CN219769635U - Driving wheel structure and robot with same - Google Patents

Abstract

The utility model relates to the technical field of mobile robots, in particular to a driving wheel structure and a robot with the driving wheel structure, wherein the driving wheel structure comprises a wheel assembly, a driving assembly, a frame assembly and an electric assembly; the frame assembly comprises a control box body, a reduction box body and a transverse axle, wherein the transverse axle is overlapped with the control box body, the reduction box bodies are respectively arranged at two sides of the transverse axle and the control box body, and the transverse axle and the control box body are respectively connected with the reduction box body through a clamping structure; the two reduction boxes are internally provided with driving components respectively, the driving components are connected with the wheel components, and the electric components are arranged in the control box and connected with the driving components. According to the driving wheel structure and the robot, the structure adopts the clamping mode, a screw and a nut are not needed, and further, a space is not needed to be reserved for a spanner, so that the space of the structure is more compact, and the space utilization rate is higher.

Description

Driving wheel structure and robot with same

Technical Field

The utility model relates to the technical field of mobile robots, in particular to a driving wheel structure and a robot with the driving wheel structure.

Background

The mobile robot is widely applied to the field of industrial production at the present stage, and the production efficiency and the safety are greatly improved. Common magnetic attraction robot running mechanisms comprise wheel mechanisms, crawler-type mechanisms and the like.

The wheel set of the magnetic adsorption wheeled robot has a larger relation with the structure form and the connection mode of the chassis of the robot, the driving wheel set at the present stage is mainly of a screw-nut connection structure, the connection mode needs to reserve a larger spanner space, the utilization rate of the structure space is low, and the further miniaturization and modularization of the micro-robot are severely limited.

Disclosure of Invention

In order to solve at least the technical problems in the prior art, the utility model provides a driving wheel structure and a robot with the driving wheel structure.

One aspect of the present utility model provides a drive wheel structure comprising a wheel assembly, a drive assembly, a frame assembly, and an electrical assembly; the vehicle frame assembly comprises a control box body, a reduction box body and a transverse axle, wherein the transverse axle is overlapped with the control box body, the reduction box body is respectively arranged on two sides of the transverse axle and the control box body, and the transverse axle and the control box body are respectively connected with the reduction box body through a clamping structure; the two reduction boxes are internally provided with driving assemblies respectively, the driving assemblies are connected with the wheel assemblies, and the electric assemblies are arranged in the control box and connected with the driving assemblies.

In some embodiments, the clamping structure comprises an upper beveled protrusion, an upper beveled groove, a lower beveled protrusion, and a lower beveled groove; the two sides of the transverse axle are respectively provided with the upper oblique convex part, the two sides of the control box body are respectively provided with the lower oblique convex part, and the two reduction box bodies are respectively provided with the upper oblique groove and the lower oblique groove; when the transverse axle, the control box body and the speed reduction box body are connected, the upper oblique convex part is connected with the upper oblique groove in a clamping mode, and the lower oblique convex part is connected with the lower oblique groove in a clamping mode.

In some embodiments, two sides of the transverse axle are respectively provided with an end plate, a first pin groove is formed in the end plate, a second pin groove is formed in the reduction box body, and when the transverse axle and the reduction box body are in coaxial opposition, the first pin groove and the second pin groove are coaxially opposite, and a first pin is penetrated; and/or the two sides of the bottom surface of the control box body are respectively provided with a strip-shaped groove, the speed reduction box body is provided with a strip-shaped convex part, and when the control box body is connected with the speed reduction box body, the strip-shaped grooves are connected with the strip-shaped convex parts in a clamping mode.

In some embodiments, the control box further comprises a control box cover, the middle of the control box cover comprising a boss comprising a groove in communication with the control box; the frame assembly comprises two transverse axles, the protruding part is located between the two transverse axles, a mounting structure is arranged in the groove, the electric assembly comprises a controller and a power supply, the power supply is arranged in the control box, and the controller is connected with the mounting structure.

In some embodiments, the reduction gearbox body comprises a reduction gearbox cover, a plurality of dovetail convex pieces are arranged on the bottom surface of the reduction gearbox cover, and dovetail grooves used for being clamped with the dovetail convex pieces are arranged on the ports of the reduction gearbox body.

