Coaxial dual-output drive units, mobile devices, and robots

Abstract

This application relates to a coaxial dual-output drive unit, a mobile device, and a robot. The coaxial dual-output drive unit is used for the walking wheels of the mobile device. The drive unit includes: a rotating component, rotatably mounted; a reduction output component, connected to the walking wheels to drive them; and a reduction mechanism, connected to both the rotating component and the reduction output component, to transmit the power from the rotating component to the reduction output component after speed reduction. The solution provided by this application can output the power of the drive unit to both the walking wheels and external mechanisms, which is beneficial for reducing robot size and achieving a compact design, as well as optimizing the drive method.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more particularly to coaxial dual-output drive units, mobile devices, and robots. Background Technology

[0002] With the rapid development of artificial intelligence and mechatronics technology, intelligent robots have been widely used in various fields such as industrial manufacturing, warehousing and logistics, and household services. Among them, cleaning robots with environmental perception and autonomous mobility are a typical application, gradually replacing traditional manual cleaning methods and playing an important role in scenarios such as hard floor cleaning and carpet dusting.

[0003] As the core motion mechanism of a cleaning robot, the design of the mobile device directly affects the robot's terrain adaptability and motion stability. In related technologies, the power of the drive motor is usually output separately to the walking wheels. This means that when driving external mechanisms such as obstacle crossing mechanisms and steering mechanisms, additional drive motors are needed, resulting in a larger robot size, a single drive method, and hindering compact design. Utility Model Content

[0004] To address or partially address the problems existing in related technologies, this application provides a coaxial dual-output drive unit, mobile device, and robot, which can output the power of the drive unit to the walking wheels and external mechanisms respectively, which is beneficial for reducing the size of the robot and achieving a compact design, and optimizing the drive method.

[0005] The first aspect of this application provides a coaxial dual-output drive unit for the wheels of a mobile device, the coaxial dual-output drive unit comprising:

[0006] Rotating component, rotatable;

[0007] A speed reduction output component is used to connect with the walking wheel and drive the walking wheel;

[0008] A speed reduction mechanism is connected to the rotating component and the speed reduction output component respectively, so as to transmit the power of the rotating component to the speed reduction output component after speed change;

[0009] The rotating component includes a first output part and a second output part. The first output part is connected to the reduction mechanism in a transmission manner, and the second output part is used to be connected to an external mechanism in a transmission manner.

[0010] In one embodiment, the second output part includes a transmission flat section, the deceleration output member is provided with a clearance hole, and the second output part passes through the clearance hole so that the transmission flat section extends outward to extend the traveling wheel for transmission connection with an external mechanism.

[0011] In one embodiment, the first output part includes a sun gear, the reduction mechanism includes planet gears and an internal gear ring, the internal gear ring is fixedly disposed, and the reduction output component is fixed on the axial direction of the planet gears;

[0012] The planetary gears also mesh with the sun gear and the internal gear ring, and the planetary gears can revolve around the circumference of the internal gear ring when they rotate, so as to drive the speed reduction output component to rotate and drive the traveling wheel to rotate.

[0013] In one embodiment, the sun gear and / or the planet gears are double-layered gears.

[0014] In one embodiment, the planetary gears include an input planetary gear and an output planetary gear, and the sun gear includes a first-stage sun gear and a second-stage sun gear;

[0015] The primary sun gear meshes with the rotating component and the input planetary gear, respectively.

[0016] The input planetary gear and the secondary sun gear are fixed axially so that when the input planetary gear revolves around the circumference of the internal gear ring, it drives the secondary sun gear to rotate.

[0017] The secondary sun gear meshes with the output planet gear to drive the output planet gear to rotate on its own axis and revolve around the circumference of the internal gear ring;

[0018] The speed reduction output component is fixed on the axial direction of the output planetary gear and rotates under the drive of the output planetary gear.

[0019] In one embodiment, the deceleration mechanism further includes a first connecting shaft and a second connecting shaft;

[0020] The first connecting shaft passes through the rotation axis of the input planetary gear and at least partially passes through the socket of the second-stage sun gear;

[0021] The second connecting shaft passes through the rotation axis of the output planetary gear and at least partially passes through the reduction output component.

