Servo motor end cover, servo motor, hub assembly and robot

Abstract

The utility model provides a servo motor end cover, which comprises an end cover body, the end cover body comprises a mounting assembly arranged on the end cover body, the mounting assembly comprises a plurality of connecting pieces, at least one of the connecting pieces is located in the middle of the surface of the end cover body, and the connecting pieces are connected with the end cover body. The multiple connecting pieces surround the end cover body to form an installation area, the installation area is used for installing a driver, and the connecting pieces are used for being connected with the driver. The utility model further discloses a servo motor comprising the servo motor end cover, a hub assembly and a robot. According to the utility model, the installation convenience, stability and vibration and impact resistance of the driver are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a servo motor end cover, a servo motor using the servo motor end cover, a wheel hub assembly and a robot. Background Art

[0002] In the fields of electric vehicles and robots, servo power components are often used, wherein the servo power components generally include servo motors, drivers, and reducers.

[0003] The driver in the related art is generally installed on the end cap at the end opposite the output end of the servo motor. However, the current connection between the driver and the end cap requires the installation of an adapter plate between the motor end cap and the motor driver. This not only takes up additional installation space, increases the overall size of the motor, but also increases the cost. In addition, some related art methods use plug-in assembly of the driver and the motor body, but the number of plug-in assembly structures is limited and the driver is installed at the edge of the motor body. Due to the large impact force generated by the motor during operation, the stability of the connection between the driver and the motor body is poor and the vibration and shock resistance performance is poor. Utility Model Content

[0004] The present invention aims to solve one of the technical problems in the related art to a certain extent. To this end, the present invention provides a servo motor end cover, a servo motor, a wheel hub assembly and a robot, which have the advantages of easy installation, high stability and strong vibration and impact resistance.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present utility model discloses a servo motor end cover, including an end cover body, the end cover body including a mounting assembly arranged on the end cover body, the mounting assembly including a plurality of connecting parts, at least one of the plurality of connecting parts is located in the middle of the surface of the end cover body, and the plurality of connecting parts are surrounded on the end cover body to form an installation area, the installation area is used to install a driver, and the connecting parts are used to connect to the driver.

[0006] In the present technical solution, at least one connector in the mounting assembly is arranged in the middle of the end cover body, so that when the driver is installed, the driver is positioned close to the middle of the end cover body. Compared with the prior art in which the driver is arranged at the edge of the end cover, the impact received by the driver during the operation of the motor can be reduced, and the stability and vibration and impact resistance of the connection between the driver and the motor body can be improved; in addition, by arranging a mounting assembly that is integrated with the end cover body on the end cover body, the driver can be directly connected to the end cover through the mounting assembly without the need for other intermediate adapters, which is not only convenient for installation, but also can reduce the volume of the end cover and improve the stability of the installation.

[0007] Furthermore, the plurality of connectors are all located in the middle of the end cap body and surround a mounting area located in the center of the end cap body, which further reduces impact and improves stability.

[0008] Furthermore, the plurality of connectors are arranged in a circular or rectangular shape to improve the stability of the driver installation.

[0009] Furthermore, the mounting assembly includes at least one positioning member for positioning the driver. The positioning member and the plurality of connectors together surround and form the mounting area. The positioning member facilitates installation and precise positioning of the driver, reduces assembly clearance, and improves installation stability.

[0010] Furthermore, the end cap body includes a base plate and a protruding platform protruding from the back end surface of the base plate, and the mounting assembly is disposed on the protruding platform. The design of the protruding platform creates a certain height difference between the mounting surface of the driver and the back surface of the end cap body, making the driver installation operation more convenient.

[0011] Furthermore, each of the connecting members includes a column and a first connecting hole provided at the center of the column and coaxial with the column, so that the driver can be connected to the connecting member by screws through the first connecting hole.

[0012] Furthermore, the plurality of positioning members are respectively arranged on opposite sides of the installation area.

