Transmission assembly, drive structure and agricultural robot

Abstract

This utility model provides a transmission component, a drive structure, and an agricultural robot, relating to the field of shaft transmission technology. The transmission component includes a drive shaft, a drive wheel, a support cylinder, and a lubrication bearing mechanism. One end of the drive shaft is used to mount the drive wheel, and the other end is used to connect to a gearbox. The support cylinder is sleeved around the shaft body of the drive shaft, located between the gearbox and the drive wheel. The end of the support cylinder away from the drive wheel is used for fixed connection to the gearbox. The lubrication bearing mechanism is sealed inside the support cylinder and located around the drive shaft. The lubrication bearing mechanism assists in supporting the rotation of the drive shaft and provides lubrication. This utility model can reduce the risk of drive shaft breakage, thereby protecting the drive shaft.

Description

Technical Field

[0001] This utility model relates to the field of shaft transmission technology, and more specifically, to a transmission component, a drive structure, and an agricultural robot. Background Technology

[0002] The combination of drive shaft and drive junction can output the power of the reducer outward, for example, to output the robot's torque to external mechanisms, or for use by other mechanisms within the robot itself.

[0003] In related technologies, the drive shaft of the drive wheel is directly connected to the reducer. The drive wheel not only has to bear the weight of the robot or external mechanism, but also has to transmit rotational force, which can easily lead to the risk of shaft breakage. Utility Model Content

[0004] The problem this invention aims to solve is how to reduce the risk of drive shaft breakage of the drive wheel.

[0005] To address the aforementioned problems, in a first aspect, this utility model provides a transmission assembly, including a drive shaft, a drive wheel, a support cylinder, and a lubrication bearing mechanism. One end of the drive shaft is used to mount the drive wheel, and the other end is used to connect to a gearbox. The support cylinder is sleeved around the shaft body of the drive shaft located between the gearbox and the drive wheel. The end of the support cylinder away from the drive wheel is used to be fixedly connected to the gearbox. The lubrication bearing mechanism is sealed inside the support cylinder and located around the drive shaft. The lubrication bearing mechanism is used to assist in supporting the rotation of the drive shaft and to lubricate it.

[0006] The supporting cylinder includes a cylinder body and a flange. The cylinder body and the flange are coaxially fixedly connected to form a cylinder cavity. The drive shaft coaxially passes through the cylinder cavity. The flange is used to be fixedly connected to the reducer box. The lubrication bearing mechanism is located in the cylinder cavity.

[0007] Optionally, the lubrication bearing mechanism includes a sealed bearing unit and a lubrication unit. Two sealed bearing units are disposed facing each other in the cylindrical cavity. The sealed bearing units are used to assist in supporting the rotation of the drive shaft, and the lubrication unit is disposed in the cylindrical body.

[0008] Optionally, the bearing sealing unit includes an oil seal bearing baffle, a bearing, an oil seal, and a sealing ring, all disposed around the drive shaft. The bearing and the oil seal bearing baffle are arranged sequentially from the middle to both ends of the drive shaft. The oil seal bearing baffle is fixed to both ends of the support cylinder and is used to seal both ends of the cylinder cavity. The sealing ring is used to seal the gap between the oil seal bearing baffle and the cavity wall of the cylinder cavity. The oil seal is used to seal the gap between the oil seal bearing baffle and the drive shaft.

[0009] Optionally, of the two oil seal bearing baffles, one oil seal bearing baffle is fixed to the end of the cylinder near the drive wheel, and the other oil seal bearing baffle is fixed to the end of the flange near the reducer box, with its outer end face flush with the outer end face of the flange.

[0010] Optionally, the size of the bearing is matched with the inner diameter of the cylinder cavity, a gap is provided between the two bearings, and the lubrication unit includes an oil injection component that penetrates the cylinder radially and whose oil outlet is located at the gap between the two bearings.

[0011] Optionally, the oil seal bearing baffle includes a sealing part and a mounting part coaxially sleeved around the drive shaft. The sealing part and the mounting part are fixedly connected. The sealing part is disposed inside the cylindrical cavity. The sealing ring is embedded in the sealing part and used to seal the gap between the sealing part and the cavity wall of the cylindrical cavity. The mounting part is used to fix to both ends of the cylindrical cavity. The oil seal is embedded in the mounting part and used to seal the gap between the mounting part and the drive shaft.

[0012] Optionally, the two mounting portions are configured to be detachably connected to the cylinder and the flange, respectively.