[0022] In one embodiment, a bearing is also included;

[0023] The bearing includes a first bearing, a second bearing, a third bearing, and a fourth bearing;

[0024] The first bearing is located at the end of the rotating member closer to the second output part, and the second bearing is located at the end of the rotating member away from the second output part;

[0025] The third bearing is located at the end of the deceleration output member closer to the second output part, and the fourth bearing is located at the end of the deceleration output member away from the second output part;

[0026] The second bearing and the fourth bearing are sliding bearings.

[0027] In one embodiment, the system further includes a housing for housing the rotating component, the deceleration mechanism, and the deceleration output component, and the housing is housed within the wheel.

[0028] The outer casing includes a first casing and a second casing, wherein the first casing and / or the associated second casing are formed with a flange structure, and the first casing and the second casing are fixedly connected by the flange structure.

[0029] The first housing and / or the second housing are further provided with an opening, from which the second output portion extends for connecting to an external mechanism.

[0030] In one embodiment, a PCB board is also included, which is disposed on the side of the housing near or away from the second output section.

[0031] A second aspect of this application provides a mobile device including wheels and a coaxial dual-output drive unit as described above.

[0032] A third aspect of this application provides a robot, including the mobile device described above.

[0033] The technical solution provided in this application can include the following beneficial effects: A rotating component, a deceleration output component, and a deceleration mechanism are provided, the rotating component being rotatably configured; the deceleration output component is used to connect with the walking wheel to drive the walking wheel; the deceleration mechanism connects the rotating component and the deceleration output component respectively, so as to transmit the power of the rotating component to the deceleration output component after speed change; wherein the rotating component includes a first output part and a second output part, the first output part being drivenly connected to the deceleration mechanism, and the second output part being used to drively connect to an external mechanism. With this configuration, part of the power output of the rotating component can be output to the deceleration output component through the deceleration mechanism, thereby driving the walking wheel, and another part can be directly drivenly connected to the external mechanism through the second output part. Therefore, it is not necessary to add a dedicated drive motor for the external mechanism, which is beneficial for reducing the robot's size and achieving a compact design, and optimizing the driving method.

[0034] Furthermore, since the speed of the speed reduction output component is different from that of the rotating component after the speed reduction mechanism, the speeds output to the walking wheel and the external mechanism are also different. This allows for separate control of the walking wheel and the external mechanism, achieving dual output of a single power source.

[0035] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0036] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0037] Figure 1 This is a schematic diagram of the structure of the coaxial dual-output drive unit shown in the embodiments of this application;

[0038] Figure 2 This is another structural schematic diagram of the coaxial dual-output drive unit shown in the embodiments of this application;

[0039] Figure 3 This is another structural schematic diagram of the coaxial dual-output drive unit shown in the embodiments of this application;

[0040] Figure 4 This is another structural schematic diagram of the coaxial dual-output drive unit shown in the embodiments of this application;

[0041] Figure 5 This is another structural schematic diagram of the coaxial dual-output drive unit shown in the embodiments of this application;

[0042] Figure 6 This is a schematic diagram of the rotating component shown in the embodiments of this application;

[0043] Figure 7 This is another structural schematic diagram of the coaxial dual-output drive unit shown in the embodiments of this application;

[0044] Figure 8 yes Figure 7 An exploded view of the structure of the coaxial dual-output drive unit shown;

[0045] Figure 9 This is a schematic diagram of the structure of the mobile device shown in the embodiments of this application;

[0046] Figure 10 This is a schematic diagram of the structural movement of the mobile device shown in the embodiments of this application;

[0047] Figure 11 This is a schematic system block diagram of the robot shown in the embodiments of this application.

