CN217643027U - In-wheel motor and mobile robot - Google Patents

Abstract

The application discloses in-wheel motor and mobile robot. The hub motor comprises a hub assembly and a brake assembly, the hub assembly comprises a rotating assembly and a rotating shaft connected with the rotating assembly, and the rotating assembly can rotate around the rotating shaft; the brake assembly comprises a locking mechanism and a bolt mechanism, the locking mechanism is connected with the rotating assembly, the bolt mechanism is connected with the rotating shaft, the locking mechanism is provided with a locking hole, the bolt mechanism is provided with a fixing pin, and the fixing pin can move relative to the locking mechanism to be inserted into the locking hole or separated from the locking hole. In this way, the runner assembly can drive locking mechanism and pivot and take place relative rotation, only needs stretch into the fixed pin in locking mechanism's the locking hole, can make runner assembly and pivot relatively fixed, when needs release braking, with the fixed pin with the separation of locking hole can, its easy operation, brake performance are higher, convenient dismantlement can realize great braking moment of torsion under the condition that does not increase brake assembly's volume.

Description

In-wheel motor and mobile robot

Technical Field

The application relates to the technical field of robots, in particular to a wheel hub motor and a mobile robot.

Background

When the dc brushless external rotor hub motor can be applied to robot chassis drive or similar transfer environments, the motor is usually operated by a controller, for example, the motor is accelerated or decelerated or driven at a constant speed. In this way, when the power supply of the controller is stably switched on, the motor can be ensured not to have redundant actions, but under the condition that the controller is powered off, the controller generally cannot play the function of zero-speed maintaining, and the machine is difficult to be ensured to be kept still when being influenced by external force. And if the power is suddenly cut off in the running process of the machine, the machine can be damaged due to unexpected conditions such as slope slipping and the like.

The electromagnetic power-off brake commonly used at present mainly adopts a friction type brake, for example, a brake is arranged on a rotating shaft of a hub motor, although the structure is convenient to disassemble, the brake torque of the friction type brake is in direct proportion to the volume, and the volume of the brake which is required to achieve large brake torque is large. When the self weight of the machine is large and the machine runs in a specific environment (such as a slope), the torque of the power-off brake is large, and the friction type brake is difficult to meet the use environment.

SUMMERY OF THE UTILITY MODEL

The main purpose of this application is to provide an in-wheel motor and mobile robot, aim at solving the relatively poor technical problem of brake performance among the prior art.

In order to solve the above problem, the present application provides an in-wheel motor, which includes: the wheel hub assembly comprises a rotating assembly and a rotating shaft connected with the rotating assembly, and the rotating assembly can rotate around the rotating shaft; the brake assembly comprises a locking mechanism and a bolt mechanism, the locking mechanism is connected with the rotating assembly, the bolt mechanism is connected with the rotating shaft, the locking mechanism is provided with a locking hole, the bolt mechanism is provided with a fixing pin, and the fixing pin can move relative to the locking mechanism to be inserted into the locking hole or separated from the locking hole.

In order to solve the above problem, the present application provides a mobile robot including the above wheel hub motor.

Compared with the prior art, the in-wheel motor of this application includes: the wheel hub assembly comprises a rotating assembly and a rotating shaft connected with the rotating assembly, and the rotating assembly can rotate around the rotating shaft; the brake assembly comprises a locking mechanism and a bolt mechanism, the locking mechanism is connected with the rotating assembly, the bolt mechanism is connected with the rotating shaft, the locking mechanism is provided with a locking hole, the bolt mechanism is provided with a fixing pin, and the fixing pin can move relative to the locking mechanism to be inserted into the locking hole or separated from the locking hole. In this way, the runner assembly can drive locking mechanism and pivot and take place relative rotation, only need stretch into the fixed pin in locking mechanism's the locking hole, can make runner assembly and pivot relatively fixed, when needs release braking, with the fixed pin with the separation of locking hole can, its easy operation, brake performance is higher, convenient dismantlement, produce the braking moment of torsion for relying on frictional force, this scheme can realize great braking moment of torsion under the condition that does not increase the volume of brake assembly.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of an in-wheel motor provided herein;