[0013] This utility model provides a transmission assembly. By setting up a drive shaft, a drive wheel, a support cylinder, and a lubrication bearing mechanism, one end of the drive shaft is used to mount the drive wheel, and the other end is used to connect to the gearbox. The power of the gearbox can then be output externally through the cooperation of the drive shaft and the drive wheel. The support cylinder is sleeved around the shaft body located between the gearbox and the drive wheel. The end of the support cylinder away from the drive wheel is fixedly connected to the gearbox. The lubrication bearing mechanism is sealed inside the support cylinder and located around the drive shaft. Therefore, the support cylinder and the lubrication bearing mechanism inside it can provide power to the shaft body located between the gearbox and the drive wheel. The support structure, due to its sealing design and the fixed relationship between the support cylinder and the gearbox, allows the weight of the equipment from the drive wheel to be distributed and transmitted to the gearbox through the lubricating bearing mechanism and the support cylinder. This avoids transmission through the drive shaft alone, preventing excessive stress on a single point and potential breakage. Furthermore, the lubricating bearing mechanism itself serves both to assist rotation and lubricate, supporting the shaft located between the gearbox and the drive wheel during drive shaft rotation and reducing frictional resistance. This provides auxiliary support for the drive shaft, reducing the risk of drive shaft breakage and protecting the drive shaft.

[0014] Secondly, the present invention also provides a drive structure, which further includes the transmission component described above, and a drive component. The drive component includes a reducer and a motor. The motor is drivenly connected to the input end of the reducer, and the output end of the reducer is connected to the other end of the drive shaft.

[0015] Thirdly, this utility model also provides an agricultural robot, including the drive structure described above.

[0016] The beneficial effects of the drive structure and agricultural robot provided by this utility model can be referred to the beneficial effects of the transmission component, and will not be described further here. Attached Figure Description

[0017] Figure 1 A three-dimensional structural schematic diagram of a transmission component according to an embodiment of the present invention is shown; Figure 2 This invention presents a three-dimensional structural diagram showing the transmission assembly and the reducer housing forming a drive structure in an embodiment of the present invention. Figure 3 A three-dimensional structural diagram of a transmission assembly without a drive wheel in an embodiment of this utility model is shown. Figure 1 ; Figure 4 A three-dimensional structural diagram of a transmission assembly without a drive wheel in an embodiment of this utility model is shown. Figure 2 ; Figure 5 This diagram shows a partial exploded view of the transmission assembly in an embodiment of the present invention. Figure 6 A schematic diagram of the transmission assembly without the support cylinder and lubrication unit in an embodiment of this utility model is shown; Figure 7 This invention provides a schematic diagram illustrating the structure of the sealing bearing unit and the lubrication unit in an embodiment of the present invention. Figure 8 A schematic diagram of the supporting cylinder in an embodiment of this utility model is shown; Figure 9 This diagram illustrates the structural arrangement of the oil seal bearing baffle and sealing ring in an embodiment of the present invention. Figure 10 A schematic diagram of the structure of the oil seal bearing baffle in an embodiment of this utility model is shown; Figure 11 This invention provides a schematic diagram illustrating the fit between the oil seal bearing baffle and the oil seal component in an embodiment of the present invention. Figure 12 A schematic diagram of the structure of an agricultural robot with a drive structure is shown in an embodiment of this utility model.

[0018] Explanation of reference numerals in the attached figures: 1. Drive shaft; 2. Drive wheel; 3. Drive assembly; 31. Gearbox; 32. Motor; 4. Fixed connector; 5. Robot body; 6. Support cylinder; 61. Cylinder; 62. Flange; 7. Oil seal bearing baffle; 71. Sealing part; 72. Mounting part; 8. Oil filling part; 9. Bearing; 10. Oil seal; 11. Sealing ring. Detailed Implementation