[0048] Reference numerals: 10. Coaxial dual-output drive unit; 11. Rotating component; 111. First output section; 112. Sun gear; 113. First-stage sun gear; 114. Second-stage sun gear; 115. Second output section; 116. Transmission flat section; 12. Reduction mechanism; 120. Internal gear ring; 121. Planetary gear; 122. Input planetary gear; 123. Output planetary gear; 124. First connecting shaft; 125. Second connecting shaft; 13. Reduction output component; 130. Clearance hole; 14. First bearing; 15. Second bearing; 16. Third bearing; 17. Fourth bearing; 18. Housing; 181. First housing; 182. Second housing; 183. Flanged structure; 184. Opening; 19. Power assembly; 20. Moving device; 21. Walking wheel; 22. Screw; 30. Robot. Detailed Implementation

[0049] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0050] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0051] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0052] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0053] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0054] See Figures 1-3 This embodiment provides a coaxial dual-output drive unit 10 applied to the walking wheel of a mobile device. The drive unit 10 includes a rotating component 11, a reduction output component 13, and a reduction mechanism 12. The rotating component 11 is rotatably disposed; the reduction output component 13 is used to connect to the walking wheel 21 and drive the walking wheel 21; the reduction mechanism 12 is connected to the rotating component 11 and the reduction output component 13 respectively, so as to transmit the power of the rotating component 11 to the reduction output component 13 after speed change; wherein, the rotating component 11 includes a first output part 111 and a second output part 115, the first output part 111 is drivenly connected to the reduction mechanism 12, and the second output part 115 is used to drively connect to an external mechanism.

[0055] The rotating member 11 can rotate clockwise or counterclockwise and can have a preset speed. The deceleration mechanism 12 is connected to the first output part 111 of the rotating member 11 and transmits the speed of the rotating member 11 to the deceleration output part 13 by means of transmission, such as by using a gear transmission reduction ratio.

[0056] The deceleration output component 13 rotates clockwise or counterclockwise after being driven by the deceleration mechanism 12. The walking wheel 21 is fixedly connected to the deceleration output component 13. When the deceleration output component 13 rotates, the walking wheel 21 rotates synchronously, thereby realizing the movement function of the walking wheel 21.

[0057] The second output unit 115 can extend into a walking wheel 21, which connects to an external mechanism. This external mechanism can be an obstacle-crossing mechanism. When the walking wheel 21 encounters an obstacle and needs to cross it, the second output unit 115 drives the obstacle-crossing mechanism to move, for example, by rotating an obstacle-crossing lever to assist the walking wheel 21 in crossing the obstacle. Alternatively, the external mechanism can be a steering mechanism. When turning is required, the second output unit 115 drives the steering mechanism, which in turn drives the walking wheel 21 to turn, enabling the robot 30 to turn. The external mechanism can also be other devices and mechanisms of the robot; this embodiment does not specifically limit its application.

[0058] As can be seen, part of the power output of the rotating component 11 can be output to the reduction output component 13 through the reduction mechanism 12, thereby driving the walking wheel 21 to move. The other part can be directly connected to the external mechanism through the second output part 115. Therefore, there is no need to add a drive motor to the external mechanism. This is beneficial for reducing the size of the robot and making it more compact, and optimizing the driving method.

[0059] Furthermore, since the speed is reduced by the reduction mechanism 12, the traveling wheel 21 is driven to rotate by the reduction output component 13. The rotational speed of the traveling wheel 21 is the same as that of the reduction output component 13, but different from that of the rotating component 11. Therefore, the rotational speed of the traveling wheel 21 and the external mechanism are also different, so a single drive source can obtain two different speed outputs.

[0060] It should be noted that if the reduction ratio of the reduction mechanism 12 is set to 1, the rotational speed of the reduction output component 13 is the same as that of the rotating component 11, and the rotational speed of the traveling wheel 21 is the same as that of the external mechanism. That is, this embodiment can also realize the output of the same rotational speed to different mechanisms.

[0061] refer to Figure 2 In one embodiment, the coaxial dual-output drive unit 10 further includes a power assembly 19, which may include a stator core, a rotor, and a magnet ring. The stator core may be surrounded by coils. When the power assembly 19 is energized, a magnetic force is formed between the stator core and the magnet ring, driving the rotor to rotate.

