Drive mechanism and mower

Abstract

The present disclosure relates to a drive mechanism and a mower, the drive mechanism comprising a motor, a parking assembly arranged in a housing of the motor; the parking assembly has a first state of stopping the motor and a second state of releasing the motor. The drive mechanism of the present disclosure has a parking assembly for stopping the motor, which can be self-stopped, effectively reducing the risk of sliding of the mower equipped with the drive mechanism and improving the safety performance; the parking assembly is arranged in the housing of the motor, which is compact in structure, reduces the size of the drive mechanism in the direction of the motor shaft, reduces the weight of the drive mechanism, and facilitates the layout of the drive mechanism on the mower. The mower with the drive mechanism has high safety performance, effectively reduces the risk of sliding, and the drive mechanism is small in size, facilitating the overall layout.

Description

[0001] This application claims priority to Chinese patent application No. CN202410634289.6, filed on May 22, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of lawnmower technology, specifically to a drive mechanism and a lawnmower. Background Technology

[0003] With the development of technology, robots are playing an increasingly important role in people's lives, especially service robots such as lawnmowers, snowplows, and food delivery robots, which help liberate people from heavy workloads. Due to the need for urban greening, lawn coverage is increasing, leading to the widespread use of lawnmowers. A lawnmower consists of a chassis, on which wheels are mounted and a drive mechanism that drives the wheels. The drive mechanism typically includes an internal rotor motor and a gearbox. When the lawnmower is climbing a slope, needs to stop on the slope, or if the machine malfunctions and loses power or is stopped by the emergency stop button, the drive mechanism needs to lock to prevent the risk of landslides. Utility Model Content

[0004] The purpose of this disclosure is to provide a drive mechanism and lawnmower that are small in size, light in weight and compact in structure.

[0005] To achieve the above-mentioned objectives, this disclosure provides a driving mechanism, including:

[0006] An electric motor includes a housing, a rotor and a stator disposed within the housing, and a motor shaft at least partially disposed within the rotor or the stator;

[0007] A parking assembly, disposed within the housing, has a first state of stopping the motor and a second state of releasing the motor;

[0008] The parking assembly includes a stop that is connected to the output end of the motor and rotates synchronously, and a parking component that cooperates with the stop;

[0009] When the parking assembly is in the first state, the parking member and the stop member are at least partially in contact and the parking member applies a force to the stop member to stop the stop member; when the parking assembly is in the second state, there is no force between the parking member and the stop member.

[0010] As a further improvement to this disclosure, the motor is a hub motor.

[0011] As a further improvement to this disclosure, the motor is an external rotor hub motor.

[0012] As a further improvement to this disclosure, the drive mechanism (500) weighs between 0.8 kg and 15.0 kg.

[0013] As a further improvement of this disclosure, when the parking assembly is in the first state, the surface of the parking member facing the stop member at least partially abuts against the surface of the stop member.

[0014] As a further improvement to this disclosure, when the parking assembly is in the first state, the parking member and the stop member are engaged.

[0015] This disclosure also provides a lawnmower, comprising:

[0016] Vehicle body;

[0017] A drive unit, mounted on the vehicle body, includes wheels and a drive mechanism connected to the wheels and driving the wheels to rotate;

[0018] A cutting device, mounted on the vehicle body, is used to perform cutting operations;

[0019] The driving mechanism is the same as described above.

[0020] As a further improvement to this disclosure, the parking assembly of the drive mechanism is in the first state when the power is off.

[0021] As a further improvement of this disclosure, the lawnmower also includes a first sensor, a second sensor, and a controller mounted on the vehicle body. The first sensor is used to detect the motion state of the vehicle body, the second sensor is used to detect the position and orientation of the vehicle body, and the controller is electrically connected to the first sensor, the second sensor, and the drive mechanism respectively. When the first sensor detects that the vehicle body is in a stopped state and the second sensor detects that the vehicle body is in a tilted state, the controller controls the parking assembly to switch to the first state.

[0022] As a further improvement of this disclosure, the lawnmower also includes an emergency braking device mounted on the vehicle body. When the emergency braking device is triggered and the first sensor detects that the vehicle body is in a stopped state, the controller controls the parking assembly to switch to the first state.

[0023] This disclosure also provides a driving device, including:

[0024] wheel;

[0025] An electric motor is connected to the wheel and drives the wheel to rotate.

[0026] A parking assembly, connected to the motor, has a first state of stopping the motor and a second state of releasing the motor;

[0027] The parking assembly includes a stop connected to and rotating synchronously with the motor, and a parking component that cooperates with the stop;

[0028] When the parking assembly is in the first state, the parking member and the stop member are at least partially in contact, and the parking member applies a force to the stop member to stop the stop member, the force having at least a component opposite to the tangential direction of the rotation trajectory of the stop member; when the parking assembly is in the second state, the parking member and the stop member are separated.

[0029] As a further improvement of this disclosure, the stop member has at least one stop portion, the parking member has at least one parking portion, the parking portion and the stop portion at least partially abut against each other to stop the stop portion, and the surface of the abutment between the parking member and the stop member has an angle with the tangential direction of the rotation trajectory of the stop member, the angle being not 0.

[0030] As a further improvement of this disclosure, one of the stop portion and the parking portion is a protrusion, and the other of the stop portion and the parking portion is a groove that mates with the protrusion; when the parking assembly is in the first state, the protrusion is inserted into the groove; when the parking assembly is in the second state, the protrusion and the groove are separated.

[0031] As a further improvement of this disclosure, the stop member has a first tooth, the parking member has a second tooth that engages with the first tooth, and when the parking assembly is in the first state, the first tooth and the second tooth are engaged; when the parking assembly is in the second state, the first tooth and the second tooth are disengaged.

[0032] As a further improvement to this disclosure, the parking assembly is in the first state when the power is off.

[0033] As a further improvement to this disclosure, the motor is a hub motor, and the parking assembly is disposed on the outside or inside of the hub motor.

[0034] As a further improvement of this disclosure, the motor includes a motor shaft and a housing that houses at least a portion of the motor shaft and is rotatable relative to the motor shaft. The stop member is connected to the housing. The parking assembly further includes an actuation structure that drives the parking member to move relative to the stop member. When the actuation structure is energized, it drives the parking member to move away from the stop member. When the actuation structure is de-energized, it drives the parking member to move closer to the stop member.

[0035] As a further improvement of this disclosure, the actuation structure includes an actuation housing disposed on the motor shaft, a separation component disposed on the actuation housing and connected to the parking member, and at least one energy storage component for pressing the parking member to at least partially abut the parking member and the stop member; when the actuation structure is energized, the separation component overcomes the force of the energy storage component and drives the parking member to move away from the stop member; when the actuation structure is de-energized, the energy storage component drives the parking member to move closer to the stop member.

[0036] As a further improvement of this disclosure, the separation assembly includes an electromagnet disposed on the actuation housing and a pressure plate axially slidably disposed on the actuation housing; the parking component is connected to the pressure plate, and the energy storage component is disposed between the actuation housing and the pressure plate; after being energized, the electromagnet attracts the pressure plate, overcomes the force of the energy storage component, and drives the parking component to move away from the stop component.

[0037] As a further improvement of this disclosure, the separation assembly includes an electromagnetic coil disposed on the actuation housing, a magnetic component slidably disposed on the actuation housing, and a connecting rod connecting the magnetic component and the parking component; the end of the parking component away from the connecting rod is rotatably disposed on the actuation housing via a rotating shaft, and the energy storage component is a torsion spring sleeved on the rotating shaft. When the electromagnetic coil is energized, the magnetic component drives the parking component to rotate around the rotating shaft away from the stop component via the connecting rod, and the parking component drives the torsion spring to rotate and store energy; when the electromagnetic coil is de-energized, the torsion spring drives the parking component to move closer to the stop component.

[0038] As a further improvement of this disclosure, the separation assembly includes a motor, an electromagnetic coupler, a rotating wheel, and a tension member with one end sleeved on the rotating wheel. The end of the tension member away from the rotating wheel is connected to the parking member, and the end of the parking member away from the tension member is rotatably mounted on the actuation housing. When the electromagnetic coupler is energized, the motor drives the rotating wheel to rotate, the tension member retracts, and the parking member rotates away from the stop member. The energy storage device stores energy. When the electromagnetic coupler is de-energized, the energy storage device drives the parking member to move closer to the stop member.

[0039] This disclosure also provides a robot, including:

[0040] Vehicle body;

[0041] A drive unit is mounted on the vehicle body to drive the vehicle body to move;

[0042] The driving device is the driving device described above.

[0043] The beneficial effects of this disclosure are: the drive mechanism of this disclosure has a parking component that stops the motor, which can stop itself, effectively reducing the risk of landslides of the lawnmower equipped with the drive mechanism and improving safety performance; the parking component is set inside the motor housing, which is compact in structure, reduces the size of the drive mechanism in the direction of the motor shaft, and also reduces the weight of the drive mechanism, making it convenient for the layout of the drive mechanism on the lawnmower.

[0044] Lawn mowers equipped with this drive mechanism have high safety performance, effectively reducing the risk of landslides, and the drive mechanism is small in size, which facilitates the overall layout of the machine. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the drive mechanism shown in one embodiment of the present disclosure.

[0046] Figure 2 A schematic diagram of the drive device shown in one embodiment of this disclosure.

[0047] Figure 3 for Figure 2 The diagram shows a partial structural schematic of the drive unit.

[0048] Figure 4 for Figure 2 An exploded view of a portion of the structure of the drive unit shown.

[0049] Figure 5 for Figure 2 An exploded view of the wheel shown.

[0050] Figure 6 for Figure 2 The diagram shows a partial structural schematic of the drive mechanism.