In some embodiments, the dovetail projection and the opposing face of the dovetail slot are provided with a third pin slot and a fourth pin slot, respectively, in which a second pin and an elastic member are disposed.

In some embodiments, the wheel assembly comprises a rim, a hub and a self-locking pin shaft, wherein a first pin hole is formed in the rim, a second pin hole is formed in the hub, a locking protrusion is formed in the peripheral surface of one end of the self-locking pin shaft, and a limiting snap ring is arranged at the other end of the self-locking pin shaft; the first pin hole and the second pin hole are provided with avoidance holes for locking protrusions, the self-locking pin shafts sequentially penetrate through the first pin hole and the second pin hole, the limiting snap rings are in butt joint with the rim, and after the self-locking pin shafts rotate for a set angle, the locking protrusions are in butt joint with the hub.

In some embodiments, the rim comprises a rigid rim body, a magnet, and a buffer rim; the radial outer side of the rigid rim main body is fixedly connected with the magnet, and the radial outer side of the magnet is fixedly connected with the buffer rim.

In some embodiments, the driving assembly comprises a driving motor, a driving structure, a driven driving structure and a shaft end check ring, wherein the driving motor is arranged on the outer side of the reduction gearbox body, and the driving structure, the driven driving structure and the shaft end check ring are arranged in the reduction gearbox body; the output shaft of driving motor with initiative drive structure is connected, initiative drive structure with driven drive structure is connected, wheel hub includes the connecting axle, the connecting axle passes driven drive structure, and with driven drive structure fixed connection, the end connection of connecting axle the axle end retaining ring, the axle end retaining ring with the reducing gear box body is connected.

Another aspect of the present utility model provides a robot comprising the above-described driving wheel structure.

According to the driving wheel structure and the robot with the driving wheel structure, the driving assembly is arranged in the reduction gearbox and is connected with the wheel assembly, the electric assembly is arranged in the control gearbox, the transverse axle and the control gearbox are respectively connected with the reduction gearbox through the clamping structure, so that the whole assembly of the driving wheel structure is realized, the clamping mode is adopted, screws and nuts are not needed, further, space for a spanner is not needed to be reserved, the space of the structure is compact, and the space utilization rate is high.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present utility model will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present utility model are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Fig. 1 is a schematic structural view of a driving wheel structure according to an embodiment of the present utility model;

FIG. 2 is a transverse cross-sectional view of a drive wheel configuration provided in an embodiment of the present utility model;

FIG. 3 is a longitudinal cross-sectional view of a drive wheel structure provided by an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a control box in a driving wheel structure according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a control box cover in a driving wheel structure according to an embodiment of the present utility model;

fig. 6 is a schematic structural view of a transverse axle in a driving wheel structure according to an embodiment of the present utility model;

fig. 7 is a schematic structural diagram of a reduction gearbox in a driving wheel structure according to an embodiment of the present utility model;

fig. 8 is a cross-sectional view of a reduction gearbox in a driving wheel structure according to an embodiment of the present utility model;

fig. 9 is a schematic structural view of a reduction gearbox body in a driving wheel structure according to an embodiment of the present utility model, where the reduction gearbox body is not connected to a reduction gearbox cover;

fig. 10 is a schematic structural view of a gearbox cover in a driving wheel structure according to an embodiment of the present utility model;

FIG. 11 is a schematic view of a wheel assembly in a driving wheel structure according to an embodiment of the present utility model;

FIG. 12 is a schematic view of a hub in a driving wheel structure according to an embodiment of the present utility model;

fig. 13 is a schematic structural view of a self-locking pin in a driving wheel structure according to an embodiment of the present utility model.

In the figure:

1: a wheel assembly; 2: a drive assembly; 3: a frame assembly; 4: an electrical component;

11: a buffer rim; 12: a rigid rim body; 13: a hub; 14: a magnet; 15: self-locking pin shaft; 131: a second pin hole; 132: a connecting shaft; 151: locking the bulge; 152: a limiting snap ring;

21: a driving motor; 22: an active driving structure; 23: a bearing; 24: a driven driving structure; 25: a shaft end retainer ring;

31: a reduction box cover; 32: a control box body; 33: controlling the box cover; 34: a transverse axle; 35: a reduction gearbox body; 36: an elastic member; 37: a first pin; 38: a second pin; 311: dovetail projections; 312: a third pin slot; 321: a lower beveled convex member; 322: a bar-shaped groove; 331: a mounting structure; 341: an upper beveled convex member; 342: a first pin slot; 351: an upper inclined groove; 352: a lower inclined groove; 353: a second pin slot; 354: a strip-shaped convex member; 355: a dovetail groove; 356: and a fourth pin slot.