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0020] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down, with the positive direction of the Z-axis representing upward and the negative direction representing downward. The Y-axis represents the horizontal direction and is designated as the front and back position, with the positive direction of the Y-axis representing the front and the negative direction representing the back. The X-axis represents the left and right position, with the positive direction of the X-axis representing the left and the negative direction representing the right. It should be noted that the aforementioned representations of the Z, X, and Y axes are merely for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative embodiment of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0022] Reference Figure 1 and Figure 2 As shown in the figure, this utility model embodiment proposes a transmission assembly, including a drive shaft 1, a drive wheel 2, a support cylinder 6, and a lubrication bearing mechanism. One end of the drive shaft 1 is used to mount the drive wheel 2, and the other end is used to connect to a reducer housing 31. The support cylinder 6 is sleeved on the outer periphery of the shaft body of the drive shaft 1 located between the reducer housing 31 and the drive wheel 2. The end of the support cylinder 6 away from the drive wheel 2 is used to be fixedly connected to the reducer housing 31. The lubrication bearing mechanism is sealed inside the support cylinder 6 and located on the periphery of the drive shaft 1. The lubrication bearing mechanism is used to assist in supporting the rotation of the drive shaft 1 and to lubricate it.

[0023] Specifically, as a transmission component, transmission is mainly achieved through drive shaft 1 and drive wheel 2. Drive shaft 1 is used to transmit the torque of reducer 31 to drive wheel 2, and then output the torque, such as as the walking power output of agricultural robot, or to drive other mechanisms of agricultural robot to do work. When improving the relevant technology, this utility model sets up a support cylinder 6 and a lubrication bearing assembly. The support cylinder 6 is sleeved on the drive shaft 1, that is, sleeved on the outer periphery of the shaft between reducer 31 and drive wheel 2. The lubrication bearing mechanism is sealed in the support cylinder 6 to provide auxiliary rotation support for drive shaft 1. The lubrication bearing mechanism can be a combination of bearing mechanism and lubrication mechanism that are strictly sealed in the support cylinder 6, which plays the role of supporting and assisting rotation of drive shaft 1, and can reduce friction through lubrication to prevent shaft breakage.

[0024] In this embodiment, by setting up a drive shaft 1, a drive wheel 2, a support cylinder 6, and a lubrication bearing mechanism, one end of the drive shaft 1 is used to install the drive wheel 2, and the other end is used to connect to the reducer housing 31. The power of the reducer housing 31 can then be output externally through the cooperation of the drive shaft 1 and the drive wheel 2. The support cylinder 6 is sleeved around the shaft of the drive shaft 1 located between the reducer housing 31 and the drive wheel 2. The end of the support cylinder 6 away from the drive wheel 2 is fixedly connected to the reducer housing 31. The lubrication bearing mechanism is sealed inside the support cylinder 6 and located outside the drive shaft 1. Therefore, the support cylinder 6 and the lubrication bearing mechanism inside it can provide power to the reducer housing 31 and the drive wheel 2. The shaft between the drive wheels 2 is supported. Due to the sealing design and the fixed relationship between the support cylinder 6 and the reducer box 31, the weight of the equipment from the drive wheels 2 can be distributed through the lubricating bearing mechanism and the support cylinder 6 and then transmitted to the reducer box 31, avoiding transmission through the shaft of the drive shaft 1 alone. This avoids the problem of excessive force on a single point of the drive shaft 1, which could lead to breakage. Furthermore, the lubricating bearing mechanism itself has the functions of assisting rotation and lubrication. During the rotation of the drive shaft 1, it can support the shaft located between the reducer box 31 and the drive wheels 2 and reduce frictional resistance, thereby providing auxiliary support for the drive shaft 1, reducing the risk of drive shaft 1 breakage and protecting the drive shaft 1.

[0025] like Figure 2 , Figure 8 As shown, in an optional embodiment of the present invention, the supporting cylinder 6 includes a cylinder 61 and a flange 62. The cylinder 61 and the flange 62 are coaxially fixedly connected to form a cylinder cavity. The drive shaft 1 coaxially passes through the cylinder cavity. The flange 62 is used to be fixedly connected to the reducer box 31. The lubrication bearing mechanism is located in the cylinder cavity.

[0026] Specifically, the cylinder 61 is a cylindrical body, and the flange 62 is flange-shaped. The two are concentrically fixedly connected, forming a cylindrical cavity between them. The middle section of the drive shaft 1 passes through the cylindrical cavity. The flange 62 can be fixed to the outer end face of the reducer housing 31, so that the support cylinder 6 is fixed on the reducer housing 31 as a whole. The flange 62 and the reducer housing 31 are integrally provided with a cylindrical countersunk hole for hexagonal head bolts. The support cylinder 6 can be fixed on the reducer housing 31 by hexagonal head bolts, which also realizes the fixation of the lubrication bearing mechanism. Thus, the lubrication bearing mechanism can realize auxiliary support and lubrication for the drive shaft 1.

