam 31. In addition, when the operator manipulates the handle 311, the distance between the handle 311 and the center of the cam 31 is longer, and the length of the force arm from the force applied on the handle to the center of the cam (for example, Figure 5If the length of the first lever arm L1 is longer, the operator needs to use less force to rotate the cam 31, which is more labor-saving. However, if the handle 311 is too long, the overall size of the clutch mechanism 30 will be increased, and it may also cause the cam 31 to collide with other parts of the clutch mechanism 30 when rotating. Therefore, the length of the handle 311 needs to be controlled within a certain range to obtain a suitable length of the first lever arm L1. Figure 5 More description can be found in the embodiments thereof and will not be repeated here.

[0068] In some embodiments, the handle 311 can cooperate with a holding mechanism to make it easier for the operator to hold the cam 31 in a specific position. Figure 8 As shown, when the cam 31 rotates clockwise to the first position, the handle 311 of the cam 31 abuts against the first retaining member 371, and the cam 31 is retained in the first position by the first retaining member 371. In addition, the first retaining member 371 can also limit further clockwise rotation of the cam 31, preventing the cam 31 from rotating too far and colliding with other components of the clutch mechanism 30 (e.g., the first push rod 32 or the second push rod 33).

[0069] In some embodiments, as Figure 8 As shown, the edge of the cam 31 is provided with a guide groove 312, and the ends of the first push rod 32 and the second push rod 33 are both provided in the guide groove 312 and can move along the guide groove 312. In some cases, since the ends of the first push rod 32 and the second push rod 33 are always located in the guide groove 312 and can move along the guide groove 312, the ends of the first push rod 32 and the second push rod 33 can always move along the guide groove 312 during the process of the cam 31 rotating from the first position to the second position, and the inner wall of the guide groove 312 of the cam 31 can exert force on the first push rod 32 and the second push rod 33 and play a dragging role, so that the first push rod 32 and the second push rod 33 gradually move from the ejection position to the reset position, so that the operator can directly control the first push rod 32 and the second push rod 33 to reset by rotating the cam 31. Figure 8 As shown, the distal ends of the first push rod 32 and the second push rod 33 can be disposed in the same guide groove 312. In some embodiments, the guide groove 312 can include a first guide groove and a second guide groove that are independent of each other, the distal end of the first push rod 32 can be disposed in the first guide groove, and the distal end of the second push rod 33 can be disposed in the second guide groove, and the first guide groove and the second guide groove can be symmetrical relative to the center of the cam 31.

[0070] In some embodiments, combined Figure 8As shown, the clutch mechanism 30 may further include a cam follower 38, which may be disposed at the ends of the first push rod 32 and the second push rod 33. The ends of the first push rod 32 and the second push rod 33 may move relative to the cam 31 via the cam follower 38. In some embodiments, the cam follower 38 may be a bearing, which may be disposed in the guide slot 312 and be movable relative to the guide slot 312.

[0071] In some embodiments, combined Figure 1 、 Figure 9 and Figure 10 As shown, the clutch mechanism 30 may further include a reset member, which may include a first reset member 391 and a second reset member 392. The first reset member 391 may be used to return the first ejector rod 32 from the ejected position to the reset position, and the second reset member 392 may be used to return the second ejector rod 33 from the ejected position to the reset position. In some embodiments, the first reset member 391 and the second reset member 392 may both be elastic members, such as springs. Taking the first reset member 391 as an example, in some embodiments, the spring may be disposed on the side of the first driven wheel 12 facing away from the first ejector claw 341, with the two ends of the spring respectively abutting the end face of the first driven wheel 12 and the inner wall of the first housing 13 of the first drive wheel assembly 10. For example, one end of the spring may be connected to the end face of the first hollow cylinder 3641 facing away from the second hollow cylinder 3642, and the other end may abut the inner wall of the first housing 13.