41: a controller; 42: and a power supply.

Detailed Description

In order to make the objects, features and advantages of the present utility model more comprehensible, the technical solutions according to the embodiments of the present utility model will be clearly described in the following with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1 and 2, an embodiment of the present utility model provides a driving wheel structure including a wheel assembly 1, a driving assembly 2, a frame assembly 3, and an electrical assembly 4. The wheel assembly 1 is connected with the driving assembly 2, the driving assembly 2 drives the wheel assembly 1 to rotate, the movement operation of the driving wheel is completed, the frame assembly 3 is connected with the two wheel assemblies 1, the driving assembly 2 is controlled by the electric assembly 4, and the driving assembly 2 is controlled.

The specific structure of each component and the connection relationship between components are described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 3, the frame assembly 3 includes a control box 32, a reduction box 35 and a transverse axle 34, the transverse axle 34 is overlapped with the control box 32, the reduction box 35 is respectively arranged at two sides of the transverse axle 34 and the control box 32, and the transverse axle 34 and the control box 32 are respectively connected with the reduction box 35 through a clamping structure; the two reduction boxes 35 are respectively provided with a driving component 2, the driving component 2 is connected with the wheel component 1, and the electric component 4 is arranged in the control box 32 and is connected with the driving component 2.

In the embodiment of the utility model, the firm connection between the components can be realized without using fastening structures such as screws and nuts, the assembly process is simple, the assembly difficulty can be effectively reduced, the production efficiency is improved, and the electric component 4 and the driving component 2 are integrally arranged in the driving wheel structure, so that the driving wheel structure is provided with a power supply 42 and driving, the plug and play of the driving wheel structure can be realized, and the rapid development according to the actual working condition is convenient.

For example, as shown in fig. 4, 6, 7 and 9, the clamping structure includes an upper inclined convex member 341, an upper inclined groove 351, a lower inclined convex member 321 and a lower inclined groove 352; upper oblique convex pieces 341 are respectively arranged on two sides of the transverse axle 34, lower oblique convex pieces 321 are respectively arranged on two sides of the control box body 32, and upper oblique grooves 351 and lower oblique grooves 352 are respectively arranged on the two reduction box bodies 35; when the transverse axle 34, the control box 32 and the reduction box 35 are assembled, the upper inclined convex part 341 is clamped with the upper inclined groove 351, and the lower inclined convex part 321 is clamped with the lower inclined groove 352.

When the transverse axle 34 and the control box 32 are connected with the reduction box 35, the upper inclined convex piece 341 is matched with the upper inclined groove 351, the lower inclined convex piece 321 is matched with the lower inclined groove 352, a screw and nut structure is not needed, a spanner space is not needed, and the driving wheel structure can be miniaturized.

And, two sides of the transverse axle 34 are respectively provided with an end plate, a first pin groove 342 is arranged on the end plate, a second pin groove 353 is arranged on the reduction box body 35, and when the transverse axle 34 and the reduction box body 35 are in coaxial opposite arrangement, the first pin groove 342 and the second pin groove 353 are arranged in a coaxial opposite way, and the first pin 37 is penetrated; the two sides of the bottom surface of the control box 32 are respectively provided with a strip-shaped groove 322, the reduction box 35 is provided with a strip-shaped convex part 354, and when the control box 32 and the reduction box 35 are in control, the strip-shaped grooves 322 are clamped with the strip-shaped convex parts 354. For example, the bar slot 322 is an oblong slot and the bar tab 354 is an oblong tab.

The assembled driving wheel structure can limit the freedom degrees of multiple directions of space through the matching of the inclined grooves and the matching between the first pins 37 and the strip grooves 322, so that the complete fixation is realized; and meets the requirements of screw-free nut design and increased utilization rate of structural space.