FIG. 2 isbase:Sub>A cross-sectional view of the in-wheel motor shown in FIG. 1 taken along the A-A direction;

FIG. 3 is a disassembled schematic view of the in-wheel motor shown in FIG. 1;

FIG. 4 is a cross-sectional view of one embodiment of a latch mechanism provided herein.

Reference numerals: a hub motor 1; a hub assembly 10; a rotating assembly 11; a rotating shaft 12; a first shaft section 121; a second shaft section 122; a second anti-rotation face 123; an abutment surface 124; a brake assembly 20; a latch mechanism 21; a drive assembly 210; a fixing pin 211; a main body portion 212; an accommodating space 2121; a first transition hole 2122; a limit groove 2123; an electromagnetic conversion mechanism 213; a moving mechanism 214; a stopper portion 2141; a compression tank 2142; a second transition hole 2143; an elastic member 215; a lock mechanism 22; a locking hole 221; a changeover mechanism 30; a relief hole 31; a connecting hole 32; a first rotation prevention surface 33.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. It should be further noted that, for the convenience of description, only some of the structures associated with the present application are shown in the drawings, not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. In the embodiment of the present application, all directional indicators (such as up, down, left, right, front, rear \8230;) are used only to explain the relative positional relationship between the components, the motion situation, etc. at a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The application provides an in-wheel motor, and referring to fig. 1-3, fig. 1 is a schematic structural view of an embodiment of the in-wheel motor provided by the application; FIG. 2 isbase:Sub>A cross-sectional view of the in-wheel motor shown in FIG. 1 taken along the A-A direction; fig. 3 is a disassembled schematic view of the in-wheel motor shown in fig. 1.

The in-wheel motor 1 comprises a hub assembly 10 and a brake assembly 20, wherein the hub assembly 10 comprises a rotating assembly 11 and a rotating shaft 12 connected with the rotating assembly 11, the rotating assembly 11 can rotate around the rotating shaft 12, and the brake assembly 20 is used for enabling the rotating assembly 11 and the rotating shaft to be in a relative static state. The rotating shaft 12 is inserted into the rotating assembly 11, and the rotating shaft 12 does not rotate. The shaft 12 may be located on the central axis of the rotating assembly 11 such that the central axis of the shaft 12 coincides with the central axis of the rotating assembly 11. The rotating assembly 11 rotates around the rotating shaft 12, and performs relative rotation with the rotating shaft 12 with the circumferential direction of the rotating shaft 12 as its rotating direction. The shaft 12 extends outside the rotating member 11 so that the braking member 20 is connected to a portion outside the shaft 12.

The brake assembly 20 includes a locking mechanism 22 and a latch mechanism 21, the locking mechanism 22 is connected to the rotating assembly 11, the latch mechanism 21 is connected to the rotating shaft 12, the locking mechanism 22 is provided with a locking hole 221, the latch mechanism 21 is provided with a fixing pin 211, and the fixing pin 211 can move relative to the locking mechanism 22 to be inserted into the locking hole 221 or separated from the locking hole 221. The locking mechanism 22 is fixedly connected with the rotating assembly 11, that is, the locking mechanism 22 can move synchronously with the rotating assembly 11; the latch mechanism 21 is fixedly connected to the second shaft section 122, that is, the latch mechanism 21 and the rotating shaft 12 are in a relatively static state. When the fixing pin 211 of the latch mechanism 21 extends into the locking hole 221 of the locking mechanism 22, the latch mechanism 21 is fixed relative to the locking mechanism 22, and further the rotating shaft 12 is fixed relative to the rotating assembly 11; when the fixing pin 211 is separated from the locking hole 221, the brake is released, and the rotating shaft 12 and the rotating assembly 11 can rotate relatively.