[0072] In this embodiment, when the cam 31 is in the second position, the first push rod 32 is in the reset position. At this time, the first driven wheel 12 is engaged with the first drive wheel 11, and the first reset member 391 is not squeezed by the first driven wheel 12. As the cam 31 rotates from the second position to the first position, the first push rod 32 moves from the reset position to the ejection position. The first push rod 32 pushes the first driven wheel 12 to separate from the first drive wheel 11 and squeezes the first reset member 391, causing the first reset member 391 to shrink and deform. When the force applied to the cam 31 decreases or disappears, for example, when the first retaining member separates from the cam or when the cam rotates counterclockwise, the pressure from the first reset member 391 pushes the first driven wheel 12 to move until it engages with the first drive wheel 11.

[0073] In some embodiments, the clutch mechanism 30 may further include a second reset member 392, which may be used to return the second ejector rod 33 from the ejected position to the reset position. In some embodiments, the second elastic member may be the same as or similar to the first elastic member, and will not be described in detail herein.

[0074] In some embodiments, when the first reset member 391 and the second reset member 392 are elastic members, if the elastic force of the elastic member is too large, the operator will face greater resistance to turning the cam, making the operation more strenuous. If the elastic force is too small, the pressure exerted by the elastic member on the driven wheel may not be able to smoothly push the driven wheel to move to engage with the drive wheel, thereby affecting work efficiency. For the above reasons, it is necessary to control the elastic force of the elastic member within a certain range. In some embodiments, the elastic force of the elastic member may be in the range of 30N to 50N. In some embodiments, the elastic force of the elastic member may be in the range of 35N to 45N. In some embodiments, the elastic force of the elastic member may be in the range of 38N to 42N.

[0075] In some embodiments, the clutch structure 30 in one or more embodiments of the present specification can be manually operated by an operator, for example, the operator holds a handle (for example, Figure 5 The handle 311 in the clutch mechanism 30 is used to rotate the cam 31. In some embodiments, the clutch mechanism 30 can be automatically operated by components, devices or apparatuses (eg, a controller, a cam motor 313, etc.).

[0076] In some embodiments, the operator can select the operation mode of the clutch mechanism 30 and switch the operation mode of the clutch mechanism 30 to the automatic operation mode or the manual operation mode.

[0077] In some embodiments, if the clutch mechanism 30 is in automatic operation mode, when the remaining power of the first drive motor 510 and the second drive motor 520 is lower than a certain threshold, the clutch mechanism 30 can be triggered to automatically perform a clutch operation. Accordingly, the cam 31 of the clutch mechanism 30 can be triggered to rotate, thereby moving the first push rod 32 and the second push rod 33 to the ejection position, achieving automatic clutching. In some embodiments, if the clutch mechanism 30 is in manual operation mode, when the remaining power of the first drive motor 510 and the second drive motor 520 is lower than a certain threshold, and the operator does not perform any operation within a certain time threshold, the cam 31 of the clutch mechanism 30 can be triggered to rotate, thereby moving the first push rod 32 and the second push rod 33 to the ejection position, achieving automatic clutching.

[0078] In some embodiments, combined Figure 2 and Figure 11As shown, the clutch mechanism 30 may include a cam motor 313 and a controller (not shown in the figure). The cam motor 313 is connected to the cam transmission (for example, the output shaft of the cam motor 313 is coaxially fixed with the rotating shaft of the cam 31), and the controller can control the operation of the cam motor. When the remaining power of the batteries (not shown in the figure) of the first drive motor 510 and the second drive motor 520 is lower than a certain threshold, the controller can control the operation of the cam motor 313, thereby controlling the rotation of the cam 31 to achieve automatic clutching. In some embodiments, the cam motor 313 is provided with an encoder, and the angular stroke of the output shaft of the cam motor 313 can be determined by identifying the encoder value of the encoder. In some embodiments, the controller can determine the angular stroke of the rotation of the cam 31 based on the angular stroke of the output shaft of the cam motor 313. When the angular stroke of the rotation of the cam 31 reaches the threshold, the controller can control the cam motor 313 to stop rotating.