[0013] Furthermore, the protruding platform is coaxially arranged with the end cap body, a notch is formed on one side of the protruding platform, and the plurality of connecting members are divided into two groups, each group including a plurality of connecting members, one group being arranged on one side of the protruding platform close to the notch, and the other group being arranged on the other side of the protruding platform. Positioning members are respectively provided between adjacent connecting members on the same side. The reasonable distribution of the positions of the connecting members and the positioning members makes the assembly more stable.

[0014] Furthermore, a waist-shaped hole is formed on the opposite side of the protruding platform and the notch, with a portion of the waist-shaped hole passing through the protruding platform and another portion passing through the base plate, thereby forming an asymmetrical structure of the end cap. This has a fool-proof effect during installation and avoids assembly misalignment.

[0015] Furthermore, the end cap body includes two radially opposing protrusions extending therefrom, each having a threading hole formed therethrough. During assembly and wiring, the servo motor's wires can be passed through the two threading holes and connected to the driver mounted via the mounting assembly. The threading holes are located on opposite sides of the mounting assembly, further facilitating connection of the wires to the driver.

[0016] Furthermore, the end cap body includes a boss protruding from the back end surface of the end cap body. The boss is disposed on one side of the wire threading hole. The boss is used to block the wiring harness connected to the driver passing through the wire threading hole and keep the wiring harness away from the rotating head of the servo motor. This prevents the connecting wiring harness from scraping the rotating head of the servo motor during operation, reducing the risk of damage to the wiring harness.

[0017] The second aspect of the present utility model discloses a servo motor, including a servo motor body, the servo motor body including a motor housing and a motor shaft, the output end of the motor shaft extending out of the first end of the motor housing, the servo motor also including a driver and a servo motor end cover of the first aspect arranged at the second end of the motor housing, the driver being fixed on the end face of the servo motor end cover facing away from the servo motor body through the mounting assembly, and the driver being positioned by the positioning member and connected to the connecting member and fixed to the mounting area.

[0018] Furthermore, the servo motor also includes a driver cover, which is arranged on the end surface of the servo motor end cover away from the servo motor body. The driver cover includes a cover body with an open end and an accommodating cavity arranged in the cover body, and the driver is placed in the accommodating cavity.

[0019] The third aspect of the present invention discloses a wheel hub assembly, comprising a wheel hub assembly and the servo motor of the second aspect, wherein the output end of the servo motor is connected to the power input end of the wheel hub assembly and provides driving force to the wheel hub assembly.

[0020] A fourth aspect of the present application discloses a robot comprising a body and at least one wheel hub assembly according to the third aspect arranged on the body.

[0021] The advantages of the servo motor disclosed in the second aspect, the wheel hub assembly disclosed in the third aspect, and the robot disclosed in the fourth aspect of the present invention are consistent with the beneficial effects of the servo motor end cover disclosed in the first aspect above, and will not be repeated here.

[0022] These features and advantages of the present invention will be detailed in the following detailed description and accompanying drawings. The preferred embodiments or means of the present invention will be fully illustrated in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, although multiple features, elements, and components may be present and are labeled with different symbols or numbers for convenience, they all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings:

[0024] Figure 1 This is a schematic diagram of the servo motor end cover structure of one embodiment of the present utility model;

[0025] Figure 2 This is a schematic diagram of the servo motor end cover structure of one embodiment of the present utility model;

[0026] Figure 3 This is an exploded schematic diagram of the servo motor structure of one embodiment of the present invention;

[0027] Figure 4 This is a structural diagram of a second end cover provided with a boss in one embodiment of the present utility model;

[0028] Figure 5 This is an overall structural diagram of a servo motor according to one embodiment of the present invention.

[0029] in,

[0030] 10. Servo motor body; 11. Fourth connecting hole;

[0031] 20. End cap body; 21. Second connecting hole; 22. Connector; 221. First connecting hole; 23. Third connecting hole; 24. Positioning member; 25. Threading hole; 251. Boss; 26. Bearing mounting hole; 27. Protruding platform; 271. Notch; 28. Waist-shaped hole; 29. Base plate;

[0032] 30. Driver;