[0062] In this embodiment, the rotor and the rotating component 11 are fixedly connected, thereby enabling the rotating component 11 to rotate.

[0063] See Figure 1 and Figure 4 In one embodiment, the second output part 115 includes a transmission flat part 116, and the deceleration output member 13 is provided with a clearance hole 130. The second output part 115 passes through the clearance hole 130 so that the transmission flat part 116 extends outward for transmission connection with an external mechanism.

[0064] The second output portion 115 can be located at one end of the rotating member 11. A transmission flat portion 116 is formed on both sides of the second output portion 115 for connection with an external mechanism. To allow the second output portion 115 to extend, the deceleration output member 13 is provided with a clearance hole 130. The second output portion 115 passes through the clearance hole 130 and extends out from the coaxial dual-output drive unit 10 for transmission connection with an external mechanism.

[0065] In this embodiment, the rotating component 11 can be a rotating shaft. Coaxial dual output means that the rotating component 11 is set as a power source, which can transmit different torques to the traveling wheels and external mechanisms respectively. The transmission flat part 116 can be a flat part formed by milling the end of the shaft, which is used for fixing or clamping.

[0066] See Figure 3 and Figure 5 In one embodiment, the first output part 111 includes a sun gear 112, and the reduction mechanism 12 includes a planet gear 121 and an internal gear ring 120. The internal gear ring 120 is fixedly disposed, and the reduction output component 13 is fixed on the axial direction of the planet gear 121. The planet gear 121 also meshes with the sun gear 112 and the internal gear ring 120 respectively, and the planet gear 121 can revolve around the circumference of the internal gear ring 120 when it rotates, so as to drive the reduction output component 13 to rotate and drive the traveling wheel 21 to rotate.

[0067] Since the sun gear 112 and the planet gear 121 are meshed, when the rotating part 11 rotates, the sun gear 112 of the first output part 111 rotates synchronously, driving the meshed planet gear 121 to rotate, causing the planet gear 121 to rotate around its axis. Since the planet gear 121 is also meshed with the internal gear ring 120, and the internal gear ring 120 is fixedly set, when the planet gear 121 rotates, it will also revolve around the circumference of the internal gear ring 120.

[0068] When the planetary gear 121 revolves, the reduction output component 13 is fixed on the axial direction of the planetary gear 121. As the planetary gear 121 revolves, the reduction output component 13 is pushed by the planetary gear 121 and rotates. Since the reduction output component 13 and the traveling wheel 21 are fixed, when the reduction output component 13 rotates, the traveling wheel 21 rotates synchronously, thus driving the traveling wheel 21.

[0069] In one embodiment, the reduction output component 13 can be a planetary carrier, fixed to the axle of the planetary gears 121 of the reduction mechanism 12. When the planetary gears 121 revolve, they drive the planetary carrier to rotate through the axle. Since the planetary carrier and the traveling wheel 21 are fixed, the traveling wheel 21 is driven to rotate.

[0070] In one embodiment, the sun gear 112 and / or the planet gear 121 are double-layered gears.

[0071] Due to the torque superposition characteristics of double-layer gears, the effective output torque can be increased under the same power. By reusing the space of the inner and outer teeth, the command response delay is reduced compared with the meshing clearance of traditional single gears, and the service life can also be improved.

[0072] Therefore, the sun gear 112 and planet gear 121 can adopt a double-layer gear design. Taking the sun gear 112 and planet gear 121 as examples where both are double-layer gears, the double-layer gears mesh, and the external teeth of planet gear 121 also mesh with the internal gear ring 120. The internal gear ring 120 can also be adapted to mesh with both layers of gears of planet gear 121 separately.

[0073] This configuration improves output power and response speed, and also extends service life.