The rotating shaft 12 includes a first shaft section 121 and a second shaft section 122, the first shaft section 121 is disposed in the rotating assembly 11, and the second shaft section 122 extends to an outer side of the rotating assembly 11. The first shaft segment 121 of the rotating shaft 12 is located within the rotating assembly 11 to connect the rotating assembly 11 in a manner that enables the rotating assembly 11 to rotate about the first shaft segment 121. The second shaft section 122 extends to the outside of the rotating component 11 to connect other components and drive the components connected by the second shaft section 122 to move, for example, the second shaft section 122 can be connected to the body of the robot, and the body of the robot is driven to move by the rotation of the rotating component 11.

Through the above manner, the rotating assembly 11 can drive the locking mechanism 22 and the rotating shaft 12 to rotate relatively, and the rotating assembly 11 and the rotating shaft 12 can be relatively fixed only by extending the fixing pin 211 into the locking hole 221 of the locking mechanism 22, so that once the friction surface of the friction type brake in the prior art is polluted by oil, water, dust or chemicals, the surface friction force of the friction type brake is greatly influenced; and after long-term use, the friction surface can be because of wearing and tearing gradually, need regularly maintain and change, and this application adopts the mode braking of fixed pin 211 insertion locking hole 221, and brake performance is higher for the friction brake to only need bolt mechanism 21 and wheel hub assembly 10 separation can lift off the braking part, and the dismouting is more convenient. Meanwhile, the friction brake needs to rely on friction force to generate braking torque, and the friction force is limited by factors such as materials and sizes, so that the braking torque generated by the friction brake is usually smaller.

Referring to fig. 1-4, fig. 4 is a cross-sectional view of one embodiment of a latch mechanism provided herein.

In an embodiment, the latch mechanism 21 includes a main body 212 and a driving component 210 disposed in the main body 212, the fixing pin 211 is connected to the driving component 210, when the driving component 210 has no current input, the driving component 210 drives the fixing pin 211 to extend into the locking hole 221, and when the driving component 210 has current input, the driving component 210 drives the fixing pin 211 to be away from the locking hole 221.

The rotating assembly 11 may be electrically connected to a controller, and the controller controls the operation of the motor in the rotating assembly 11, such as acceleration, deceleration, and uniform speed of the rotating assembly 11. However, when the controller stops supplying power, the rotating assembly 11 will move under the action of external force (self gravity, external thrust), for example, when the mobile robot carrying the in-wheel motor 1 is on an inclined plane and during driving, the controller stops supplying power to the rotating assembly 11, and the in-wheel motor 1 may slip down a slope, etc., which may result in accidental damage to the mobile robot. The latch mechanism 21 may share a controller with the rotating assembly 11, which may simultaneously power the rotating assembly 11 and the latch mechanism 21. When the controller supplies power to the rotating assembly 11 and the latch mechanism 21, the movement mode of the rotating assembly 11 is mainly controlled by the controller, and at this time, the driving assembly 210 of the latch mechanism 21 also has current input to drive the fixing pin 211 to be far away from the locking hole 221; when the controller interrupts power supply to the rotating component 11 and the latch mechanism 21, the rotating component 11 may move under the action of external force (self gravity, external thrust), and at this time, the driving component 210 of the latch mechanism 21 drives the fixing pin 211 to extend into the locking hole 221, so that the rotating component 11 and the rotating shaft 12 are relatively fixed, and accidental damage of the mobile robot due to situations such as slope slipping of the in-wheel motor 1 is avoided.

In an embodiment, the driving assembly 210 includes an electromagnetic conversion mechanism 213, an elastic element 215, and a moving mechanism 214 connected to the fixing pin 211, the electromagnetic conversion mechanism 213 is embedded in the main body 212, the main body 212 has a receiving space 2121 for receiving the moving mechanism 214, the elastic element 215 is at least partially located in the receiving space 2121, and two ends of the elastic element are respectively connected to the moving mechanism 214 and the main body 212.