[0051] Figure 7 for Figure 2 The diagram shows the parking assembly in its second state.

[0052] Figure 8 for Figure 2 The diagram shows the parking assembly in its first state.

[0053] Figure 9 for Figure 2 The diagram shows a cross-sectional view of the parking assembly.

[0054] Figure 10 This is a schematic diagram of the structure of the driving device shown in another embodiment of the present disclosure.

[0055] Figure 11 for Figure 10 The diagram shows a partial structural schematic of the drive unit.

[0056] Figure 12for Figure 10 An exploded view of a portion of the structure of the drive unit shown.

[0057] Figure 13 This is a schematic diagram of the structure of the driving device shown in another embodiment of the present disclosure.

[0058] Figure 14 for Figure 13 The parking assembly of the drive unit shown is in a cross-sectional view in the second state.

[0059] Figure 15 for Figure 13 The diagram shows a cross-sectional view of the parking assembly of the drive unit in its first state.

[0060] Figure 16 This is a cross-sectional view of the parking assembly of the drive unit shown in another embodiment of the present disclosure in a second state.

[0061] Figure 17 for Figure 16 The diagram shows a cross-sectional view of the parking assembly of the drive unit in its first state.

[0062] Figure 18 for Figure 16 The diagram shows the structure of the separate components of the drive unit.

[0063] Figure 19 This is a schematic diagram of the structure of a lawnmower shown in one embodiment of the present disclosure.

[0064] Figure 20 for Figure 19 The diagram shows a module schematic of a smart lawnmower.

[0065] Figure 21 This is a schematic diagram of the structure of a service robot shown in one embodiment of the present disclosure.

[0066] Among them, drive device-100; drive mechanism-500;

[0067] Wheel-1; Hub-11; First limiting part-111; First anti-skid structure-112; Rim-12; Wheel skin-13; Retaining ring-14;

[0068] Motor-2; Housing-21; Second limiting part-211; Second anti-slip structure-212; Cylindrical structure-213; First end cover-214; Second end cover-215; Motor shaft-22; Rotor-23; Stator-24; Motor connector-25; Bearing-26; Encoder-27;

[0069] Parking assembly - 3; Stop - 31; Stop part - 311; Parking component - 32; Parking part - 321; Actuation housing - 33; Mounting part - 331; Energy storage component - 34; Electromagnet - 35; Receiving slot - 351; Pressure plate - 36; Protective shell - 37;

[0070] Vehicle body -200;

[0071] Drive unit - 300; Electromagnetic coil - 381; Magnetic component - 382; Connecting rod - 383; Rotating shaft - 384;

[0072] Drive unit-400; Motor-391; Electromagnetic coupler-392; Rotating wheel-393; Tensioning component-394; Limiting rod-395; Limiting part-396; Crossbar-397; Connecting rod-398;

[0073] Cutting device-600; controller-700; energy module-800; first sensor-901; second sensor-902; emergency braking device-903. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0075] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0076] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0077] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0078] Existing drive mechanisms are mainly hub motors or motors connected to gearboxes. These drive mechanisms are installed on the lawnmower to move it within the working area for cutting. However, existing drive mechanisms are large and heavy, which is detrimental to their layout on the lawnmower. This is especially true for small lawnmowers, such as smart lawnmowers, where space is compact; large and heavy drive mechanisms cannot meet their needs. Furthermore, smaller drive mechanisms are beneficial for the lightweight and miniaturization of lawnmowers, aligning with current trends. In addition, hub motors or motors connected to gearboxes lack locking functionality; that is, lawnmowers driven by these motors lack ramp parking features. When the lawnmower is climbing a slope and needs to stop, or if a malfunction causes a power outage or is triggered by the emergency stop button, the drive mechanism cannot lock, potentially leading to a slippage hazard. Adding a drum-type stop to the outer end of the motor would increase its size and weight, posing significant challenges to the overall layout and installation of the lawnmower. If a disc stop is added to the outer end of the hub motor, its integrity is poor, and when this drive mechanism is used on a lawnmower, foreign objects are easily generated between the stop disc and the friction plate located on the outside of the motor, affecting the stopping action.

[0079] Please see Figure 1 The drive mechanism 500 shown in one embodiment of this disclosure includes a motor 2. The motor 2 includes a housing 21, a rotor 23 and a stator 24 disposed within the housing 21, and a motor shaft 22 at least partially disposed within the rotor 23 or the stator 24. The output end of the motor 2 can be either the housing 21 or the motor shaft 22. Specifically, when the output end of the motor 2 is the housing 21, it is an external rotor motor; when the output end of the motor 2 is the motor shaft 22, it is an internal rotor motor. In the external rotor motor, the rotor 23 is fixedly connected to the housing 21, the stator 24 is sleeved on the motor shaft 22, and the rotor 23 is sleeved on the outer periphery of the stator 24. When the rotor 23 rotates relative to the stator 24, it drives the housing 21 to rotate synchronously. In the internal rotor motor, the stator 24 is fixed inside the housing 21, the rotor 23 is sleeved on the motor shaft 22, and the rotor 23 is located within the stator 24. When the rotor 23 rotates relative to the stator 24, it drives the motor shaft 22 to rotate synchronously.

[0080] Internal rotor motors operate at high speeds, typically exceeding 2000 r / min. At this speed, if the drive mechanism directly drives the lawnmower's wheels, the excessive travel speed could lead to excessive impact force when colliding with obstacles, posing a danger. Furthermore, since lawnmowers operate while moving, excessive speed prevents them from completing the cutting work effectively, potentially resulting in missed areas, uneven cuts, or even pulling and killing of grass. Moreover, at this speed, the internal rotor motor's torque is low, insufficient to provide adequate driving force for the lawnmower, especially since it typically requires sufficient power for climbing hills. Therefore, a reduction gear, such as a gearbox, is usually needed to reduce the speed and increase torque. Typically, these reduction gears have relatively high reduction ratios, which can generate significant noise. Moreover, the speed reduction device is generally installed in the direction of the extension of the inner rotor motor shaft. That is, the speed reduction device and the inner rotor motor are arranged along the width of the automatic lawnmower. This will occupy a lot of space in the width of the lawnmower, thus increasing the width of the lawnmower.

[0081] External rotor motors have a smaller axial dimension. For example, an external rotor motor can be disc-shaped, increasing its volume by increasing its diameter while reducing its thickness, thus reducing its space occupation in the thickness direction and consequently reducing the space it occupies in the width direction of the lawnmower. This allows for more space to be allocated to other components in the width direction. Compared to internal rotor motors, external rotor motors have a more compact structure. By replacing internal rotor motors with external rotor motors, the space occupied by the drive mechanism 500 in the width of the lawnmower can be reduced, achieving miniaturization and weight reduction. Moreover, external rotor motors have lower speeds and higher torque than internal rotor motors, eliminating the need for a reduction gear, significantly reducing noise during lawnmower operation; they also solve the problem of limited reduction gear lifespan, increasing service life and reliability; and the elimination of the reduction gear's volume results in a more compact structure and space savings.

[0082] In some embodiments, the motor 2 is a hub motor 2. Hub motors 2 are increasingly used in wheeled robots due to their compact structure and easy installation. The hub motor 2 can be housed within the lawnmower's wheel to provide driving force, thus not occupying other space in the vehicle body, which is beneficial for the lawnmower's spatial arrangement. Because the drive mechanism 500 is easily damaged, in the prior art, placing the drive motor inside the vehicle body makes disassembly inconvenient during maintenance. However, placing the drive mechanism 500 within the wheel allows for easy disassembly by simply removing the wheel during maintenance. Regardless of the type of drive motor 2, for example, an internal rotor hub motor 2, i.e., by placing the internal rotor motor within the wheel, this solution also avoids the motor 2 occupying space in the lawnmower and facilitates disassembly during maintenance. In this embodiment, the wheel can be driven directly by the internal rotor motor, or it can be driven by a reduction gear. In another embodiment, when the drive mechanism 500 includes a motor 2 and a reduction gear, the space occupied by the drive mechanism 500 on the lawnmower body can be reduced by at least partially locating the motor 2 and the reduction gear in the wheel, for example, by locating at least part of the reduction gear in the wheel.

[0083] In some embodiments, the motor 2 is an external rotor hub motor 2. The housing 21 of the external rotor hub motor 2 is fixed or integrated with the wheel rim. The wheel is directly driven by the rotor 23 of the external rotor hub motor 2, and the wheel's rotational speed is the same as that of the motor 2. The external rotor hub motor 2 not only does not occupy space in the vehicle body, but also, by setting the external rotor hub motor 2 together with the wheel hub and directly driving it by the rotor 23 of the external rotor hub motor 2, the overall structure of the wheel and the external rotor hub motor 2 is more compact, with fewer internal transmission structures and a simpler structure.

[0084] By using an external rotor hub motor 2 to directly drive the lawnmower wheels, firstly, the drive mechanism 500 avoids occupying space in the lawnmower's body, and also facilitates disassembly for motor 2 maintenance. Secondly, by using an external rotor hub motor 2 to directly drive the lawnmower without a reduction gear, not only is the space occupied by the reduction gear eliminated, but the absence of a reduction gear also significantly reduces noise during operation, achieving a quiet operation. Furthermore, the external rotor hub motor 2 is unaffected by the short lifespan of the reduction gear, ensuring high reliability.

[0085] Please see Figure 1The drive mechanism 500 also includes a parking assembly 3, which is housed within the casing 21 of the motor 2. This design makes the drive mechanism 500 more compact, reducing its dimensions in the direction of the motor shaft 22 and its weight, thus facilitating its placement on the lawnmower. Furthermore, when used on a lawnmower, the parking assembly 3 is not affected by foreign objects, ensuring a secure stop.