For example, as shown in fig. 5, the control box 32 further includes a control box cover 33, the middle portion of the control box cover 33 includes a convex portion including a groove communicating with the control box 32; the frame assembly 3 comprises two transverse axles 34, the protruding part is arranged between the two transverse axles 34, the mounting structure 331 is arranged in the groove, the electric assembly 4 comprises a controller 41 and a power supply 42, the power supply 42 is arranged in the control box 32, and the controller 41 is connected with the mounting structure 331. The controller 41 mounting structure 331 is fixed to the components in a locking manner, and the power supply 42 is fixed in the control box 32 in a matching locking manner by using elastic elements. For example, the mounting structure 331 is a mounting slide, and the controller 41 is connected to the mounting slide.

The two transverse axles 34 can clamp the protruding parts, so that the control box cover 33 is fixed, or a connecting structure, such as a pin, is arranged between the transverse axles 34 and the control box cover 33, and the connection between the transverse axles 34 and the control box cover 33 is realized through the connecting structure.

For example, as shown in fig. 8 to 10, the reduction box 35 includes a reduction box cover 31, a plurality of dovetail protrusions 311 are provided on the bottom surface of the reduction box cover, and a dovetail groove 355 for being engaged with the dovetail protrusions 311 is provided at a port of the reduction box 35. Through the design of forked tail structure between reduction box lid 31 and the reduction box 35, the forked tail design has the function of preventing tearing open, avoids reduction box 35 to be dismantled at will.

For example, the third pin slot 312 and the fourth pin slot 356 are provided on opposite sides of the dovetail convex part 311 and the dovetail groove 355, respectively, and the second pin 38 and the elastic part 36 are inserted into the third pin slot 312 and the fourth pin slot 356. When the reduction gearbox cover 31 and the reduction gearbox body 35 are assembled, the dovetail convex piece 311 is connected with the dovetail groove 355, and the second pin 38 is tightly propped by the elastic piece 36, so that the locking of the reduction gearbox cover 31 and the reduction gearbox body 35 is realized, a self-locking structure is formed, and the disassembly preventing capability of the reduction gearbox cover 31 and the reduction gearbox body 35 is further improved. For example, the elastic member 36 is a spring or other elastic structure, and in the embodiment of the present utility model, the structure of the elastic member 36 is not limited.

As shown in fig. 11 to 13, in the embodiment of the present utility model, a wheel assembly 1 includes a rim, a hub 13 and a self-locking pin shaft 15, wherein a first pin hole is formed on the rim, a second pin hole 131 is formed on the hub 13, a locking protrusion 151 is formed on the circumferential surface of one end of the self-locking pin shaft 15, and a limit snap ring 152 is formed on the other end of the self-locking pin shaft; the first pin hole and the second pin hole 131 are provided with avoidance holes of the locking protrusions 151, the self-locking pin shaft 15 sequentially penetrates through the first pin hole and the second pin hole 131, the limiting snap ring 152 is abutted to the rim, and after the self-locking pin shaft 15 rotates by a set angle, the locking protrusions 151 are abutted to the hub 13.

For example, a plurality of first pin holes (not shown) are uniformly provided on the rim in the axial direction, a plurality of second pin holes 131 are provided at corresponding positions on the hub 13, and the plurality of first pin holes and the plurality of second pin holes 131 are uniformly distributed, so that stable connection of the rim and the hub 13 is achieved.

For example, the core of the rim is made of a rigid material, so that the rim has good supporting performance, the wheel disc connected with the core is made of a flexible material, the wheel disc has good elasticity, and the wheel disc and the rigid core are of an integrated structure.

For example, the rim comprises a rigid rim body 12, magnets 14 and a buffer rim 11; the radially outer side of the rigid rim body 12 is fixedly connected to the magnet 14, and the radially outer side of the magnet 14 is fixedly connected to the buffer rim 11. The buffer rim 11 and the rigid rim main body 12 are of an integral cladding structure, and the buffer rim 11 is made of flexible materials and has good buffer performance. For example, the flexible material is rubber. So that the wheel assembly 1 can smoothly pass through the rugged surface and damage to the magnetic element by the rigid impact can be effectively reduced.