The electromagnetic conversion mechanism 213 surrounds the sidewall of the accommodating space 2121 and is disposed near one end of the elastic element 215, so that the magnetic field generated by the electromagnetic conversion mechanism 213 can make the moving mechanism 214 press the elastic element 215. Electromagnetic conversion mechanism 213 may be a coil that is capable of forming a magnetic field when energized. The size of the accommodating space 2121 in the displacement direction of the fixing pin 211 is larger than the size of the moving mechanism 214 in the displacement direction of the fixing pin 211; the side wall of the moving mechanism 214 is slidably connected to the side wall of the accommodating space 2121, so that the moving mechanism 214 can slide in the accommodating space 2121 under the action of magnetic force. Wherein the moving mechanism 214 may be an armature or other metal capable of being attracted by a magnetic force. The elastic member 215 may be a spring.

When the in-wheel motor 1 is in a working state: the electromagnetic conversion mechanism 213 has an input of current, and generates a magnetic force through the electromagnetic conversion mechanism 213, the moving mechanism 214 drives the fixing pin 211 to move in a direction away from the locking mechanism 22, and the moving mechanism 214 presses the elastic element 215. The elastic member 215 is pressed to generate elastic potential energy, the moving mechanism 214 and the elastic member 215 are maintained in a relatively static state or a slightly floating state, the fixing pin 211 does not extend into the locking hole 221, and the rotating assembly 11 normally operates under the control of the controller.

When the in-wheel motor 1 is in a non-working state: the electromagnetic conversion mechanism 213 receives no current, and the moving mechanism 214 moves the fixing pin 211 toward the locking mechanism 22. When no current is input to the electromagnetic conversion mechanism 213, no magnetic force is generated in the electromagnetic conversion mechanism 213, and the elastic element 215 recovers its shape, so as to push the moving mechanism 214 to move toward the locking mechanism 22 by the elastic force, and further drive the fixing pin 211 to extend into the locking hole 221 of the locking mechanism 22 by the moving mechanism 214, so that the locking mechanism 22 and the latch mechanism 21 are relatively fixed.

In an embodiment, the moving mechanism 214 is provided with a compression groove 2142 at a side facing the elastic element 215, the compression groove 2142 extends along the moving direction of the moving mechanism 214, one end of the elastic element 215 abuts against the compression groove 2142, and the other end abuts against the main body 212.

The shape of the compression groove 2142 may be similar to the shape of the elastic element 215, so that the two ends of the elastic element 215 are respectively supported in the compression groove 2142 and the main body 212. Illustratively, the elastic member 215 is a spring, the compression groove 2142 may have a cylindrical shape, and the size of the compression groove 2142 is slightly larger than that of the spring. Through the above embodiment, the compression groove 2142 is configured to accommodate a portion of the elastic element 215, so that the deformation amount of the elastic element 215 can be increased without increasing the size of the latch mechanism 21, and the elastic potential energy of the deformed elastic element 215 can be further increased, thereby achieving a smaller latch mechanism 21 and better working performance.

In one embodiment, the accommodating space 2121 has a limiting groove 2123 on a bottom wall of the connecting elastic element 215, the moving mechanism 214 has a limiting portion 2141 on a surface facing the limiting groove 2123, and when the moving mechanism 214 moves away from the locking mechanism 22, the moving mechanism 214 is limited by the limiting portion 2141 and the limiting groove 2123 in a moving direction of the moving mechanism 214.