[0086] The parking assembly 3 has a first state that stops the motor 2 and a second state that releases the motor 2. When the parking assembly 3 is in the first state, the motor 2 cannot rotate; when the parking assembly 3 is in the second state, the motor 2 can rotate. This drive mechanism 500 has a stopping state, thus enabling the hub motor to have a stopping function. This allows the drive mechanism 500 to simultaneously perform electric, braking, and stopping functions, improving the problem of the inability to stop automatically, effectively reducing the risk of landslides for lawnmowers equipped with this drive mechanism 500, and improving safety performance.

[0087] Please see Figure 1 Taking the external rotor hub motor 2 as an example, this embodiment details the parking assembly 3 inside the motor 2. Specifically, the parking assembly 3 is sleeved on the motor shaft 22 and positioned between the motor shaft 22 and the stator 24. In the first state, the parking assembly 3 stops the housing 21; in the second state, it releases the housing 21. In the prior art, the internal space of the motor 2 is unused, requiring a separate support structure to support the stator 24, resulting in wasted space. In this embodiment, the parking assembly 3 is sleeved on the motor shaft 22 and positioned between the motor shaft 22 and the stator 24. The parking assembly 3 serves as a support structure for the stator 24, eliminating the need for an additional support structure. The parking assembly 3 is positioned inside the motor 2 without increasing its size. Compared to mounting the parking assembly 3 on the side end of the motor 2, this embodiment reduces the size of the drive mechanism 500 in the direction of the motor shaft 22 by at least 10%, and eliminates the support structure for supporting the stator 24, resulting in a weight reduction of at least 10% for the drive mechanism 500.

[0088] In this embodiment, the weight of the outer rotor hub motor 2 with parking assembly 3 is 0.8kg-15.0kg. Optionally, the weight of the outer rotor hub motor 2 with parking assembly 3 is 1.0kg-8.0kg. Compared to adding a parking structure to the outside of the motor, in this embodiment, the dimensions of the outer rotor hub motor 2 with parking assembly 3 along the direction of the motor shaft 22 remain essentially unchanged. The dimension of the drive mechanism 500 in the direction of the motor shaft 22 is reduced by 10mm-80mm. Optionally, the dimension of the drive mechanism 500 in the direction of the motor shaft 22 is reduced by 15mm-60mm. Reducing the axial dimension of the drive mechanism 500 can effectively reduce the wheel track of the lawnmower's rear wheels, which is beneficial to the miniaturization of the lawnmower.

[0089] The parking assembly 3 includes a stop 31 connected to and rotating synchronously with the output end of the motor 2, and a parking member 32 cooperating with the stop 31. When the output end of the motor 2 is the housing 21, the stop 31 is connected to the housing 21 and rotates synchronously. When the output end of the motor 2 is the motor shaft 22, the stop 31 is connected to the motor shaft 22 and rotates synchronously. In the first state, the parking member 32 and the stop 31 at least partially abut against each other, and the parking member 32 applies a force to the stop 31 to stop it from moving, thereby preventing the stop 31 from continuing to rotate and thus preventing the motor 2 from rotating. In the second state, there is no force between the parking member 32 and the stop 31, and the output end of the motor 2 can drive the stop 31 to rotate synchronously. Optionally, in the second state, the parking member 32 and the stop 31 are separated.

[0090] In some embodiments, when the parking assembly 3 is in the first state, the surface of the parking member 32 facing the stop member 31 at least partially abuts against the surface of the stop member 31. Specifically, the stop member 31 has at least one stop portion 311, and the parking member 32 has at least one parking portion 321. The parking portion 321 and the stop portion 311 at least partially abut against each other to stop the stop portion 311. The specific structure of the stop member 31 and the parking member 32 is not specifically limited here; the stop member 31 and the parking member 32 can be annular structures sleeved on the motor shaft 22. In this embodiment, the stop portion 311 is the surface of the stop member 31 facing the parking member 32, and the parking portion 321 is the surface of the parking member 32 facing the stop member 31. When the parking assembly 3 is in the first state, the stop portion 311 and the parking portion 321 are pressed together, and the friction between the parking portion 321 and the stop portion 311 is extremely large, sufficient to lock the rotor 23 and the housing 21 so that they cannot rotate, thus achieving a stop. When the parking assembly 3 is in the second state, the parking part 321 and the stop part 311 are separated, there is no frictional force between them, and the motor 2 can rotate.

[0091] In some embodiments, when the parking assembly 3 is in a first state, the parking member 32 and the stop member 31 are engaged. One of the stop portion 311 and the parking portion 321 is a protrusion, and the other of the stop portion 311 and the parking portion 321 is a groove that mates with the protrusion. When the parking assembly 3 is in the first state, the protrusion is inserted into the groove to achieve a stop. When the parking assembly 3 is in a second state, the protrusion and the groove are separated. In another embodiment, the stop member 31 has a first tooth, and the parking member 32 has a second tooth that mates with the first tooth. When the parking assembly 3 is in the first state, the first tooth and the second tooth are engaged to achieve a stop. When the parking assembly 3 is in the second state, the first tooth and the second tooth are disengaged, releasing the motor 2, which can then drive the wheel 1 to rotate. In other embodiments, one of the stop and the parking portion 321 is a gear, and the other is a rack that mates with the gear. The parking component 32 and the stop component 31 achieve stopping through engagement, reducing heat generation and extending the service life of the drive mechanism 500. Moreover, the drive mechanism 500 with a large output torque can be stopped while maintaining a small size and light weight.

[0092] The parking assembly 3 can switch between the first and second states via a switch. To improve the automation of the drive mechanism, the parking assembly 3 is electrically connected to the controller, which controls the switching between the first and second states. For example, when the drive mechanism 500 is installed on a lawnmower, if the emergency braking device on the lawnmower is triggered, the controller controls the parking assembly 3 to switch from the second state to the first state; or if the controller detects that the lawnmower is parked on a slope, it controls the parking assembly 3 to switch from the second state to the first state; or if the lawnmower is a ride-on lawnmower, if the controller detects that the lawnmower is on a slope and the user has left the machine for a period of time, it controls the parking assembly 3 to switch from the second state to the first state. Optionally, the parking assembly 3 is in the first state when power is off and in the second state when power is on, so that the drive mechanism 500 can automatically enter the stop state when power is off, improving the problem that lawnmowers with this drive mechanism 500 cannot stop automatically when power is lost during climbing, thus improving safety. Obviously, the parking component 3 can also be switched between the first and second states through user operation via an APP or other means.

[0093] The parking assembly 3 also includes an actuation structure that moves the parking member 32 relative to the stop member 31. When the actuation structure is energized, it moves the parking member 32 away from the stop member 31, and the parking assembly 3 is in a second state, thereby releasing the motor 2. When the actuation structure is de-energized, it moves the parking member 32 closer to the stop member 31, and the parking assembly 3 is in a first state, thereby stopping the motor 2.

[0094] The rotor 23 of the external rotor hub motor 2 is connected to the housing 21 and rotates synchronously. The stator 24 is disposed inside the rotor 23 and is fixedly connected to the motor shaft 22. A bearing 26 is provided between the housing 21 and the motor shaft 22 to improve the smoothness of rotation of the housing 21 relative to the motor shaft 22. A stop 31 is connected to the housing 21 of the motor 2 to achieve synchronous rotation of the stop 31 and the housing 21. The stop 31 can be installed on the housing 21 by means of screw fixing, etc., to facilitate the replacement of the stop 31; or it can be installed on the housing 21 by welding to increase the connection strength between the stop 31 and the housing 21 and reduce maintenance costs; or the stop 31 and the housing 21 can be integrally formed to simplify the manufacturing process. The connection method between the stop 31 and the housing 21 is not specifically limited here. Optionally, the external rotor hub motor 2 also includes a motor connector 25, which is fixed to the housing 21 by screws or other means. The stop 31 is fixed to the motor connector 25 to connect with the housing 21. The connection method between the stop 31 and the motor connector 25 is not specifically limited here. The motor connector 25 can be a keyed or splined connection. Both keys and splines can meet the needs of power transmission and provide sliding guidance within a certain range. In this embodiment, the motor connector 25 can be a splined structure, and the stop 31 is connected to the housing 21 via a spline. The spline can make the force on the stop 31 more even, preventing the stop 31 from cracking when the force is concentrated.

[0095] The stop member 31 is an annular structure, and the stop portion 311 is disposed on the end face of the annular structure. In other embodiments, the stop member 31 may also be a semi-annular structure, etc., and is not specifically limited here. The parking member 32 is an annular structure that cooperates with the stop member 31, and the parking portion 321 is disposed at the end face of the annular structure. The parking member 32 moves along the direction of the motor shaft 22 to abut or separate from the stop member 31.

[0096] The actuation structure moves the parking component 32 toward the stop component 31. The stop component 311 and the parking component 321 abut against each other to achieve stop. The actuation structure then moves the parking component 32 away from the stop component 31, and the stop component 311 and the parking component 321 separate to achieve release. The actuation structure includes an electromagnet 35 disposed on the housing 21 and at least one energy storage component 34 for pressing the parking component 32 to at least partially abut against the stop component 31. The electromagnet 35 is fixed to the housing 21, which can be achieved by screw fixing or other means. The energy storage component 34 is located between the electromagnet 35 and the parking component 32. When the electromagnet 35 is energized, it becomes magnetic. The parking component 32 is made of iron. When energized, the electromagnet 35 can attract the parking component 32, causing the parking component 32 to move away from the stop component 31 along the axial direction of the motor shaft 22, thereby switching the designated component 3 to the second state. When the parking component 32 moves away from the stop component 31, the energy storage component 34 deforms and stores energy. After the actuation structure is energized, the electromagnet 35 loses its magnetism, and the parking component 32 moves closer to the stop component 31 under the action of the energy storage component 34 and presses against the stop component 31. Friction is generated between the parking component 32 and the stop component 31, causing the stop component 31 and the housing 21 to stop rotating.