[0074] See Figure 6 and Figure 7 In one embodiment, planetary gear 121 includes an input planetary gear 122 and an output planetary gear 123, and sun gear 112 includes a first-stage sun gear 113 and a second-stage sun gear 114. The first-stage sun gear 113 meshes with the rotating member 11 and the input planetary gear 122 respectively. The input planetary gear 122 and the second-stage sun gear 114 are fixed in the axial direction so that when the input planetary gear 122 revolves around the circumference of the internal gear ring 120, it drives the second-stage sun gear 114 to rotate. The second-stage sun gear 114 meshes with the output planetary gear 123 to drive the output planetary gear 123 to rotate and revolve around the circumference of the internal gear ring 120. The reduction output member 13 is fixed in the axial direction of the output planetary gear 123 and rotates under the drive of the output planetary gear 123.

[0075] The primary sun gear 113 is fixedly connected to or integrated with the rotating component 11. When the rotating component 11 rotates, the primary sun gear 113 rotates synchronously, driving the input planet gear 122 to rotate and revolve around the circumference of the internal gear ring 120.

[0076] The input planetary gear 122 and the secondary sun gear 114 are fixed in the axial direction. When the input planetary gear 122 revolves, it drives the secondary sun gear 114 to rotate. When the secondary sun gear 114 rotates, it drives the output planetary gear 123 to rotate and revolve around the circumference of the internal gear ring 120.

[0077] When the output planetary gear 123 revolves, since the reduction output component 13 is fixed on the axial direction of the output planetary gear 123, the output planetary gear 123 rotates, thereby driving the traveling wheel 21 to rotate synchronously.

[0078] In this embodiment, the rotating component 11 is subjected to two-stage speed reduction. Specifically, by setting the speed reduction ratio between the first-stage sun gear 113 and the input planetary gear 122, and the speed reduction ratio between the second-stage sun gear 114 and the output planetary gear 123, the output planetary gear 123 outputs a larger torque to the speed reduction output component 13, and thus outputs a higher transmission ratio to the traveling wheel 21.

[0079] In this embodiment, the secondary sun gear 114 includes an integral gear body and a plate. The gear body and the plate are coaxially arranged, and the outer periphery of the plate extends beyond the edge of the gear body. When the input planet gear 122 revolves, it drives the plate to rotate around the axis, thereby driving the gear body to rotate.

[0080] See Figure 6 and Figure 7 In one embodiment, the reduction mechanism 12 further includes a first connecting shaft 124 and a second connecting shaft 125; the first connecting shaft 124 passes through the rotation axis of the input planetary gear 122 and at least through the socket of the secondary sun gear 114; the second connecting shaft 125 passes through the rotation axis of the output planetary gear 123 and at least partially passes through the reduction output component 13.

[0081] When the input planetary gear 122 is driven by the first-stage sun gear 113, it rotates around the first connecting shaft 124 and revolves around the internal gear ring 120. When it revolves around the circumference of the internal gear ring 120, it drives the first connecting shaft 124 to revolve synchronously. Since the first connecting shaft 124 is at least partially inserted through the socket of the second-stage sun gear 114, it can drive the second-stage sun gear 114 to rotate, thereby converting the revolution of the input planetary gear 122 into the rotation of the second-stage sun gear 114.

[0082] Based on the same principle, since the second connecting shaft 125 passes through the output planetary gear 123 and revolves with the output planetary gear 123, it can drive the reduction output component 13 to rotate. It can be understood that the reduction output component 13 can also be provided with a hole that matches the second connecting shaft 125.

[0083] See Figure 5 and Figure 8 In one embodiment, the coaxial dual-output drive unit 10 further includes bearings; the bearings include a first bearing 14, a second bearing 15, a third bearing 16, and a fourth bearing 17; the first bearing 14 is located at the end of the rotating member 11 near the second output portion 115, and the second bearing 15 is located at the end of the rotating member 11 away from the second output portion 115; the third bearing 16 is located at the end of the deceleration output member 13 near the second output portion 115, and the fourth bearing 17 is located at the end of the deceleration output member 13 away from the second output portion 115; wherein, the second bearing 15 and the fourth bearing 17 are sliding bearings.

[0084] This embodiment provides support for the rotating component 11, the deceleration output component 13, and the deceleration mechanism 12 by setting multiple bearings, thereby reducing energy loss and improving mechanical efficiency. The first bearing 14 and the third bearing 16 can be ball bearings, while the second bearing 15 and the fourth bearing 17, being far from the second output part 115 and having a lower load, can be sliding bearings to reduce costs.