[0027] like Figure 5 and Figure 6 As shown, in an optional embodiment of the present invention, the lubrication bearing mechanism includes a sealing bearing unit and a lubrication unit. Two sealing bearing units are provided and are arranged facing each other in the cylinder cavity. The sealing bearing units are used to assist in supporting the rotation of the drive shaft 1. The lubrication unit is located in the cylinder 61.

[0028] Specifically, the sealed bearing unit can be a roller bearing installed inside the cylinder cavity and sealed at both ends. The sealed bearing unit is used to support the rotation of the drive shaft 1. The opposing arrangement means that the components are symmetrically distributed about the middle of the two. The purpose of the opposing arrangement is to ensure the balance during rotation. The lubrication unit is used to lubricate the two sealed bearing units and is located in the cylinder 61 to lubricate the inside of the cylinder cavity. The lubrication unit can be a lubrication pipe that can inject lubricating oil to ensure that the sealed bearing unit supports the rotation of the drive shaft 1 while also providing lubrication, reducing the resistance during rotation and ensuring the smooth transmission of rotational force.

[0029] like Figure 5 , Figure 6 and Figure 7 As shown, in an optional embodiment of this utility model, the bearing sealing unit includes an oil seal bearing baffle 7, a bearing 9, an oil seal 10, and a sealing ring 11, all disposed around the drive shaft 1. Each bearing sealing unit is provided with at least one oil seal bearing baffle 7. The bearing 9 and the oil seal bearing baffle 7 are arranged sequentially from the middle to both ends of the drive shaft 1. The oil seal bearing baffle 7 is fixed to both ends of the support cylinder 6, so there are at least two of them. The two oil seal bearing baffles 7 are used to seal both ends of the cylinder cavity. The sealing ring 11 is used to seal the gap between the oil seal bearing baffle 7 and the cavity wall of the cylinder cavity. The oil seal 10 is used to seal the gap between the oil seal bearing baffle 7 and the drive shaft 1.

[0030] Specifically, the bearings 9 are all located on opposite inner sides, and the oil seal bearing baffles 7 are all located on opposite outer sides, thus forming an opposing arrangement. The oil seal bearing baffles 7 are used to seal both ends of the cylinder cavity, and are actually located at both ends of the supporting cylinder 6, one on the cylinder body 61 and the other on the flange 62. The two oil seal bearing baffles 7 respectively firmly seal the bearings 9, etc., inside. The sealing ring 11 is used to seal the gap between the oil seal bearing baffle 7 and the cavity wall of the cylinder cavity. It can be located on the oil seal bearing baffle 7, such as by using an elastic sealing ring or the like to achieve the connection with the cylinder cavity. The sealing between the walls can be achieved by using an oil seal structure, etc., thereby realizing the gap between the inner ring of the oil seal bearing baffle 7 and the drive shaft 1, forming a rotational seal. The oil seal 10 can be an exposed skeleton oil seal (W type), which has better impact resistance and is suitable for harsh working conditions. The exposed skeleton oil seal can be purchased directly from the market. When the drive shaft 1 rotates, the exposed skeleton oil seal is a dynamic seal, and when the drive shaft 1 is stationary, it is a static seal. The above can ensure that a sealed and stable support structure is formed in the cavity of the cylinder.

[0031] like Figure 4 and Figure 8 As shown, in an optional embodiment of the present invention, of the two oil seal bearing baffles 7, one oil seal bearing baffle 7 is fixed to one end of the cylinder 61 near the drive wheel 2, and the other oil seal bearing baffle 7 is fixed to one end of the flange 62 near the reducer box 31 and its outer end face is flush with the outer end face of the flange 62.

[0032] Specifically, the oil seal bearing baffles 7 of the two bearing sealing units are respectively set at both ends of the support cylinder 6, that is, one is set at the outer end of the cylinder 61 (the end near the drive wheel 2) and the other is set at the outer end of the flange 62 (the end near the reducer box 31). This setting is fixed installation. It should be noted that the outer end face of the oil seal bearing baffle 7 near the reducer box 31 is flush with the outer end face of the flange 62. After the oil seal bearing baffle 7 is installed on the support cylinder 6, the end of the support cylinder 6 near the reducer box 31 (the end of the flange 62 near the reducer box 31) remains flat without protrusions, which will not affect the fixation of the support cylinder 6 and the reducer box 31, thus making the fixation of the support cylinder 6 more stable.