[0097] The energy storage component 34 can be an elastic component, a gas energy storage component, or a hydraulic energy storage component, etc., and is not specifically limited here. In this embodiment, the energy storage component 34 is a spring, and the number of springs can be one, two, six, eight, etc. Optionally, the spring is at least partially housed within the electromagnet 35. Multiple receiving slots 351 arranged at intervals can be provided on the electromagnet 35, and the receiving slots 351 can be located on the iron core of the electromagnet 35. Each receiving slot 351 contains a spring, with one end of each spring abutting or fixed to the bottom of the receiving slot 351, and the other end abutting or fixed to the parking component 32. Optionally, the multiple springs are divided into two groups, namely a first spring group and a second spring group. The multiple springs of the first spring group are evenly distributed on the first circumference, and the multiple springs of the second spring group are evenly distributed on the second circumference. The first and second circumferences are coaxial with the motor shaft 22 but do not coincide. This structure allows the parking component 32 to be subjected to uniform force, whether under spring pressure alone or under the combined action of the electromagnet 35 and the springs, resulting in high stability. Optionally, when there is only one spring, the electromagnet 35 is provided with a receiving ring 351, the spring is disposed on the receiving ring 351 and coaxially sleeved on the motor shaft 22, and one end of the spring abuts or is fixed to the bottom of the receiving ring 351, and the other end of the spring abuts or is fixed to the parking component 32. A larger pressure output can be achieved by setting a larger spring diameter. Optionally, the spring can be directly disposed between the electromagnet 35 and the parking component 32, and a guide (not shown) can be provided inside the spring. The guide extends along the direction of the motor shaft 22 to guide the spring to compress or release in the direction of the motor shaft 22.

[0098] The parking assembly 3 stops or releases the motor 2 in the following ways: When the drive mechanism 500 is not started, the parking assembly 3 is de-energized, the electromagnet 35 is de-energized, the spring presses the parking piece 32 toward the stop piece 31, the parking piece 32 and the stop piece 31 abut against each other, locking the housing 21 and stopping it; when the drive mechanism 500 is energized and needs to rotate, the parking assembly 3 is energized, the electromagnet 35 is energized, the parking piece 32 is attracted to move away from the stop piece 31, the parking piece 32 and the stop piece 31 separate, and the motor 2 is released.

[0099] In some embodiments, to ensure smooth rotation of the stop 31 and the housing 22 and reduce unnecessary frictional losses, while increasing the stopping efficiency of the parking component 32 on the stop 31, the parking assembly 3 also includes another parking component 32' that can abut against the stop 31 and exert force to stop the stop 31. The parking component 32' and the parking component 32 are disposed opposite to each other on both sides of the stop 31. The parking component 32' is fixed to the housing 21. The parking component 32' can be disposed on the housing 21 in various ways, such as being an integrally cast structure with the housing 21, or being bonded to the housing 21, etc. However, considering the easy wear of the parking component 32', the parking component 32' can be detachably installed on the housing 21. When the parking component 32' is worn or damaged, it can be disassembled and replaced, reducing maintenance costs. The stop 31 is connected to the housing 21 via a spline. The stop 31 can move along the direction of the motor shaft 22, but the movement distance is limited to within 0.1mm or 0.2mm.

[0100] When the parking assembly 3 is de-energized, the electromagnet 35 is de-energized, and the spring in the stored state compresses the parking member 32, moving it towards the stop member 31. The parking member 32 and the stop member 31 come into contact, and the parking member 32 drives the stop member 31 to continue moving towards the parking member 32', so that the parking member 32 and the parking member 32' clamp the stop member 31. The parking member 32 and the parking member 32' respectively apply force to the stop member 31, locking the housing 21 and achieving a stop. When the drive mechanism 500 is energized and needs to rotate, the parking assembly 3 is energized, the electromagnet 35 is energized, and the parking member 32 is attracted to move away from the stop member 31. The parking member 32 and the stop member 31 separate, and the stop member 31 resets. The stop member 31 and the parking member 32' separate, and the stop member 31 and the housing 21 can rotate synchronously, releasing the motor 2.

[0101] Please see Figure 19 and Figure 20 This disclosure also provides a lawnmower, which can be an intelligent lawnmower, a riding lawnmower, a standing lawnmower, or a lawnmower with multiple working modes, such as a riding lawnmower with an automatic working mode and a riding mode. The type of lawnmower is not specifically limited here, as long as it can perform the lawnmower work.

[0102] The lawnmower includes a body 200, a drive unit 100 mounted on the body 200, and a cutting device 600 mounted on the body 200 for performing cutting operations.

[0103] The drive unit 100 includes a wheel 1 and a drive mechanism 500 connected to the wheel 1 and driving the wheel 1 to rotate. The drive mechanism 500 is the drive mechanism 500 shown above, which is a motor 2 with a parking assembly 3.

[0104] Please see Figure 5 The wheel 1 includes a hub 11, a rim 12, and a wheel skin 13. The hub 11 is a rigid support structure for the inner ring of the wheel 1. The rim 12 is part of the hub 11, that is, the outer ring of the hub 11, and is in direct contact with the wheel skin 13. The wheel skin 13 is an elastic buffer structure on the outer periphery of the wheel 1, and is mounted on the rim 12. The wheel 1 also includes a retaining ring 14, which is connected to the hub 11, and the connection method can be screw connection, etc. A first limiting part 111 is provided at one end of the hub 11. The outer diameter of the retaining ring 14 is larger than the inner diameter of the wheel skin 13, thereby limiting the wheel skin 13 between the first limiting part 111 and the retaining ring 14. The hub 11, retaining ring 14, and wheel skin 13 are separate structures. In other embodiments, the wheel 1 can be a one-piece molded airless wheel 1, which is not specifically limited here.

[0105] Please see Figures 4 to 6 The wheel 1 is fixedly connected to the housing 21 of the motor 2 so as to rotate synchronously with the housing 21. Optionally, the wheel 1 can be mounted on the motor 2 by bolts. Specifically, the end face of the hub 11 near the first limiting part 111 is provided with several threaded holes, and the corresponding position of one end face of the motor 2 is also provided with threaded holes. The end face of the hub 11 and the end face of the motor 2 are fixedly connected by bolts, thereby mounting the wheel 1 on the motor 2.

[0106] To improve the installation stability of the wheel 1 on the motor 2, a second limiting part 211 is provided at the end of the motor 2 housing 21 away from the first limiting part 111. The first limiting part 111 and the second limiting part 211 are located on both sides of the wheel skin 13, thereby restricting the axial movement of the wheel skin 13, improving the connection stability between the wheel 1 and the motor 2, and improving the synchronicity of the rotation of the wheel skin 13 driven by the motor 2. A first anti-slip structure 112 is provided on the side of the first limiting part 111 facing the wheel skin 13, and a second anti-slip structure 212 is provided on the side of the second limiting part 211 facing the wheel skin 13, further ensuring that the motor 2 drives the wheel skin 13 to rotate synchronously and reducing the relative movement between the wheel skin 13 and the motor 2.

[0107] In this embodiment, when it is necessary to disassemble the wheel 1, it is only necessary to remove the screws connecting the end face of the wheel hub 11 and the end face of the motor 2, and the wheel 1 can be removed from the motor 2. At the same time, due to the presence of the housing 21, the internal structure of the motor 2 is not exposed, which avoids the exposure of the internal structure of the motor 2 due to the disassembly of the wheel 1, which could lead to foreign objects entering the motor 2, or damage or demagnetization caused by impact, thus improving the service life of the motor 2.

[0108] The drive unit 100 includes at least two wheels 1 for driving the lawnmower and at least two external rotor hub motors 2. Each external rotor hub motor 2 is disposed in one wheel 1, or in other words, one external rotor hub motor 2 is disposed in each wheel 1 to drive the corresponding wheel 1. In one embodiment, the lawnmower includes four driving wheels 1 and four external rotor hub motors 2. Each external rotor hub motor 2 is disposed in one wheel 1, or in other words, one external rotor hub motor 2 is disposed in each wheel 1. In another embodiment, the lawnmower includes two driving wheels 1 and two external rotor hub motors 2, each external rotor hub motor 2 is disposed in one wheel 1, or in other words, one external rotor hub motor 2 is disposed in each wheel 1. In this embodiment, the lawnmower is two-wheel drive and has two external rotor hub motors 2. When the lawnmower is two-wheel drive, it also includes at least one steering wheel for steering, and the lawnmower is steered by the differential speed cooperation of the two wheels 1 with the steering wheel.

[0109] In some embodiments, the lawnmower can also be a smart lawnmower, capable of autonomously moving and cutting grass. The smart lawnmower includes not only the aforementioned structure but also a controller 700 and an energy module 800. The energy module 800 provides power for the various operations of the smart lawnmower and may include a rechargeable battery and a charging connection structure. The charging connection structure is typically a charging electrode plate, which can be used in conjunction with a charging electrode plate located at a docking station to charge the smart lawnmower. The controller 700 is electrically connected to the aforementioned drive unit 100 and cutting unit 600, and is used to control the automatic movement and operation of the smart lawnmower. Its functions include controlling the cutting unit 600 to start or stop, controlling the drive unit 100 to move, determining the power level of the energy module 800 and promptly controlling the smart lawnmower to return to the docking station for automatic charging, and executing corresponding programs based on data from environmental sensors.