[0079] In some embodiments, the clutch mechanism 30 may further include a control panel, which may be connected to the controller. The operator may select the operating mode of the clutch mechanism 30 through the control panel. When the clutch mechanism 30 is in manual operation mode, the operator may send a working signal to the controller through the control panel, and the controller may control the cam motor 313 to operate according to the control signal. In some embodiments, the controller may remind the operator that the battery is low through an indicator light (not shown in the figure). In some embodiments, when the indicator light prompts that the battery is low, the operator may drive the cam motor 313 to work through the button on the operation panel, thereby driving the cam 31 to rotate and achieve clutching. In some embodiments, when the time of the indicator light reminder exceeds the time threshold and the operator does not perform the clutch operation, the controller may switch the operating mode of the clutch mechanism 30 to the automatic operation mode, and drive the cam motor 313 to automatically rotate to complete the clutch.

[0080] In some embodiments, this specification also provides a mobile device, which may include a smart mobile device, and an exemplary smart mobile device may include a surgical robot. Figure 12As shown, the smart mobile device 1000 may include a base 400, a drive motor 500, a motion mechanism 600, and a drive assembly 1000 in other embodiments of this specification. The drive motor 500, the motion mechanism 600, and the drive assembly 100 are all disposed on the base 400. The drive assembly 100 may connect the motion mechanism 600 and the drive motor 500 and selectively transmit the power of the drive motor 500 to the motion mechanism 600 to drive its movement. By way of example only, the drive motor 500 may include a first drive motor 510 and a second drive motor 520, the motion mechanism 600 may include a first motion mechanism 610 and a second motion mechanism 620, the first motion mechanism 610 and the second motion mechanism 620 may both be rollers, the first drive wheel assembly 10 may connect the first drive motor 510 and one of the rollers, and the second drive wheel assembly 20 may connect the second drive motor 520 and the other roller. In some embodiments, the smart mobile device may further include a universal wheel 700, which may be used to adjust the moving direction of the smart mobile device 1000. In some embodiments, more details of the base 400, the drive motor 500, and the action mechanism 600 may be found in the description of other embodiments of this specification and will not be repeated here.

[0081] In some embodiments, the mobile device may include a non-intelligent mobile device. Exemplary non-intelligent mobile devices may include small garden machinery (eg, a lawn mower), small agricultural machinery (eg, a harvester), and the like.

[0082] The beneficial effects that may be brought about by the drive assembly in the embodiments of this specification include but are not limited to: (1) by setting up the drive assembly, the operator can switch the working state of the first drive wheel assembly and the second drive wheel assembly through the clutch mechanism, so that when the drive motor cannot work normally, the operator can safely, promptly and conveniently cut off the power transmission between the action mechanism and the drive motor, so that the operator can control the movement of the mobile device in a safer and more reliable manner; (2) by setting up the connecting member, the force of the push rod can be evenly transmitted to the end face of the driven wheel, thereby further improving the movement smoothness of the driven wheel; (3) by setting up the linear motion mechanism, the driven wheel can continue to move smoothly along its own central axis during the rotation of the cam, thereby further improving the movement smoothness of the driven wheel; (4) by making the first cam curve and the second cam curve symmetrical relative to the rotation center of the cam, so that when the operator rotates the cam, the movement trajectory of the first push rod is the same as the movement trajectory of the second push rod, so that the first push rod and the second push rod 33 can move synchronously to the reset position or the ejection position, thereby synchronously switching the working state of the first drive wheel assembly and the second drive wheel assembly, effectively improving the operation efficiency. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced may be any one or a combination of the above, or any other possible beneficial effects.