[0033] 40. Driver cover; 41. Fifth connecting hole. DETAILED DESCRIPTION

[0034] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0035] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0036] Servo motors are widely used in automobiles, robotics, and other fields. End caps, as one of the most important components of servo motors, are usually installed at both ends of the motor housing to fix and support the motor shaft. As the use scenarios of servo motors become increasingly complex, different scenarios have put forward diverse installation requirements for motors, and the design requirements for end caps are also becoming increasingly stringent. Based on this:

[0037] See attached Figure 1 、 2 One embodiment of the present invention discloses a servo motor end cover, including an end cover body 20, the end cover body 20 including a mounting assembly arranged in the middle of an end surface of the end cover body 20, the mounting assembly including a plurality of connectors 22, at least one connector 22 of the plurality of connectors 22 is located in the middle of the surface of the end cover body 20, and the plurality of connectors are surrounded on the end cover body 20 to form a mounting area, the mounting area is used to install a driver 30, and the connector 22 is used to connect to the driver 30.

[0038] The motor end cap in this embodiment is installed at the non-output end of the servo motor and is used to support and fix the non-output end of the motor shaft. It includes an end cap body 20. The middle portion of one end surface of the end cap body 20 (generally the back of the motor end cap, the side facing away from the motor body) is provided with a mounting assembly for mounting the driver 30. The mounting assembly includes a plurality of connectors 22, at least one of which is located in the middle portion of the end cap body 20. Since the connectors 22 are used to connect the driver 30, when the driver 30 is installed, it can be ensured that at least a portion of the driver 30 is located in the middle portion of the end cap body 20, that is, the entire driver 30 is close to the middle portion of the end cap body 20. Compared with the structure of the prior art in which the driver 30 is installed at the edge of the motor body, the impact force on the driver 30 during motor operation can be reduced, thereby improving the stability of the connection between the driver 30 and the motor body and improving the vibration and shock resistance.

[0039] In this embodiment, the connector 22 forms an integral structure with the end cover body 20, that is, the connector 22 is a part of the end cover body 20. During production, the connector 22 can be integrally formed with the end cover body 20 or fixed to the end cover body 20 by welding or other methods. Compared with the prior art structure in which the driver 30 is installed on the end cover through an intermediate adapter, this embodiment can be directly connected to the driver 30 through an installation component without the need for other intermediate adapters. This is not only convenient for installation, but also can reduce the volume of the servo motor end cover and improve the stability of the installation.

[0040] In one embodiment of the present invention, multiple connecting parts 22 are all arranged in the middle of the surface of the end cover body 20, and the installation area surrounded by the multiple connecting parts 22 is located in the center of the end cover body 20. In this way, the servo driver 30 is also located in the center of the end cover body 20. Since in actual process, when the motor is running, the center of the end cover body 20 is the part that is subject to the least impact force and vibration, installing the driver 30 in the center of the end cover body 20 can improve the stability of the driver 30, and further improve the stability of the connection between the driver 30 and the motor body and the anti-vibration and impact performance.

[0041] During assembly of the driver 30 in this embodiment, the positions of the multiple connectors 22 can be rationally distributed. For example, the multiple connectors 22 can be aligned with the four corners of the driver 30. This secures the four corners of the driver 30 and improves installation stability. Specifically, the multiple connectors 22 can be arranged in a rectangular or circular shape, or even a triangular or other irregular shape. By rationally arranging the multiple connectors, the installation stability of the driver 30 can be improved.

[0042] The mounting assembly of one embodiment of the present invention further includes at least one positioning member 24, which is used to position the driver 30. The positioning member 24 and the plurality of connectors 22 together surround and form the mounting area. When installing the driver in this embodiment, the positioning member 24 is added compared to the above-mentioned solution. The positioning member 24 can more accurately define the position of the driver. The connector 22 in this embodiment is connected to the driver 30, and the positioning member 24 is used to position the driver 30. The provision of the positioning member 24 can make the relative positions of the connector 22 and the corresponding connecting parts on the driver 30 correspond more accurately, facilitating the connection between the connector 22 and the driver 30. Furthermore, it can reduce the assembly gap of the driver, improve assembly efficiency, and avoid the shaking of the driver caused by the reduction of the connection effect after long-term use, further improving the stability of the driver 30.