[0110] To enable the lawnmower to move and cut grass autonomously without user intervention, thus improving the user experience, the lawnmower also includes a positioning device mounted on the vehicle body 200. This device acquires the lawnmower's own position coordinates, allowing it to navigate automatically along a preset path. The positioning device includes a locator for receiving satellite signals and / or base station signals and outputting positioning data. A controller 700, located within the vehicle body 200, is used to acquire the lawnmower's position data based on the positioning data output by the positioning device (locator).

[0111] The positioning device can be mounted offset or centered on the vehicle body 200. Optionally, the positioning device can also be detachably connected to the vehicle body 200. On the other hand, the positioning device can obtain its coordinate information through absolute or relative positioning. Accordingly, the positioning device may include a vision sensor (such as a monocular camera, multi-view camera, depth camera, etc.), an image sensor, a satellite positioning sensor, etc. Accordingly, the positioning device can use one or more of the following positioning technologies to obtain its coordinate information: GPS technology, vision-based simultaneous localization and mapping (VSLAM) technology, real-time kinematic (RTK) positioning technology, etc.

[0112] The intelligent lawnmower includes an imaging sensor to enable obstacle avoidance during movement. The imaging sensor is connected to the vehicle body 200 and acquires images along the vehicle's forward direction, at least partially showing the working surface in that direction. The acquired images are within the imaging sensor's field of view. The imaging sensor can be a commonly used camera or lidar system.

[0113] As described above, the parking assembly 3 of the drive mechanism 500 is housed within the housing 21 of the motor 2, making the drive mechanism 500 compact, reducing its dimensions in the direction of the motor shaft 22, and also reducing its weight. This facilitates the placement of the drive mechanism 500 on the lawnmower and prevents it from being affected by foreign objects, ensuring a stable stopping effect. The parking assembly 3 has a first state that stops the motor 2 and a second state that releases the motor 2. When the parking assembly 3 is in the first state, the motor 2 cannot rotate; when the parking assembly 3 is in the second state, the motor 2 can rotate. This drive mechanism 500 has a stopping state, enabling it to simultaneously perform electric, braking, and parking functions. This improves the problem of the drive mechanism not being able to park itself, effectively reduces the risk of the lawnmower slipping, and improves safety performance.

[0114] The parking assembly 3 is in the first state when the power is off, and in the second state when the power is on, so that the drive mechanism 500 can automatically enter the stop state when the power is off. This improves the problem that lawnmowers with this drive mechanism 500 cannot stop automatically when the power is off during climbing, and improves the safety of use.

[0115] Please see Figure 1 and Figure 20 The drive mechanism 500 is electrically connected to the controller 700. When the lawnmower needs to stop, the controller 700 sends a command, and the encoder 27 built into the outer rotor hub motor 2 drives and controls the outer rotor hub motor 2, causing the motor 2 speed to drop to 0. When stopping is required, the controller 700 controls the parking assembly 3 to be de-energized, the electromagnet 35 is de-energized, and the energy-storing spring drives the parking component 32 and the stop component 31 to abut, locking the outer rotor hub motor 2 and stopping it. In the event of an abnormal power outage in the drive mechanism 500, the parking assembly 3 is de-energized, the electromagnet 35 is de-energized, and the energy-storing spring drives the parking component 32 and the stop component 31 to abut, locking the outer rotor hub motor 2 and stopping it, thus ensuring safety.

[0116] The lawnmower also includes a first sensor 901 and a second sensor 902 mounted on the vehicle body 200. The controller 700 is electrically connected to the first sensor 901 and the second sensor 902. The first sensor 901 detects the motion state of the vehicle body 200, and the second sensor 902 detects the position and orientation of the vehicle body 200. When the first sensor 901 detects that the vehicle body 200 is stationary and the second sensor 902 detects that the vehicle body 200 is tilted, the controller 700 controls the parking assembly 3 to switch to the first state. That is, when the lawnmower is on a slope and its speed is 0, the parking assembly 3 stops the motor 2, effectively solving the problem of the lawnmower rolling down the slope. The controller 700 can control the parking assembly 3 to switch to the first state by disconnecting the power to the parking assembly 3.

[0117] The lawnmower also includes an emergency braking device 903 mounted on the vehicle body 200. When the emergency braking device 903 is triggered and the first sensor 901 detects that the vehicle body 200 is in a stopped state, the controller 700 controls the parking assembly 3 to switch to the first state. That is, when the lawnmower is stopped suddenly, when the vehicle speed drops to 0, the controller 700 controls the parking assembly 3 to cut off the power, thereby stopping the motor 2. When the lawnmower is stopped suddenly on a slope, this effectively solves the problem of the lawnmower rolling down the slope.

[0118] The first sensor 901 can be an inertial sensor, and the second sensor 902 can be a gyroscope. Optionally, the first sensor 901 and the second sensor 902 can be the same sensor.

[0119] By controlling the external rotor hub motor 2 through encoder 27, the speed of motor 2 is reduced to 0, and then parking is achieved through parking component 2. This can reduce the wear between stop component 31 and parking component 32 and improve service life.

[0120] Optionally, when the lawnmower is a ride-on or stand-up lawnmower, a rider / passenger presence detection device (not shown) is installed on the vehicle body, and the presence detection device is electrically connected to the controller 700. The presence detection device can be a switch, sensor, etc. For example, the switch is engaged (disengaged) when the rider is in the position and disengaged (engaged) when the rider is not in the position, thereby sending a signal to the controller 700. When the lawnmower is on a slope, if the rider leaves the seat for a set time and forgets to turn off the power and lock the vehicle, the controller 700 controls the entire machine to lose power, and the parking assembly 3 automatically loses power and locks the vehicle to achieve parking. The set time is 3-10 seconds, such as 3 seconds, 6 seconds, and 10 seconds. Optionally, a 5-second set time is used, which can avoid the rider accidentally leaving the position due to bumps, while also not being too long to pose a safety hazard.

[0121] Existing robots are driven by hub motors without gearboxes to achieve quiet operation and improve service quality. However, these hub motors lack locking functionality, meaning the vehicle cannot brake automatically when climbing slopes, posing a risk of slippage.

[0122] The hub motor has a high operating torque, while existing parking structures that rely on friction, such as drum brakes and disc brakes, struggle to provide the necessary stopping torque within a small footprint. Drum brakes, to match a non-reduction transmission system, require greater size and weight, posing challenges to the robot's overall layout and installation. Disc brakes, on the other hand, have poor integration; in robots like lawnmowers, foreign objects can easily accumulate between the stop disc and the friction pads, affecting stopping performance.

[0123] Please see Figures 2 to 4 The drive device 100 shown in one embodiment of this disclosure includes a wheel 1, a motor 2 connected to and driving the wheel 1 to rotate, and a parking assembly 3 connected to the motor 2. The parking assembly 3 has a first state in which the motor 2 is stopped and a second state in which the motor 2 is released. When the parking assembly 3 is in the first state, the motor 2 cannot rotate; when the parking assembly 3 is in the second state, the motor 2 can drive the wheel 1 to rotate. This drive device 100 has a stop state, which can improve the problem of failure to park itself and improve the safety of use.

[0124] Please see Figure 4 , Figures 7 to 9The parking assembly 3 includes a stop 31 connected to and rotating synchronously with the motor 2, and a parking member 32 cooperating with the stop 31. In the first state, the parking member 32 and the stop 31 are at least partially in contact, and the parking member 32 applies a force to the stop 31 to stop it from moving. This force has at least a component parallel to the tangential direction of the stop 31's rotation trajectory, opposite in direction to prevent the stop 31 from continuing to rotate, thus preventing the motor 2 from rotating. In the second state, the parking member 32 and the stop 31 are separated, and the motor 2 can drive the stop 31 and the wheel 1 to rotate synchronously. Specifically, when it is necessary to stop the motor 2, the parking assembly 3 switches to the first state, and the parking member 32 directly applies a force to the stop 31. This force is at least partially opposite in direction to the tangential direction of the stop 31's rotation trajectory to limit the rotation of the stop 31. Compared to existing technologies that achieve stopping by generating friction through compression, the parking component 32 of this disclosure directly applies force to the stop component 31 for stopping. This allows for stopping the motor 2 with a large output torque while maintaining a small size and light weight. At the same time, it reduces the heat generated by friction, eliminating the need for additional structures to dissipate heat from the motor 2 and improving its service life. Furthermore, by reducing the frictional force between the stop component 31 and the parking component 32, the service life of both the stop component 31 and the parking component 32 is increased, thereby avoiding stopping failure due to failure to replace them in time and improving the safety of the stopping device.

[0125] When the parking assembly 3 is in the first state, the contact surface between the parking member 32 and the stop member 31 forms an angle with the tangential direction of the rotation trajectory of the stop member 31, and the angle is not 0. In a preferred embodiment, the contact surface between the parking member 32 and the stop member 31 is perpendicular to the tangential direction of the rotation trajectory of the stop member 31, so that the direction of the force applied by the parking member 32 to the stop member 31 is parallel to the opposite direction of the tangential direction of the rotation trajectory of the parking member 32. This allows the motor 2 with a large output torque to be stopped with a smaller size, while avoiding friction between the parking member 32 and the stop member 31 and reducing heat generation.

[0126] The stop member 31 has at least one stop portion 311, and the parking member 32 has at least one parking portion 321. The parking portion 321 and the stop portion 311 at least partially abut against each other to stop the stop portion 311. The specific structure of the stop member 31 and the parking member 32 is not specifically limited here. In one embodiment, one of the stop portion 311 and the parking portion 321 is a protrusion, and the other is a groove that mates with the protrusion. When the parking assembly 3 is in a first state, the protrusion is inserted into the groove to achieve a stop; when the parking assembly 3 is in a second state, the protrusion and the groove are separated. In another embodiment, the stop member 31 has a first tooth, and the parking member 32 has a second tooth that mates with the first tooth. When the parking assembly 3 is in the first state, the first tooth and the second tooth engage to achieve a stop. When the parking assembly 3 is in the second state, the first tooth and the second tooth disengage, releasing the motor 2, which can then drive the wheel 1 to rotate. In other embodiments, one of the stop and parking section 321 is a gear, and the other is a rack that meshes with the gear.