[0085] See Figure 1 In one embodiment, the coaxial dual-output drive unit 10 further includes a housing 18 for housing the rotating component 11, the reduction mechanism 12, and the reduction output component 13, and the housing 18 is housed within the traveling wheel 21; the housing 18 includes a first housing 181 and a second housing 182, the first housing 181 and / or the associated second housing 182 having a flange structure 183, the first housing 181 and the second housing 182 being fixedly connected by the flange structure 183; the first housing 181 and / or the second housing 182 also have an opening 184, from which a second output portion 115 extends for connecting to an external mechanism.

[0086] The shape of the outer shell 18 can match the wheel 21, so that it can be housed within the wheel 21. At least one of the first shell 181 and the second shell 182 can be formed into a flange structure 183 by stamping, extrusion or other processes, so that the first shell 181 and the second shell 182 can be fixed by the flange structure 183.

[0087] In this embodiment, both the first housing 181 and the second housing 182 are provided with a flange structure 183, that is, some edges of the first housing 181 and the second housing 182 are folded towards each other, which can be fixed by stamping, so that no additional fixing mechanism is required. This is beneficial to further reduce the volume of the coaxial dual-output drive unit 10, and thus reduce the volume of the moving device 20; and the fixing method is simple, convenient and low cost.

[0088] The first housing 181 and / or the second housing 182 are provided with an opening 184 for receiving the deceleration output component 13. The deceleration output component 13 may be provided with a clearance hole 130. The second output part 115 may pass through the clearance hole 130 and extend out from the opening 184, thereby connecting to an external mechanism.

[0089] In one embodiment, the coaxial dual-output drive unit 10 further includes a PCB board disposed within the housing 18 for connecting and controlling the power module. The PCB board may be disposed on the side closer to the second output section 115 or on the side farther away from the second output section 115; this embodiment does not specifically limit this.

[0090] Corresponding to the aforementioned application function implementation device embodiments, this application also provides a mobile device, a robot, and corresponding embodiments.

[0091] See Figure 9 and Figure 10 This embodiment provides a mobile device 20, including a walking wheel 21 and a coaxial dual-output drive unit 10 as described in the above embodiment.

[0092] The traveling wheel 21 has a through hole corresponding to the position of the rotating member 11. The second output part 115 of the rotating member 11 can extend the traveling wheel 21 from the through hole to realize the transmission connection with the external mechanism.

[0093] The traveling wheel 21 can be fixedly connected to the speed reduction output component 13.

[0094] For ease of understanding, please refer to Figure 10The rotating component 11 rotates around its own axis in the direction R1, and through the reduction mechanism 12 and the reduction output component 13, it ultimately drives the walking wheel 21 to rotate in the direction R2, thus achieving walking. At the same time, the part of the rotating component 11 that extends out of the walking wheel 21, namely the second output part 115, rotates along R1, thereby achieving output. It should be noted that the directions R1 and R2 are only for illustrative purposes and are not intended to be specific limitations.

[0095] In order to fix the deceleration output component 13 and the traveling wheel 21, in one embodiment, the deceleration output component 13 and the traveling wheel 21 are provided with matching screw holes, and the deceleration output component 13 and the traveling wheel 21 are fixed together by passing a screw 22 through the traveling wheel 21 and the deceleration output component 13.

[0096] In one embodiment, the mobile device 20 also includes an obstacle-crossing mechanism, a steering mechanism, an auxiliary cleaning mechanism, etc. The second output unit 115 can be connected to one of the above mechanisms, and can also be connected to the mechanisms of other devices to achieve driving.

[0097] Figure 11 This is a schematic diagram of the robot structure shown in an embodiment of this application.

[0098] See Figure 11 This embodiment provides a robot 30, which includes the mobile device 20 as described in the above embodiment.

[0099] In this embodiment, the robot 30 moves on the moving surface via the wheels of the moving device 20. It can be a cleaning robot 30, a detection robot 30, or a food delivery robot 30, etc., and there is no specific limitation.