[0083] While the basic concepts have been described above, it will be apparent to those skilled in the art that the detailed disclosure is merely illustrative and does not limit this specification. Although not explicitly stated herein, various modifications, improvements, and revisions to this specification may be made by those skilled in the art. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

Claims

1. A drive assembly for a mobile device, characterized in that: include: a first drive wheel assembly and a second drive wheel assembly; and a clutch mechanism disposed between the first drive wheel assembly and the second drive wheel assembly; The first drive wheel assembly includes a first drive wheel and a first driven wheel selectively engaged with the first drive wheel; the second drive wheel assembly includes a second drive wheel and a second driven wheel selectively engaged with the second drive wheel; The clutch mechanism comprises: Cam; a first push rod and a second push rod connected to the cam, wherein the cam is arranged between the first push rod and the second push rod; the first push rod and the second push rod are respectively in contact with end surfaces of the first driven wheel and the second driven wheel; The cam includes a first cam curve and a second cam curve, the end of the first push rod can move along the first cam curve, and the end of the second push rod can move along the second cam curve, the first cam curve and the second cam curve are symmetrical with respect to the center of the cam, and when the cam rotates, the movement trajectory of the first push rod and the movement trajectory of the second push rod are the same; A guide groove is provided on the edge of the cam, and the ends of the first push rod and the second push rod are both provided in the guide groove and can move along the guide groove; The rotation of the cam between the first position and the second position can cause the first push rod and the second push rod to move between the ejection position and the reset position along the clutch direction; when the first push rod and the second push rod are in the ejection position, the first drive wheel assembly and the second drive wheel assembly are both in a disengaged state; when the first push rod and the second push rod are in the reset position, the first drive wheel assembly and the second drive wheel assembly are in an engaged state.

2. The driving assembly for a mobile device according to claim 1, characterized in that: The clutch mechanism further includes a first top claw and a second top claw; the first top claw is arranged between the first push rod and the first driven wheel, and the second top claw is arranged between the second push rod and the second driven wheel; the number of the first top claw and the second top claw ranges from 2 to 5.

3. The driving assembly for a mobile device according to claim 2, characterized in that: The number of the first top claws and the second top claws is four, the four first top claws are evenly in contact with the end surface of the first driven wheel, and the four second top claws are evenly in contact with the end surface of the second driven wheel.

4. The driving assembly for a mobile device according to claim 1, characterized in that: The first cam curve and the second cam curve each include a P-segment cam curve, a Q-segment cam curve, and a T-segment cam curve connected in sequence, and a pressure angle of the P-segment cam curve is greater than a pressure angle of the Q-segment cam curve and the T-segment cam curve.

5. The driving assembly for a mobile device according to claim 4, characterized in that: The pressure angle of the P-segment cam curve has a value range of 30 degrees to 40 degrees.

6. The driving assembly for a mobile device according to claim 1, characterized in that: When the first ejector rod and the second ejector rod are both located at the ejection position, directions of the acting forces of the first ejector rod and the second ejector rod both pass through the center of the cam.

7. The driving assembly for a mobile device according to claim 1, characterized in that: The clutch mechanism further includes a first restoring member and a second restoring member, wherein the first restoring member and the second restoring member are respectively used to restore the first ejector rod and the second ejector rod from the ejection position to the reset position.

8. The driving assembly for a mobile device according to claim 1, characterized in that: The clutch mechanism further includes a holding mechanism, which includes a first holding member and a second holding member provided on a base, wherein the first holding member is used to hold the cam in the first position, and the second holding member is used to hold the cam in the second position.

9. The driving assembly for a mobile device according to claim 8, characterized in that: The first retaining member and / or the second retaining member includes a magnet, and the magnet is used to attract the cam.

10. The driving assembly for a mobile device according to claim 9, characterized in that: The cam includes a metal part or a magnetic part, and is used to cooperate with the first retaining member and / or the second retaining member.

11. The driving assembly for a mobile device according to claim 1, characterized in that: The clutch mechanism further includes a handle connected to the cam.

12. The driving assembly for a mobile device according to claim 1, wherein: The clutch mechanism further includes a cam motor and a controller. The cam motor is transmission-connected to the cam, and the controller is used to control the operation of the cam motor.

13. A smart mobile device, characterized in that: include: base; A drive motor, wherein the drive motor includes a first drive motor and a second drive motor; The drive assembly according to any one of claims 1 to 12, wherein the first drive wheel and the second drive wheel are drivingly connected to the first drive motor and the second drive motor respectively; and The action mechanism includes two rollers, and the two rollers are respectively connected to the first driven wheel and the second driven wheel in a transmission manner.

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