The position-limiting portion 2141 may be cylindrical, the shape of the position-limiting groove 2123 is similar to the shape of the position-limiting portion 2141, and the size of the position-limiting groove 2123 is slightly larger than the size of the position-limiting portion 2141, so that the position-limiting portion 2141 can extend into the position-limiting groove 2123 to fit with the position-limiting groove 2123 in a clearance manner. In the above embodiment, the stopper portions 2141 and the stopper grooves 2123 are provided so as to be stopped in the moving direction of the moving mechanism 214, and the moving pitch of the moving mechanism 214 can be increased without increasing the size of the latch mechanism 21, whereby the latch mechanism 21 can be miniaturized and the workability can be improved.

The compressing groove 2142 may be opened on the surface of the limiting portion 2141, the compressing groove 2142 communicates with the limiting groove 2123, and the elastic element 215 penetrates through the limiting groove 2123 and extends into the compressing groove 2142 to reduce the size of the moving mechanism 214, so as to further reduce the size of the latch mechanism 21.

In one embodiment, the main body 212 has a first transition hole 2122 communicating with the accommodating space 2121, the moving mechanism 214 has a second transition hole 2143 communicating with the first transition hole 2122, and the fixing pin 211 is inserted into the second transition hole 2143 through the first transition hole 2122 and fixed in the moving mechanism 214.

The portion of the fixing pin 211 extending into the second transition hole 2143 and the second transition hole 2143 may be threaded, so that the moving mechanism 214 and the fixing pin 211 are connected by threads, and in other embodiments, the moving mechanism 214 and the fixing pin 211 may be fixedly connected by means of a snap fit or the like. The fixing pin 211 may be inserted from one end of the body portion 212 of the latch mechanism 21 to the other end of the body portion 212 of the latch mechanism 21 to improve stability of the fixing pin 211. Exemplarily, the elastic member 215 is a spring, a third transition hole is disposed on one end surface of the main body 212 close to the spring, the first transition hole 2122, the second transition hole 2143, the compression groove 2142, the spring and the third transition hole are communicated, and the fixing pin 211 is simultaneously inserted into each communicated portion, so that the fixing pin 211 is simultaneously exposed at two ends of the main body 212, one end of the fixing pin 211 close to the locking mechanism 22 is used for extending into or exiting from the locking hole 221, and the other end of the fixing pin 211 departing from the locking mechanism 22 is connected with the main body 212, so as to limit the fixing pin 211 in the circumferential direction of the fixing pin 211, thereby improving the stability of the fixing pin 211.

In one embodiment, the locking mechanism 22 is provided with a plurality of locking holes 221 spaced from each other, and the plurality of locking holes 221 are distributed around the rotating shaft 12.

The distance from each locking hole 221 to the rotating shaft 12 can be the same, and the distance between two adjacent locking holes 221 can be smaller than a preset distance, so that when the locking mechanism 22 rotates along with the rotating assembly 11, the fixing pin 211 can be inserted into one corresponding locking hole 221 as quickly as possible, and the time required by locking the rotating assembly 11 is shortened.

In one embodiment, the brake assembly 20 includes an adapter mechanism 30, and the latch mechanism 21 is detachably connected to the spindle 12 via the adapter mechanism 30. The adapting mechanism 30 and the rotating shaft 12 can be detachably connected through threads, or the two side surfaces of the adapting mechanism 30 are pressed and held by two parts, so that the adapting mechanism 21 and the hub motor 1 can be conveniently disassembled and assembled, and the adapting mechanism 21 can be disassembled in a scene without the adapting mechanism 21. For example, when the in-wheel motor 1 is applied to a household robot, the working environment is generally a flat ground, and even if the power supply to the rotating assembly 11 is interrupted, the robot does not move greatly, and the rotating assembly 11 does not need to be braked by the latch mechanism 21. In a use scene that braking is required to be performed by using the latch mechanism 21, the latch mechanism 21 may be installed, for example, when the in-wheel motor 1 is installed on a security robot, the work environment is complex, if the robot is powered off on an inclined road, it is easy to slide down a slope, and a safety accident occurs, and at this time, the latch mechanism 21 is required to brake the rotating assembly 11. Therefore, whether the bolt mechanism 21 is installed or not can be selected according to the requirements of the use scene, the motor does not need to be customized according to the use scene, and the process and the cost are saved.