[0127] The parking component 3 can switch between the first and second states via a switch. However, to improve the automation of the device, this disclosure electrically connects the parking component 3 to the controller, which controls the switching between the first and second states. It should be noted that in this embodiment, the parking component 3 is in the first state when power is off, and in the second state when power is on. This enables the drive device 100 to automatically enter a stopped state when power is off, improving the problem of the robot with this drive device 100 failing to stop automatically during climbing due to power failure, thus improving safety. Obviously, the switching between the first and second states of the parking component 3 can also be achieved through user operation via an app or similar means.

[0128] The parking assembly 3 also includes an actuation structure that moves the parking member 32 relative to the stop member 31. When the actuation structure is energized, it moves the parking member 32 away from the stop member 31, and the parking assembly 3 is in a second state, thereby releasing the motor 2. When the actuation structure is de-energized, it moves the parking member 32 closer to the stop member 31, and the parking assembly 3 is in a first state, thereby stopping the motor 2.

[0129] The following detailed description is provided in conjunction with the accompanying drawings. Please refer to the attached diagrams. Figure 4In this embodiment, motor 2 is a hub motor. Hub motors are increasingly used in wheeled robots due to their advantages such as quiet operation, compact structure, and easy installation. Existing hub motors typically lack parking brakes, meaning robots driven by hub motors do not have ramp parking functionality. However, adding a drum brake to the hub motor presents challenges because the rated torque of the drum brake must exceed the working torque of the hub motor. For high-torque external rotor hub motors, this requires a large and heavy drum brake, posing significant challenges to the robot's overall layout and installation. Furthermore, the drum brake relies on friction for stopping, generating heat that causes the hub motor to overheat, affecting its lifespan. Adding a disc brake to the hub motor results in poor integration, and when this drive device 100 is used in robots such as intelligent lawnmowers, foreign objects can easily accumulate between the stop disc and the friction plate, affecting stopping performance.

[0130] In this disclosure, the parking assembly 3 is connected to the hub motor. The parking assembly 3 is located on the outside or inside of the hub motor, thereby enabling the hub motor to have a stopping function. The drive device 100 can simultaneously have electric, braking and parking functions. The stopping is achieved by the engagement of the parking component 32 and the stop component 31. The parking assembly 3 is small in size, light in weight, and convenient for layout.

[0131] The external rotor hub motor has a simple structure, requires no matching reducer, and improves the reliability and efficiency of electric drive, making it particularly suitable for flat roads and light loads. This embodiment uses an external rotor hub motor as an example for explanation. The external rotor hub motor includes a housing 21, a rotor (not shown) fixed inside the housing 21, a stator (not shown) located inside the rotor, and a motor shaft 22, with the stator sleeved on the motor shaft 22. The wheel 1 is fixed to the housing 21, and the housing 21 rotates relative to the motor shaft 22, thereby driving the wheel 1 to rotate synchronously. The specific structure and working principle of the external rotor hub motor are existing technologies and will not be described in detail here.

[0132] Please see Figure 3 and Figure 4 The parking assembly 3 is located on the outside of the motor 2. The parking assembly 3 can be located on the side of the drive unit 100 facing the robot body when it is installed on the robot body, or it can be located on the exposed side; no specific limitation is made here. In this embodiment, the power unit, transmission unit, and stopping device are all integrated into the wheel hub, eliminating the need for a gearbox, effectively simplifying the structure, reducing weight, and improving transmission efficiency.

[0133] Please see Figures 7 to 9 As described above, the parking assembly 3 includes a stop 31 connected to and rotating synchronously with the motor 2, a parking component 32 cooperating with the stop 31, and an actuation structure that drives the parking component 32 to move relative to the stop 31.

[0134] The stop member 31 is connected to the housing 21 of the motor 2 to achieve synchronous rotation of the stop member 31 and the housing 21. The stop member 31 can be installed on the housing 21 by means of screws or other methods, which facilitates the replacement of the stop member 31; or it can be installed on the housing 21 by welding, which increases the connection strength between the stop member 31 and the housing 21 and reduces maintenance costs; or the stop member 31 and the housing 21 can be integrally formed, which simplifies the manufacturing process. The connection method between the stop member 31 and the housing 21 is not specifically limited here.

[0135] The stop member 31 is an annular structure, with a stop portion 311 disposed at the end face of the annular structure and forming an annular gear structure. In other embodiments, the stop member 31 may also be a semi-annular structure, or the stop portion 311 may form a semi-annular gear, etc., without specific limitations. The parking member 32 is an annular structure that cooperates with the stop member 31, with a parking portion 321 disposed at the end face of the annular structure and forming an annular gear structure. The parking member 32 moves along the axial direction of the motor shaft 22 to engage or disengage with the stop member 31. In other embodiments, the stop portion 311 may be disposed on the inner surface of the stop member 31, the parking portion 321 may be disposed on the outer surface of the parking member 32, the parking member 32 may be disposed inside the stop member 31, and the parking member 32 may move along the radial direction of the stop member 31 to engage or disengage with the stop member 31. Alternatively, the stop portion 311 may be provided on the outer surface of the stop member 31, the parking portion 321 may be provided on the inner surface of the parking member 32, the parking member 32 may be provided on the outside of the stop member 31 and the parking member 32 may move along the radial direction of the stop member 31 to engage or disengage with the stop member 31.

[0136] The actuation structure drives the parking component 32 to move towards the stop component 31, and gear engagement achieves stopping. Alternatively, the actuation structure drives the parking component 32 away from the stop component 31, and gear disengagement achieves release. The actuation structure includes an actuation housing 33 mounted on the motor shaft 22, a separation component mounted on the actuation housing 33 and connected to the parking component 32, and at least one energy storage component 34 for pressing the parking component 32 to at least partially abut against the stop component 31. When the actuation structure is energized, the separation component overcomes the force of the energy storage component 34, driving the parking component 32 to move away from the stop component 31; when the actuation structure is de-energized, the energy storage component 34 drives the parking component 32 to move closer to the stop component 31. The actuation housing 33 has a mounting portion 331, which is sleeved and fixed on the motor shaft 22 and limited on the motor shaft 22 by limiting components such as snap rings, preventing the actuation housing 33 from moving axially or circumferentially relative to the motor shaft 22.

[0137] The separation assembly includes an electromagnet 35 mounted on the actuation housing 33 and a pressure plate 36 axially slidably mounted on the actuation housing 33. A parking member 32 is connected to the pressure plate 36. An energy storage unit 34 is disposed between the actuation housing 33 and the pressure plate 36, and the energy storage unit 34 presses against the pressure plate 36 to at least partially abut against the parking member 32 and the stop member 31. When the electromagnet 35 is energized, it attracts the pressure plate 36, overcoming the force of the energy storage unit 34 and causing the parking member 32 to move away from the stop member 31. When the electromagnet 35 is de-energized, the energy storage unit 34 presses against the pressure plate 36, causing the stop member to move towards the direction of the stop member 31.

[0138] The pressure plate 36 and the parking component 32 can slide synchronously along the axial direction of the motor shaft 22, thereby achieving the engagement or disengagement of the stop part 311 and the parking part 321. The sliding installation method of the pressure plate 36 on the actuation housing 33 and the connection method between the pressure plate 36 and the parking component 32 can be varied. In one embodiment, the actuation housing 33 sleeved on the motor shaft 22 is provided with multiple guide holes (not shown), and a guide body (not shown) is slidably installed in each guide hole. The pressure plate 36 is connected to one end of the guide body by bolts. The arrangement of the guide body and guide holes achieves circumferential limiting of the pressure plate 36 and the motor shaft 22, while ensuring the stability of the pressure plate 36 sliding along the axial direction of the motor shaft 22. This structure enables the pressure plate 36 to be subjected to uniform force, whether it is only under the pressure of the energy storage component 34 or under the combined action of the electromagnet 35 and the energy storage component 34, thus exhibiting high stability. The parking component 32 and the pressure plate 36 can be connected by screws, or the two can be integrally formed. The connection method between the two will not be described in detail here.

[0139] The energy storage element 34 can be an elastic element, a gas energy storage element, or a hydraulic energy storage element, etc., and is not specifically limited here. In this embodiment, the energy storage element 34 is a spring, and the number of springs can be one, two, or more. For example, when there is only one spring, the spring is coaxially mounted on the outer periphery of the mounting part 331, and one end of the spring is fixed to the actuation housing 33, and the other end is fixed to the pressure plate 36. A larger pressure output is achieved by setting a larger spring diameter. When there are multiple springs, the multiple springs are evenly distributed on the outer periphery of the mounting part 331.

[0140] The electromagnet 35 is arranged around the outer periphery of the mounting part 331. In this embodiment, the electromagnet 35 is arranged around the outer periphery of the energy storage member 34. In other embodiments, the electromagnet 35 may also be arranged between the energy storage member 34 and the mounting part 331.

[0141] The parking assembly 3 stops or releases the motor 2 in the following ways: When the drive unit 100 is not started, the parking assembly 3 is de-energized, the electromagnet 35 is de-energized, the spring presses the pressure plate 36, the pressure plate 36 drives the parking component 32 and the stop component 31 to engage, locking the hub motor and the wheel 1 to stop; when the drive unit 100 is energized and needs to rotate, the parking assembly 3 is energized, the electromagnet 35 is energized, the adsorption pressure plate 36 drives the parking component 32 away from the stop component 31, the parking component 32 and the stop component 31 separate and disengage, the hub motor is released, and the hub motor drives the wheel 1 to rotate synchronously.