[0043] See attached Figure 1 In this embodiment, multiple connectors 22 and positioning members 24 surround the end cap body 20 to form a mounting area for the driver 30. During assembly, the multiple connectors 22 connect to multiple locations of the driver 30 (including the four corners of the driver 30), further improving the stability of the driver 30 installation. The multiple positioning members 24 cooperate with different locations on the driver 30 to achieve more precise positioning.

[0044] See attached Figure 1The end cover body 20 of one embodiment of the present invention includes a base plate 29 and a protruding platform 27 protruding from the back end surface of the base plate 29 , and a plurality of connecting members 22 and a plurality of positioning members 24 are arranged on the protruding platform 27 .

[0045] In this embodiment, the protruding platform 27 is designed so that when the driver 30 is assembled, there is a certain height difference between the installation surface of the driver 30 and the back of the end cover body 20. This height difference can form a larger operating space and make the installation of the driver 30 more convenient.

[0046] See attached Figure 1 In one embodiment of the present invention, the protruding platform 27 is configured as a disc structure coaxial with the end cap body 20. A U-shaped notch 271 is formed on one side of the protruding platform 27. Four connectors 22 are provided, two of which are located on the side of the protruding platform 27 near the notch 271, and two connectors 22 are located on the sides of the notch 271. The other two connectors 22 are located on the other side of the protruding platform 27, facing the connectors 22 located on the sides of the notch 271. A positioning member 24 is provided between each of the two connectors 22 located on the same side. It can be seen that the multiple connectors 22 and positioning members 24 of this embodiment are distributed relatively evenly and dispersedly, facilitating secondary processing of the mounting assembly on the end cap. Furthermore, the notch 271 is provided on one side of the protruding platform 27, and the positioning member 24 and the connecting member 22 are positioned relative to the notch 271. During installation, the notch 271 can serve as a rough reference for installing the driver 30, facilitating adjustment of the orientation of the driver 30 and thereby improving assembly efficiency. In addition, the design of the notch 271 can also serve to avoid other components and reserve more installation space.

[0047] In one embodiment of the present invention, a waist-shaped hole 28 is formed on the opposite side of the protruding platform 27 and the notch 271. A portion of the waist-shaped hole 28 extends through the protruding platform 27, while another portion extends through the base plate 29. The design of the notch 271 and the waist-shaped hole 28 creates an asymmetrical structure for the end cap, providing a foolproof effect during installation and preventing assembly misalignment. Of course, it should be noted that in actual design, other components may be provided on the end cap to distinguish the asymmetrical structure of the end cap.

[0048] In one embodiment of the present invention, each connecting member 22 includes a column and a first connecting hole 221 disposed at the center of the column and coaxial with the column. In this embodiment, the first connecting hole 221 is used to connect to the servo driver 30. The first connecting hole 221 can be configured as a threaded hole or a smooth hole structure. During assembly, the driver 30 is fixed to the end cover body 20 by screws that threadably engage with the first connecting hole 221 or pass through the first connecting hole 221. Of course, it is conceivable that the driver 30 can also be configured to be connected to the first connecting hole 221 on the connecting member 22 by plugging or snapping.

[0049] The plurality of positioning members 24 of the present invention are respectively arranged on opposite sides of the installation area. The relatively distributed structure of the plurality of positioning members 24 can position different parts of the driver 30, avoiding the problem of inaccurate positioning caused by the positioning members 24 being too concentrated.

[0050] In one embodiment of the present invention, the end cap body 20 includes two radially opposing protrusions extending from the end cap body 20. These protrusions are formed with threading holes 25 extending therethrough. During assembly and wiring, the servo motor's wires can pass through the two threading holes 25 and connect to the driver 30 mounted via the mounting assembly. The placement of the threading holes 25 on opposing sides of the mounting assembly facilitates connection between the wires and the driver 30. Furthermore, the provision of the threading holes 25 reduces the overall weight of the servo motor end cap.