In one embodiment, the adapter mechanism 30 is integrally disposed with or removably coupled to the latch mechanism 21. When the switching mechanism 30 is detachably connected with the plug pin mechanism 21, the plug pin mechanism 21 can be detached only by separating the switching mechanism 30 from the plug pin mechanism 21, so that the maintenance and the use are convenient; when the switching mechanism 30 and the latch mechanism 21 are integrally arranged, the production cost can be reduced, the latch mechanism 21 can be detached by separating the switching mechanism 30 from the rotating shaft 12, and whether to install the latch mechanism 21 can be selected according to the requirements of the use scene.

In one embodiment, one end of the adapting mechanism 30 can be connected to the second shaft section 122, and the other end can be detachably connected to the latch mechanism 21, the adapting mechanism 30 is provided with an avoiding hole 31, and the fixing pin 211 is inserted into the avoiding hole 31 to extend into the locking hole 221. The avoiding hole 31 is a through hole, the latch mechanism 21 is connected to a side surface of the adapting mechanism 30 facing away from the locking mechanism 22, and the fixing pin 211 is partially located in the avoiding hole 31. The adapter mechanism 30 and the latch mechanism 21 may be removably connected by threads or the like. In an embodiment, the adapting mechanism 30 has a connecting hole 32, a sidewall of the connecting hole 32 has at least one first anti-rotation surface 33, a sidewall of the second shaft 122 has at least one second anti-rotation surface 123, the connecting hole 32 is disposed on the second shaft 122, and the first anti-rotation surface 33 abuts against the second anti-rotation surface 123 to limit the adapting mechanism 30 in a circumferential direction around the second shaft 122, so as to prevent the adapting mechanism 30 from rotating around the second shaft 122.

The first anti-rotation surface 33 and the second anti-rotation surface 123 may be provided in plural numbers, and each of the first anti-rotation surface 33 and the second anti-rotation surface 123 is in one-to-one correspondence, so that the flat position positioning between the second shaft section 122 and the adapting mechanism 30 is realized, and the adapting mechanism 30 is limited in the circumferential direction around the second shaft section 122.

In one embodiment, the rotating shaft 12 is provided with an abutting surface 124, the abutting surface 124 is spaced from the rotating component 11 in the axial direction of the rotating shaft 12, and one side of the abutting surface 124 far away from the rotating component 11 abuts against the adapter mechanism 30. The abutting surface 124 is located on the second shaft section 122, the abutting surface 124 is spaced from the rotating component 11 in the axial direction of the rotating shaft 12, when one side surface of the adapter mechanism 30 abuts on one side of the abutting surface 124 away from the rotating component 11, the adapter mechanism 30 can be spaced from the rotating component 11, so as to avoid the rotating component 11 being affected by the adapter mechanism 30 when rotating.

The surface of the adapter mechanism 30 facing away from the abutment surface 124 may be pressed by a foreign object to secure the adapter mechanism 30. Specifically, the rotating shaft 12 may be threaded, and a nut is screwed into the rotating shaft 12 to press the surface of the adapter 30 away from the abutting surface 124. Alternatively, when the rotating shaft 12 is connected to a mobile robot, the surface of the adaptor 30 away from the abutment surface 124 can be pressed by the mobile robot body, so that the adaptor 30 can be fixed on the rotating shaft 12 by the mating abutment surface 124.

The application also provides a mobile robot, and the mobile robot comprises the hub motor 1, which is not described herein again.