[0033] like Figure 4 and Figure 7 As shown, in an optional embodiment of this utility model, the size of the bearing 9 matches the inner diameter of the cylinder cavity, two bearings 9 are provided, and there is a gap between the two bearings 9. The lubrication unit includes an oil injection component 8, which penetrates the cylinder 61 radially and its oil outlet is located at the gap between the two bearings 9.

[0034] Specifically, the bearing 9 is installed on the periphery of the drive shaft 1 and needs to be set inside the cylindrical cavity. The bearing 9 is preferably a deep groove ball bearing, with its outer ring embedded in the cylindrical cavity and its inner ring rotating together with the drive shaft 1. The deep groove ball bearing has low frictional resistance and is suitable for use. The oil injection component 8 is preferably an oil cup. There is a gap between the two bearings 9, so grease is injected into the two bearings 9 from the oil injection component 8, which can lubricate the two bearings 9. After the cylindrical cavity is sealed, it is filled with grease, which can play a role in comprehensive lubrication, protect the drive shaft 1, and prevent shaft breakage.

[0035] like Figure 9 , Figure 10 and Figure 11 As shown, in an optional embodiment of this utility model, the oil seal bearing baffle 7 includes a sealing part 71 and a mounting part 72 coaxially sleeved around the drive shaft 1. The sealing part 71 and the mounting part 72 are fixedly connected. The sealing part 71 is disposed inside the cylinder cavity. The sealing ring 11 is embedded in the sealing part 71 and is used to seal the gap between the sealing part 71 and the cavity wall of the cylinder cavity. The mounting part 72 is used to fix to both ends of the cylinder cavity. The oil seal 10 is embedded in the mounting part 72 and is used to seal the gap between the mounting part 72 and the drive shaft 1.

[0036] Specifically, the sealing ring 11 is preferably an O-ring. The sealing part 71 is provided with an annular groove for fitting the sealing ring 11. The sealing part 71 is fitted into the outer end face of the cylinder 61 or flange 62 after being aligned with it. The mounting part 72 of one oil seal bearing baffle 7 is connected to the outer end face of the cylinder 61, and the other mounting part 72 is connected to the outer end face of the flange 62. Then, the outer end face of the cylinder 61 or flange 62 is provided with an inner recess that matches the mounting part 72. The two parts match in shape and are then fixed. The sealing ring 11 is used for sealing the outer ring of the oil seal bearing baffle 7. The oil seal 10 is fitted around the drive shaft 1 and embedded in the oil seal 10. The mounting part 72 of the oil seal bearing baffle 7 is provided with a stepped part to prevent the oil seal 10 from falling off. The oil seal 10 is embedded in the stepped part for inner ring sealing. Thus, the sealing between the oil seal bearing baffle 7 and the cavity wall of the cylinder and the drive shaft 1 is achieved, ensuring the auxiliary support and lubrication of the drive shaft 1.

[0037] like Figure 4 , Figure 9 , Figure 10 and Figure 11 As shown, in an optional embodiment of the present invention, the two mounting portions 72 are respectively configured to be detachably connected to the cylinder 61 and the flange 62.

[0038] Specifically, when the mounting part 72 is connected to the outer end face of the cylinder 61 or the flange 62, it is installed from the outside to the inside by bolts. Since the mounting part 72 is similar to a flange, the mounting part 72 can be connected to the cylinder 61 or the flange 62 by, for example, hexagonal head bolts, which facilitates disassembly and maintenance.

[0039] like Figure 2 As shown, as an optional embodiment of the present invention, the present invention also proposes a drive structure, including the transmission component as described above, and further including a drive component 3. The drive component 3 includes a reducer box 31 and a motor 32. The motor 32 is drivenly connected to the input end of the reducer box 31, and the output end of the reducer box 31 is connected to the other end of the drive shaft 1 of the transmission component.

[0040] Specifically, the drive structure includes a transmission assembly and a drive assembly 3. The drive assembly 3 provides power input to the drive wheel 2 of the transmission assembly. The power of the motor 32 is output to the drive wheel 2 after being changed by the speed reducer 31. The support cylinder 6 is fixed on the housing of the speed reducer 31 to support the lubrication bearing mechanism, thereby achieving lubrication and support for the drive shaft 1.

[0041] like Figure 12 As shown, another embodiment of this utility model of an agricultural robot includes the drive structure described above. The drive wheel 2 is mainly used for drive output.