[0142] During operation, when the drive unit 100 needs to stop rotating, the controller electrically connected to the drive unit 100 sends a command to the encoder 27 built into the hub motor (e.g., ...). Figure 6 As shown, the hub motor drive control reduces the motor speed to 0. Then, the controller controls the parking assembly 3 to be de-energized, the electromagnet 35 to be de-energized, the spring to press the pressure plate 36, the pressure plate 36 drives the parking component 32 and the stop component 31 to engage, locking the hub motor and the wheel 1, thus stopping the movement.

[0143] When the drive unit 100 experiences an abnormal power failure during operation, the parking assembly 3 loses power, the electromagnet 35 loses power, the spring presses the pressure plate 36, and the pressure plate 36 drives the parking component 32 and the stop component 31 to engage, locking the hub motor and the wheel 1, thus stopping the movement and ensuring safety.

[0144] Please see Figure 2 and Figure 4 The parking assembly 3 also includes a protective housing 37, which is detachably fixed to the housing 21 of the motor 2 to protect and shield the parking assembly 3.

[0145] Please see Figure 5 The wheel 1 of the drive device 100 includes a hub 11, a rim 12, and a wheel skin 13. The hub 11 is a rigid support structure for the inner ring of the wheel 1. The rim 12 is part of the hub 11, that is, the outer ring of the hub 11, and is in direct contact with the wheel skin 13. The wheel skin 13 is an elastic buffer structure on the outer periphery of the wheel 1, and is mounted on the rim 12. The wheel 1 also includes a retaining ring 14, which is connected to the hub 11, and the connection method can be screw connection, etc. A first limiting part 111 is provided at one end of the hub 11. The outer diameter of the retaining ring 14 is larger than the inner diameter of the wheel skin 13, thereby limiting the wheel skin 13 between the first limiting part 111 and the retaining ring 14. The hub 11, retaining ring 14, and wheel skin 13 are separate structures. In other embodiments, the wheel 1 can be a one-piece molded airless wheel 1, which is not specifically limited here.

[0146] Please see Figures 4 to 6The wheel 1 can be mounted on the motor 2 by bolts. Specifically, the end face of the wheel hub 11 near the first limiting part 111 is provided with several threaded holes, and the corresponding position of one end face of the motor 2 is also provided with threaded holes. The end face of the wheel hub 11 and the end face of the motor 2 are fixedly connected by bolts, thereby mounting the wheel 1 on the motor 2.

[0147] To improve the installation stability of the wheel 1 on the motor 2, a second limiting part 211 is provided at the end of the motor 2 housing 21 away from the first limiting part 111. The first limiting part 111 and the second limiting part 211 are located on both sides of the wheel skin 13, thereby restricting the axial movement of the wheel skin 13, improving the connection stability between the wheel 1 and the motor 2, and improving the synchronicity of the rotation of the wheel skin 13 driven by the motor 2. A first anti-slip structure 112 is provided on the side of the first limiting part 111 facing the wheel skin 13, and a second anti-slip structure 212 is provided on the side of the second limiting part 211 facing the wheel skin 13, further ensuring that the motor 2 drives the wheel skin 13 to rotate synchronously and reducing the relative movement between the wheel skin 13 and the motor 2.

[0148] In this embodiment, when it is necessary to disassemble the wheel 1, it is only necessary to remove the screws connecting the end face of the wheel hub 11 and the end face of the motor 2, and the wheel 1 can be removed from the motor 2. At the same time, due to the presence of the housing 21, the internal structure of the motor 2 is not exposed, which avoids the exposure of the internal structure of the motor 2 due to the disassembly of the wheel 1, which could lead to foreign objects entering the motor 2, or damage or demagnetization caused by impact, thus improving the service life of the motor 2.

[0149] Please see Figures 10 to 12 In another embodiment of this disclosure, the drive device 200 is basically the same as the drive device 100 shown in the above embodiment, except that the parking assembly 3 is disposed inside the motor 2. Specifically, the housing 21 of the motor 2 includes a cylindrical structure 213 and a first end cap 214 and a second end cap 215 installed at both ends of the cylindrical structure 213. The cylindrical structure 213 is hollow and has openings at both ends. The first end cap 214 and the second end cap 215 can be installed on the cylindrical structure 213 by means of fasteners to seal the openings at both ends of the cylindrical structure 213.

[0150] The stop 31 of the parking assembly 3 can be disposed on the inner surface of the first end cover 214 or the second end cover 215. The disposal method can be fixing with a fastener, integral molding, etc. The parking component 32 and the actuation structure are disposed on the motor shaft 22 within the cylindrical structure 213, thereby allowing the parking assembly 3 to be disposed within the housing 21 of the drive structure. Integrating the parking assembly 3 inside the motor 2 requires no additional space, resulting in a compact structure, eliminating many mechanical structures, and occupying little space. This simplifies the robot structure, reduces weight, and improves transmission efficiency, while simultaneously achieving integrated electric, braking, and parking functions.

[0151] Please see Figures 13 to 15 The drive device 300 shown in another embodiment of this disclosure has a structure that is basically the same as that of the drive device 100 shown in the first embodiment, except that the parking assembly 3 has a specific structure.

[0152] In this embodiment, the stop member 31 of the parking assembly 3 is also annular and is fixed to the housing 21 of the motor 2 by screws or other fasteners, or is integrally formed with the housing 21 of the motor 2. The stop portion 311 of the stop member 31 is disposed on the inner side of the annular stop member 31, and the stop portion 311 is a meshing tooth extending around the inner side. The parking member 32 is disposed inside the stop member 31, and the parking portion 321 is disposed on the outer peripheral surface of the parking member 32 facing the stop member 31. The parking portion 321 is a meshing tooth, and the engagement of the parking member 32 and the stop member 31 is achieved through the engagement of the meshing teeth.

[0153] The actuation structure includes an actuation housing 33 fixedly mounted on the motor shaft 22, a separation component mounted on the actuation housing 33 and connected to the parking member 32, and at least one energy storage component 34 for pressing the parking member 32 to at least partially abut against the stop member 31; when the actuation structure is energized, the separation component overcomes the force of the energy storage component 34 and drives the parking member 32 to move away from the stop member 31; when the actuation structure is de-energized, the energy storage component 34 drives the parking member 32 to move closer to the stop member 31.

[0154] In this embodiment, the separation assembly includes an electromagnetic coil 381 disposed on the actuation housing 33, a magnetic component 382 slidably disposed on the actuation housing 33, and a connecting rod 383 connecting the magnetic component 382 and the parking component 32. The end of the parking component 32 away from the connecting rod 383 is rotatably disposed on the actuation housing 33 via a rotating shaft 384. The energy storage component 34 is a torsion spring 34 sleeved on the rotating shaft 384. When the electromagnetic coil 381 is energized, it drives the parking component 32 to rotate around the rotating shaft 384 toward the side away from the stop component 31, and the parking component 32 drives the torsion spring 34 to rotate and store energy. When the electromagnetic coil 381 is de-energized, the torsion spring 34 drives the parking component 32 to move toward the side closer to the stop component 31.

[0155] Specifically, the electromagnetic coil 381 forms a hollow structure, and the magnetic component 382 extends at least partially into the electromagnetic coil 381. The end of the magnetic component 382 furthest from the electromagnetic coil 381 is rotatably connected to a connecting rod 383. The end of the connecting rod 383 furthest from the magnetic component 382 is rotatably connected to a parking component 32. The end of the parking component 32 furthest from the connecting rod 383 is rotatably connected to the actuation housing 33. The hollow structure of the electromagnetic coil 381 extends radially along the stop 31, restricting the magnetic component 382 to move only along the radial direction of the stop 31. The magnetic component 382 extends into the electromagnetic coil 381 at the end furthest from the motor shaft 22. When the electromagnetic coil 381 is de-energized, the magnetic component 382 partially extends into the electromagnetic coil 381. When the electromagnetic coil 381 is energized, the electromagnetic coil 381 attracts the magnetic component 382, ​​and the magnetic component 382 moves in the direction it entered the electromagnetic coil 381, that is, towards the direction of the motor shaft 22. Because the two ends of the connecting rod 383 are rotatably connected to the magnetic component 382 and the parking component 32 respectively, and the end of the parking component 32 away from the connecting rod 383 is rotatably mounted on the actuation housing 33, the magnetic component 382 moves toward the direction of the motor shaft 22, thereby driving the parking component 32 to rotate around the shaft 384 in a direction away from the stop component 31, thereby disengaging the parking component 32 and the stop component 31, releasing the motor 2. At the same time, the rotation of the parking component 32 drives the free end of the torsion spring 34 to rotate, thereby storing force.

[0156] After the electromagnetic coil 381 is de-energized, it loses its attraction to the magnetic component 382. Under the action of the torsion spring 34, the parking component 32 rotates toward the stop component 31. Through the connecting rod 383, the magnetic component 382 moves away from the motor shaft 22. The parking component 32 and the stop component 31 engage to achieve stopping.

[0157] To make efficient use of space, two sets of parking components 32 and actuation structures are provided, and the two sets are arranged opposite each other on both sides of the motor shaft 22, further increasing the parking component 3's ability to stop the motor 2.

[0158] Please see Figure 15 When the drive unit 300 is not activated, the parking assembly 3 loses power, the electromagnetic coil 381 loses power, the torsion spring 34 presses against the parking member 32, the parking member 32 and the stop member 31 engage, locking the hub motor and wheel 1, thus stopping the vehicle. Please refer to... Figure 14 When the drive unit 300 is powered on and needs to rotate, the parking assembly 3 is powered on, the electromagnetic coil 381 is energized, the magnetic adsorption component 382 moves toward the direction of the motor shaft 22, and through the connecting rod 383 drives the parking component 32 to rotate away from the stop component 31. The parking component 32 and the stop component 31 separate and disengage, the hub motor is released, and the hub motor drives the wheel 1 to rotate synchronously.