The mobile robot may include a controller, and the latch mechanism may share a single controller with the rotating assembly, and the controller may simultaneously power the rotating assembly and the latch mechanism on and off. When the controller supplies power to the rotating assembly and the bolt mechanism, the movement mode of the rotating assembly is mainly controlled by the controller, and at the moment, the driving assembly of the bolt mechanism also has current input so as to drive the fixing pin to be far away from the locking hole; when the controller was interrupted for runner assembly and bolt mechanism power supply, runner assembly can move under the effect of external force (self gravity, outer thrust), and the drive assembly of bolt mechanism drove the fixed pin and stretches into the locking hole this moment to make runner assembly and pivot relatively fixed, avoid the mobile robot accident impaired.

The principle and the implementation of the present application are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims (10)

1. An in-wheel motor, comprising:

the hub assembly comprises a rotating assembly and a rotating shaft connected with the rotating assembly, and the rotating assembly can rotate around the rotating shaft;

the braking assembly, the braking assembly includes locking mechanism and bolt mechanism, locking mechanism with the runner assembly is connected, bolt mechanism with the pivot is connected, locking mechanism is equipped with the locking hole, bolt mechanism is equipped with the fixed pin, the fixed pin can for locking mechanism removes, in order to insert the locking hole, or with the separation of locking hole.

2. The in-wheel motor of claim 1,

locking mechanism is equipped with a plurality of at intervals each other the locking hole, it is a plurality of the locking hole is around the pivot distributes and sets up.

3. The in-wheel motor of claim 1, wherein the latch mechanism comprises a main body and a driving assembly disposed in the main body, the fixing pin is connected to the driving assembly, when the driving assembly has no current input, the driving assembly drives the fixing pin to extend into the locking hole, and when the driving assembly has current input, the driving assembly drives the fixing pin to move away from the locking hole.

4. The in-wheel motor according to claim 3, wherein the driving assembly comprises an electromagnetic conversion mechanism, an elastic member and a moving mechanism connected with the fixing pin, the electromagnetic conversion mechanism is embedded in the main body part, the main body part is provided with an accommodating space for accommodating the moving mechanism, the elastic member is at least partially positioned in the accommodating space, and two ends of the elastic member are respectively connected with the moving mechanism and the main body part;

when current is input into the electromagnetic conversion mechanism, magnetic force is generated, the moving mechanism drives the fixing pin to move towards the direction far away from the locking mechanism, and the elastic piece is pressed; when no current is input into the electromagnetic conversion mechanism, the moving mechanism drives the fixing pin to move towards the direction close to the locking mechanism.

5. The in-wheel motor of claim 4, wherein the moving mechanism is provided with a compression groove at a side facing the elastic member, the compression groove extends along a moving direction of the moving mechanism, one end of the elastic member abuts against the compression groove, and the other end abuts against the main body.

6. The hub motor according to claim 4, wherein the accommodating space is provided with a limiting groove on the bottom wall connected with the elastic member, the moving mechanism is provided with a limiting portion on a surface facing the limiting groove, and the moving mechanism limits the limiting portion and the limiting groove in a moving direction of the moving mechanism when moving in a direction away from the locking mechanism.

7. The in-wheel motor according to claim 4, wherein the main body is provided with a first transition hole communicated with the accommodating space, the moving mechanism is provided with a second transition hole communicated with the first transition hole, and the fixing pin is inserted into the second transition hole through the first transition hole and fixed in the moving mechanism.

8. The in-wheel motor of claim 1, wherein the brake assembly comprises an adapter mechanism, the latch mechanism is detachably connected with the rotating shaft through the adapter mechanism, and the adapter mechanism and the latch mechanism are integrally arranged or detachably connected.

9. The in-wheel motor according to claim 8, wherein the rotating shaft is provided with an abutting surface, the abutting surface is spaced from the rotating assembly in the axial direction of the rotating shaft, and one side of the abutting surface, which is far away from the rotating assembly, abuts against the adapter mechanism.

10. A mobile robot comprising the in-wheel motor of any one of claims 1 to 9.

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