[0100] The solution of this application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to this application. Furthermore, it is understood that the steps in the method of this application embodiment can be adjusted, combined, and deleted according to actual needs, and the modules in the device of this application embodiment can be combined, divided, and deleted according to actual needs.

[0101] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A coaxial dual output drive unit characterized by, Walking wheels for mobile devices include: Rotating component, rotatable; A speed reduction output component is used to connect with the walking wheel and drive the walking wheel; A speed reduction mechanism is connected to the rotating component and the speed reduction output component respectively, so as to transmit the power of the rotating component to the speed reduction output component after speed change; The rotating component includes a first output part and a second output part. The first output part is connected to the reduction mechanism in a transmission manner, and the second output part is used to be connected to an external mechanism in a transmission manner.

2. The coaxial dual output drive unit of claim 1, wherein, The second output section includes a transmission flat section, and the deceleration output component is provided with a clearance hole. The second output section passes through the clearance hole so that the transmission flat section extends outward to form the traveling wheel for transmission connection with an external mechanism.

3. The coaxial dual-output drive unit according to claim 2, characterized in that: The first output part includes a sun gear, the reduction mechanism includes planet gears and an internal gear ring, the internal gear ring is fixedly disposed, and the reduction output component is fixed on the axial direction of the planet gears; The planetary gears also mesh with the sun gear and the internal gear ring, and the planetary gears can revolve around the circumference of the internal gear ring when they rotate, so as to drive the speed reduction output component to rotate and drive the traveling wheel to rotate.

4. The coaxial dual output drive unit of claim 3, wherein, The sun gear and / or the planetary gears are double-layered gears.

5. The coaxial dual output drive unit of claim 3, wherein: The planetary gears include input planetary gears and output planetary gears, and the sun gear includes a first-stage sun gear and a second-stage sun gear; The primary sun gear meshes with the rotating component and the input planetary gear, respectively. The input planetary gear and the secondary sun gear are fixed axially so that when the input planetary gear revolves around the circumference of the internal gear ring, it drives the secondary sun gear to rotate. The secondary sun gear meshes with the output planet gear to drive the output planet gear to rotate on its own axis and revolve around the circumference of the internal gear ring; The speed reduction output component is fixed on the axial direction of the output planetary gear and rotates under the drive of the output planetary gear.

6. The coaxial dual output drive unit of claim 5, wherein, The deceleration mechanism further includes a first connecting shaft and a second connecting shaft; The first connecting shaft passes through the rotation axis of the input planetary gear and at least partially passes through the socket of the second-stage sun gear; The second connecting shaft passes through the rotation axis of the output planetary gear and at least partially passes through the reduction output component.

7. The coaxial dual-output drive unit according to any one of claims 1-6, characterized in that, It also includes bearings; The bearing includes a first bearing, a second bearing, a third bearing, and a fourth bearing; The first bearing is located at the end of the rotating member closer to the second output part, and the second bearing is located at the end of the rotating member away from the second output part; The third bearing is located at the end of the deceleration output member closer to the second output part, and the fourth bearing is located at the end of the deceleration output member away from the second output part; The second bearing and the fourth bearing are sliding bearings.

8. The coaxial dual-output drive unit according to any one of claims 1-6, characterized in that, It also includes a housing for housing the rotating component, the deceleration mechanism, and the deceleration output component, and the housing is housed within the walking wheel; The outer casing includes a first casing and a second casing, wherein the first casing and / or the associated second casing are formed with a flange structure, and the first casing and the second casing are fixedly connected by the flange structure. The first housing and / or the second housing are further provided with an opening, from which the second output portion extends for connecting to an external mechanism.

9. The coaxial dual-output drive unit according to claim 8, characterized in that, It also includes a PCB board, which is located on the side of the housing near or away from the second output section.

10. A mobile device, characterized in that: It includes a walking wheel and a coaxial dual-output drive unit as described in any one of claims 1-9.

11. A robot, characterized in that, Including the mobile device as described in claim 10.

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