[0159] When the drive unit 300 needs to stop rotating during travel, the controller, which is electrically connected to the drive unit 300, sends a command. The encoder built into the hub motor drives and controls the hub motor, causing the motor speed to drop to 0. Then, the controller controls the parking component 3 to be de-energized, the electromagnetic coil 381 is de-energized, the torsion spring 34 presses the parking component 32, the parking component 32 and the stop component 31 engage, locking the hub motor and the wheel 1, thus stopping the movement.

[0160] When the drive unit 300 experiences an abnormal power failure during operation, the parking assembly 3 loses power, the electromagnetic coil 381 loses power, the torsion spring 34 presses against the parking component 32, the parking component 32 and the stop component 31 engage, locking the hub motor and wheel 1, thus stopping the vehicle and ensuring safety.

[0161] Please see Figures 16 to 18 The drive device 400 shown in another embodiment of this disclosure has a structure that is basically the same as that of the drive device 300 shown in the previous embodiment, except for the actuation structure. Specifically, the actuation structure includes a motor 391, an electromagnetic coupler 392, a rotating wheel 393, and a tension member 394 with one end sleeved on the rotating wheel 393. The end of the tension member 394 away from the rotating wheel 393 is connected to the parking member 32, and the end of the parking member 32 away from the tension member 394 is rotatably mounted on the actuation housing 33. When the electromagnetic coupler 392 is energized, the motor 391 drives the rotating wheel 393 to rotate, the tension member 394 retracts, and drives the parking member 32 to rotate away from the stop member 31. The parking member 32 is in the second state, and the energy storage member 34 stores energy. When the electromagnetic coupler 392 is de-energized, the rotating wheel 393 is released, and the energy storage member 34 drives the parking member 32 to move closer to the stop member 31. The parking member 32 is in the first state.

[0162] In this embodiment, two parking components 32 are provided, and the two parking components 32 are arranged opposite each other on both sides of the motor shaft 22. The energy storage component 34 is a compression spring connecting the two parking components 32. In other embodiments, the energy storage component may also be a torsion spring, which is not specifically limited here. The tension member 394 passes through the inside of the compression spring and is connected to one of the parking components 32, and the extension direction of the tension member 394 is parallel to the extension direction of the compression spring.

[0163] The separation assembly also includes a connection structure connecting the two parking components 32, which enables the two parking components 32 to switch synchronously between a first state and a second state. This connection structure includes a limiting rod 395, a limiting portion 396 through which the limiting rod 395 passes, a crossbar 397 connected to the limiting rod 395, and a connecting rod 398 connecting the crossbar 397 and the parking component 32. The limiting portion 396 has a channel perpendicular to the extending direction of the tension member 394, and the limiting rod 395 passes through this channel. The end of the limiting rod 395 away from the limiting portion 396 is fixedly connected to the crossbar 397, and two connecting rods 398 are rotatably connected to both ends of the crossbar 397, with the ends of the two connecting rods 398 away from the crossbar 397 rotatably connected to one parking component 32.

[0164] When the electromagnetic coupler 392 is energized, the tension member 394 retracts, causing the parking member 32 connected to the tension member 394 to rotate away from the stop member 31. This parking member 32, through the connecting rod 398, causes the crossbar 397 and the limiting rod 395 to move synchronously away from the limiting part 396. Thus, the crossbar 397, through the connecting rod 398, causes the other parking member 32 to rotate away from the stop member 31. The compression spring stores energy, allowing both parking members 32 to switch to the second state. When the electromagnetic coupler 392 is de-energized, the compression spring causes the two parking members 32 to move towards the stop member 31, and the parking members 32 switch to the first state.

[0165] The specific structure of the actuation structure can also be other than the above embodiment, as long as it can drive the parking component 32 to move toward the stop component 31 when power is lost, and drive the parking component 32 to move away from the stop component 31 when power is restored.

[0166] In other embodiments, the motor 2 may also be an internal rotor hub motor, a servo motor, etc. When the motor is connected to a gearbox, the parking assembly 3 may be located on the side of the motor away from the gearbox, or at the input or output end of the gearbox, as long as it can stop the motor or gearbox that drives the wheel 1 to rotate.

[0167] Please see Figures 19 to 21 This disclosure also provides a robot, which includes a vehicle body 200, a drive unit 100 disposed at the bottom of the vehicle body 200 to drive the vehicle body 200 to move, an energy module 800 disposed on the vehicle body 200, and a controller 700. This robot can be a lawnmower, snowplow, sweeper, food delivery robot, service robot, or other device capable of walking on the ground. The lawnmower includes, but is not limited to, ride-on lawnmowers, intelligent lawnmowers, push lawnmowers, and standing lawnmowers. The robot can also be other types of wheeled robots, which are not specifically limited here.

[0168] Two sets of drive units 100 are mounted on the vehicle body 200, with each set positioned on one side of the vehicle body 200. In this embodiment, the drive units 100 are located at the rear of the vehicle body 200, and two driven wheels are located at the front of the vehicle body 200. In other embodiments, the drive units 100 may also be located at the front of the vehicle body 200, forming a front-drive structure. Alternatively, the robot may include four sets of drive units 100, with two sets located on the front sides of the vehicle body 200 and the remaining two sets located on the rear sides of the vehicle body 200. The number and arrangement of the drive units 100 are not specifically limited here; they can be configured according to actual needs. The drive units 100 are as shown above and will not be described in detail here.

[0169] The energy module 800 supplies power to the drive unit 100. The energy module 800 includes, but is not limited to, a battery pack. The motor 2 and parking assembly 3 of the drive unit 100 are both electrically connected to the energy module 800. In the event of a power outage, the parking assembly 3 is in the first state, stopping the motor 2, allowing parking without operator intervention and improving the robot's parking capability during power outages. When the robot is climbing a slope, if a malfunction causes a power outage, the parking assembly 3 automatically cuts off power and locks the robot, preventing the lawnmower from sliding down a slope. When the robot is parked on a slope, the parking assembly switches to the first state to prevent the lawnmower from sliding down a slope.

[0170] The drive device disclosed herein has a parking assembly that stops the drive mechanism, enabling it to stop automatically and preventing the robot equipped with the drive device from slipping, thus improving safety performance. The parking assembly at least partially abuts against a parking member and a stop member, with the parking member applying a force to the stop member to stop the drive mechanism. This force has at least a component that is parallel to the tangential direction of the drive mechanism's rotation trajectory but opposite in direction, replacing the existing method of stopping through friction. This reduces heat generation, increases the service life of the drive mechanism, and allows for stopping a drive mechanism with a large output torque while maintaining a small size and light weight.

[0171] Robots equipped with this drive unit have high safety performance, avoiding the risk of landslides, and the small size of the drive unit facilitates the overall layout of the robot.

[0172] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A drive mechanism characterized by, include: The motor (2) includes a housing (21), a rotor (23) and a stator (24) disposed within the housing (21), and a motor shaft (22) disposed at least partially within the rotor (23) or the stator (24); The parking assembly (3) is disposed within the housing (21) and has a first state of stopping the motor (2) and a second state of releasing the motor (2); The parking assembly (3) includes a stop (31) that is connected to and rotates synchronously with the output end of the motor (2), and a parking component (32) that cooperates with the stop (31); When the parking assembly (3) is in the first state, the parking member (32) and the stop member (31) at least partially abut each other and the parking member (32) applies a force to the stop member (31) to stop the stop member (31); when the parking assembly (3) is in the second state, there is no force between the parking member (32) and the stop member (31).

2. The drive mechanism of claim 1, wherein, The motor (2) is a hub motor (2).

3. Drive mechanism according to claim 1 or 2, characterized in that The motor (2) is an external rotor hub motor (2).

4. The drive mechanism of claim 3, wherein, The weight of the drive mechanism (500) is 0.8kg-15.0kg.

5. The drive mechanism of claim 1, wherein, When the parking assembly (3) is in the first state, the surface of the parking member (32) facing the stop member (31) at least partially abuts against the surface of the stop member (31).

6. The drive mechanism of claim 1, wherein, When the parking assembly (3) is in the first state, the parking member (32) and the stop member (31) are engaged.

7. A lawnmower characterised in that, include: Vehicle body (200); A drive unit (100) is provided on the vehicle body (200) and includes a wheel (1) and a drive mechanism (500) connected to the wheel (1) and driving the wheel (1) to rotate. A cutting device (600) is mounted on the vehicle body (200) and is used to perform cutting operations; The drive mechanism (500) is the drive mechanism (500) as described in any one of claims 1 to 6.

8. The lawnmower of claim 7, wherein, The parking assembly (3) of the drive mechanism (500) is in the first state when the power is off.

9. The mower of claim 7, wherein, The lawnmower also includes a first sensor (901), a second sensor (902), and a controller (700) mounted on the vehicle body (200). The first sensor (901) is used to detect the motion state of the vehicle body (200), and the second sensor (902) is used to detect the position of the vehicle body (200). The controller (700) is electrically connected to the first sensor (901), the second sensor (902), and the drive mechanism (500). When the first sensor (901) detects that the vehicle body (200) is in a stopped state and the second sensor (902) detects that the vehicle body (200) is in a tilted state, the controller (700) controls the parking assembly (3) to switch to the first state.

10. The lawnmower as claimed in claim 9, characterized in that The mower further comprises an emergency brake device (903) arranged on the vehicle body (200), when the emergency brake device (903) is triggered and the first sensor (901) detects that the vehicle body (200) is in a stop state, the controller (700) controls the parking assembly (3) to switch to the first state.

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