[0051] See attached Figure 4 、 5 In one embodiment of the present invention, the end cap body 20 includes a boss 251 protruding from the back end surface of the end cap body 20. The boss 251 is provided on one side of the threading hole 25. The boss 251 is used to block the connection harness of the driver passing through the threading hole 25 and keep the harness away from the rotating head of the servo motor. By providing the boss 251, the connection harness of the driver 30 can be placed on one side of the boss 251 during assembly. The boss 251 blocks and guides the connection harness of the driver. Under the blocking and guiding effect of the boss 251, the connection harness of the driver is kept away from the rotating head of the servo motor, thereby reducing the risk of scratches caused by the contact between the harness and the rotating head due to vibration during the operation of the servo motor.

[0052] See attached Figure 3One embodiment of the present invention discloses a servo motor, which includes a servo motor body, the servo motor body including a motor housing and a motor shaft, the output end of the motor shaft extending out of the first end of the motor housing, the servo motor further including a driver 30 and a servo motor end cover in the above embodiment arranged at the second end of the motor housing, the driver 30 being fixed on the end face of the servo motor end cover facing away from the servo motor body through the mounting assembly.

[0053] The servo motor in this embodiment can be widely used in various application scenarios in the industrial field. The servo motor end cover proposed in the embodiment of the present application enables the servo motor to have the advantages of easy installation and fool-proof, easy maintenance, low cost, and small overall size. It solves the problems in the related art that the motor end cover cannot be directly connected to the driver 30 and the poor stability and poor vibration and impact resistance that may occur when the driver 30 is installed on the motor end cover, thereby improving the user experience and increasing the competitive advantage of the product.

[0054] In this embodiment, a plurality of fourth connection holes 11 corresponding to the second connection holes 21 are provided on the end surface of the second end of the motor housing, and the servo motor end cover is connected by screws passing through the second connection holes 21 and the fourth connection holes 11 .

[0055] When installing the driver 30 in this embodiment, it is first pre-positioned between the positioning member 24 and the corresponding positioning hole on the driver 30, and then connected to the corresponding position on the driver 30 through the connecting member 22 by screws, etc., so that the driver 30 is accurately and stably fixed directly on the end cover. There is no need for the intermediate adapter in the prior art, which can reduce the number of accessories of the servo motor, improve the compactness of the structure, and improve the stability of the installation.

[0056] The servo motor in this embodiment also includes a driver cover 40, which is located on the end face of the servo motor end cap facing away from the servo motor body 10. The driver cover 40 includes a cover body with an open end and a receiving cavity within the cover body, within which the driver 30 is positioned. The driver 30 is secured to the motor end cap via a mounting assembly and positioned within the receiving cavity of the driver cover 40, thereby ensuring more stable installation of the servo motor.

[0057] The end cap body 20 of this utility model has a bearing mounting hole 26 formed in its center, extending through the body. When the motor end cap is assembled with the servo motor, a bearing is installed in the bearing mounting hole 26 to secure and support the motor shaft. Furthermore, the end cap body 20 has a second connection hole 21 for connecting to the servo motor body 10 and a third connection hole 23 for connecting to the driver cover 40. During assembly, the second connecting hole 21 is arranged corresponding to the fourth connecting hole 11 on the motor casing, and the motor end cover in the utility model is fixed to the motor casing by screws passing through the second connecting hole 21 and the fourth connecting hole 11. In addition, the third connecting hole 23 is arranged corresponding to the fifth connecting hole 41 of the driver cover 40, and the driver cover 40 is fixed to the back of the motor end cover in the utility model by screws passing through the third connecting hole 23 and the fifth connecting hole 41, thereby realizing the fixed assembly of the servo motor body 10, the motor end cover, and the driver cover 40. A sixth connecting hole is opened on the servo driver 30, and the connection between the driver 30 and the end cover body 20 can be realized by screws passing through the first connecting hole 221 and the sixth connecting hole 31.

[0058] One embodiment of the present invention discloses a wheel hub assembly, including a wheel hub component and the servo motor in the above embodiment, wherein the servo motor provides driving force for the wheel hub component.

[0059] One embodiment of the present application discloses a robot, comprising a body and at least one wheel hub assembly of the above embodiment arranged on the body.

[0060] The advantages of the wheel hub assembly and the robot disclosed in this application are similar to those of the above-mentioned servo motor end cover and servo motor, and will not be repeated here.