[0042] Specifically, the drive structure is located on the fixed connector 4 and installed on the robot body 5 through the fixed connector 4, thereby realizing the drive output of the drive wheel 2. The fixed connector 4 can be structurally installed on the robot body 5. The fixed connector 4 includes a base plate and a side plate. When the base plate is installed, it extends through the width direction of the fixed connector 4. Each robot body 5 is equipped with at least two drive structures, which can realize the drive of, for example, a track structure.

[0043] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the present invention.

[0044] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A transmission component, characterized in that, The device includes a drive shaft (1), a drive wheel (2), a support cylinder (6), and a lubrication bearing mechanism. One end of the drive shaft (1) is used to mount the drive wheel (2), and the other end is used to connect to the gearbox (31). The support cylinder (6) is sleeved around the shaft of the drive shaft (1) located between the gearbox (31) and the drive wheel (2). The end of the support cylinder (6) away from the drive wheel (2) is used to be fixedly connected to the gearbox (31). The lubrication bearing mechanism is sealed inside the support cylinder (6) and located around the drive shaft (1). The lubrication bearing mechanism is used to assist in supporting the rotation of the drive shaft (1) and to lubricate it. The supporting cylinder (6) includes a cylinder (61) and a flange (62). The cylinder (61) and the flange (62) are coaxially fixedly connected to form a cylinder cavity. The drive shaft (1) coaxially passes through the cylinder cavity. The flange (62) is used to be fixedly connected to the reducer box (31). The lubrication bearing mechanism is located in the cylinder cavity. The lubrication bearing mechanism includes a sealing bearing unit and a lubrication unit. Two sealing bearing units are arranged facing each other in the cylinder cavity. The sealing bearing unit is used to assist in supporting the rotation of the drive shaft (1). The lubrication unit is located in the cylinder (61).

2. The transmission assembly according to claim 1, characterized in that, The sealed bearing unit includes an oil seal bearing baffle (7), a bearing (9), an oil seal (10), and a sealing ring (11) all disposed around the drive shaft (1). The bearing (9) and the oil seal bearing baffle (7) are arranged sequentially from the middle to both ends of the drive shaft (1). The oil seal bearing baffle (7) is fixed to both ends of the support cylinder (6) and is used to seal both ends of the cylinder cavity. The sealing ring (11) is used to seal the gap between the oil seal bearing baffle (7) and the cavity wall of the cylinder cavity. The oil seal (10) is used to seal the gap between the oil seal bearing baffle (7) and the drive shaft (1).

3. The transmission assembly according to claim 2, characterized in that, Of the two oil seal bearing baffles (7), one oil seal bearing baffle (7) is fixed to one end of the cylinder (61) near the drive wheel (2), and the other oil seal bearing baffle (7) is fixed to one end of the flange (62) near the reducer box (31) and its outer end face is flush with the outer end face of the flange (62).

4. The transmission assembly according to claim 2 or 3, characterized in that, The size of the bearing (9) matches the inner diameter of the cylinder cavity. There are two bearings with a gap between them. The lubrication unit includes an oil injection component (8). The oil injection component (8) penetrates the cylinder (61) radially and its oil outlet is located at the gap between the two bearings (9).

5. The transmission assembly according to claim 3, characterized in that, The oil seal bearing baffle (7) includes a sealing part (71) and a mounting part (72) coaxially sleeved around the drive shaft (1). The sealing part (71) and the mounting part (72) are fixedly connected. The sealing part (71) is disposed inside the cylinder cavity. The sealing ring (11) is embedded in the sealing part (71) and is used to seal the gap between the sealing part (71) and the cavity wall of the cylinder cavity. The mounting part (72) is used to fix to both ends of the cylinder cavity. The oil seal (10) is embedded in the mounting part (72) and is used to seal the gap between the mounting part (72) and the drive shaft (1).

6. The transmission assembly according to claim 5, characterized in that, The two mounting parts (72) are respectively configured to be detachably connected to the cylinder (61) and the flange (62).

7. A driving structure, characterized in that, The transmission assembly as described in any one of claims 1-6 is further comprising a drive assembly (3), the drive assembly (3) comprising a gearbox (31) and a motor (32), the motor (32) being driven connected to the input end of the gearbox (31), and the output end of the gearbox (31) being connected to the other end of the drive shaft (1) of the transmission assembly.

8. An agricultural robot, characterized in that, Includes the drive structure as described in claim 7.

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