[0061] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A servo motor end cover, comprising an end cover body (20), characterized in that: The end cover body (20) includes a mounting assembly arranged on the end cover body (20), and the mounting assembly includes a plurality of connectors (22). At least one connector (22) among the plurality of connectors (22) is located in the middle of the surface of the end cover body (20). The plurality of connectors (22) surround the end cover body (20) to form a mounting area, and the mounting area is used to install a driver (30). The connector (22) is used to be connected to the driver (30).

2. The servo motor end cover according to claim 1, characterized in that: The plurality of connecting members (22) are all located in the middle of the surface of the end cover body (20) and surround a mounting area located in the center of the end cover body (20).

3. The servo motor end cover according to claim 1, characterized in that: The plurality of connecting members (22) are arranged in a circular or rectangular shape.

4. The servo motor end cover according to claim 1, characterized in that: The mounting assembly further comprises at least one positioning member (24), the positioning member (24) being used to position the driver (30), and the positioning member (24) and a plurality of the connecting members (22) together surround and form the mounting area on the end cover body (20).

5. The servo motor end cover according to claim 4, characterized in that: The end cover body (20) comprises a base plate (29) and a protruding platform (27) protruding from the back end surface of the base plate (29), and the mounting assembly is arranged on the protruding platform (27).

6. The servo motor end cover according to claim 5, characterized in that: The protruding platform (27) is coaxially arranged with the end cover body (20), and a notch (271) is formed on one side of the protruding platform (27). The plurality of connecting members (22) are divided into two groups, each group including a plurality of connecting members (22), one group being arranged on one side of the protruding platform (27) close to the notch (271), and the other group being arranged on the other side of the protruding platform (27), and the positioning members (24) are respectively provided between adjacent connecting members (22) on the same side.

7. The servo motor end cover according to claim 6, characterized in that: A waist-shaped hole (28) is provided on the opposite side of the protruding platform (27) and the notch (271), a portion of the waist-shaped hole (28) passes through the protruding platform (27), and another portion of the waist-shaped hole (28) passes through the base plate (29).

8. The servo motor end cover according to any one of claims 1 to 7, characterized in that: Each connecting member (22) comprises a column and a first connecting hole (221) arranged at the center of the column and coaxial with the column.

9. The servo motor end cover according to any one of claims 1 to 7, characterized in that: The end cover body (20) comprises protrusions protruding from the end cover body (20) on two opposite sides along the radial direction thereof, and threading holes (25) passing through the protrusions are formed on the protrusions.

10. The servo motor end cover according to claim 9, characterized in that: The end cover body (20) comprises a boss (251) protruding from the back end surface of the end cover body (20), and the boss (251) is arranged on one side of the threading hole (25). The boss (251) is used to block the connection harness of the driver (30) passing through the threading hole (25) and keep the connection harness away from the rotating magnetic head of the servo motor.

11. A servo motor, comprising a servo motor body, wherein the servo motor body comprises a motor housing and a motor shaft, wherein an output end of the motor shaft extends out of a first end of the motor housing, wherein: The servo motor further comprises a driver (30) and a servo motor end cover as described in any one of claims 1 to 10, which is arranged at the second end of the motor housing. The driver (30) is fixed to the end face of the servo motor end cover facing away from the servo motor body through the mounting assembly. The driver is fixed to the mounting area by being connected to the connecting member (22).

12. The servo motor according to claim 11, wherein: The servo motor further comprises a driver cover (40), the driver cover (40) being arranged on the end surface of the servo motor end cover facing away from the servo motor body (10), the driver cover (40) comprising a cover body with an open end and an accommodating cavity arranged in the cover body, and the driver (30) being placed in the accommodating cavity.

13. A wheel hub assembly, characterized in that: It comprises a wheel hub assembly and the servo motor according to claim 11 or 12, wherein the output end of the servo motor is connected to the power input end of the wheel hub assembly and provides driving force to the wheel hub assembly.

14. A robot, characterized in that: The wheel hub assembly comprises a body and at least one wheel hub assembly according to claim 13 arranged on the body.

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