In the embodiment of the utility model, the driving assembly 2 comprises a driving motor 21, a driving structure 22, a driven driving structure 24 and a shaft end check ring 25, wherein the driving motor 21 is arranged on the outer side of a reduction gearbox 35, and the driving structure 22, the driven driving structure 24 and the shaft end check ring 25 are arranged in the reduction gearbox 35; the output shaft of driving motor 21 is connected with initiative drive structure 22, and initiative drive structure 22 is connected with driven drive structure 24, and wheel hub 13 includes connecting axle 132, and connecting axle 132 passes driven drive structure 24 to with driven drive structure 24 fixed connection, the end connection axle head retaining ring 25 of connecting axle 132, axle head retaining ring 25 is connected with reduction box 35.

The drive motor 21 is disposed on the outer wall of the reduction gearbox 35, the bearing 23 is disposed in the reduction gearbox 35, and both ends of the connecting shaft 132 are respectively connected with the bearing 23. The driving motor 21 drives the structure 22 to rotate, and the driving structure 22 drives the driven structure 24 to rotate, so that synchronous rotation of the connecting shaft 132 is realized.

For example, the driving structure 22 and the driven driving structure 24 are worm and turbine structures, and power transmission is achieved through transmission cooperation of the worm and the turbine.

The utility model provides a robot which comprises the driving wheel structure. The driving wheel structure is an independent module, and is provided with an independent power supply 42 and a driving assembly 2, so that plug and play can be achieved, and meanwhile, the driving wheel structure is simple in structure, occupies smaller volume and is beneficial to the miniaturized design of a robot.

According to the driving wheel structure and the robot with the driving wheel structure, the driving assembly 2 is arranged in the reduction box body 35 and is connected with the wheel assembly 1, the electric assembly 4 is arranged in the control box body 32, and the transverse axle 34 and the control box body 32 are respectively connected with the reduction box body 35 through the clamping structure, so that the whole assembly of the driving wheel structure is realized.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The foregoing is merely illustrative embodiments of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present utility model, and the utility model should be covered. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (10)

1. The driving wheel structure is characterized by comprising a wheel assembly (1), a driving assembly (2), a frame assembly (3) and an electric assembly (4);

the frame assembly (3) comprises a control box body (32), a speed reduction box body (35) and a transverse axle (34), wherein the transverse axle (34) and the control box body (32) are overlapped, the speed reduction box body (35) is respectively arranged on two sides of the transverse axle (34) and two sides of the control box body (32), and the transverse axle (34) and the control box body (32) are respectively connected with the speed reduction box body (35) through a clamping structure;

the two reduction boxes (35) are respectively provided with the driving assembly (2), the driving assembly (2) is connected with the wheel assembly (1), and the electric assembly (4) is arranged in the control box (32) and is connected with the driving assembly (2).

2. The drive wheel arrangement of claim 1, wherein the clamping arrangement comprises an upper beveled protrusion (341), an upper beveled groove (351), a lower beveled protrusion (321), and a lower beveled groove (352);

the two sides of the transverse axle (34) are respectively provided with the upper inclined convex part (341), the two sides of the control box body (32) are respectively provided with the lower inclined convex part (321), and the two reduction box bodies (35) are respectively provided with the upper inclined groove (351) and the lower inclined groove (352);

when the transverse axle (34), the control box body (32) and the speed reduction box body (35) are connected, the upper inclined convex part (341) is connected with the upper inclined groove (351) in a clamping mode, and the lower inclined convex part (321) is connected with the lower inclined groove (352) in a clamping mode.

3. The driving wheel structure according to claim 2, characterized in that two sides of the transverse axle (34) are respectively provided with an end plate, a first pin groove (342) is arranged on the end plate, a second pin groove (353) is arranged on the reduction box body (35), and when the transverse axle (34) and the reduction box body (35) are in coaxial opposite arrangement, the first pin groove (342) and the second pin groove (353) are arranged in a penetrating manner, and a first pin (37) is arranged in a penetrating manner; and/or

The two sides of the bottom surface of the control box body (32) are respectively provided with a strip-shaped groove (322), the reduction box body (35) is provided with a strip-shaped protruding part (354), and the strip-shaped grooves (322) are clamped with the strip-shaped protruding part (354) when the control box body (32) and the reduction box body (35) are connected.

4. A driving wheel arrangement according to claim 3, characterized in that the control box (32) further comprises a control box cover (33), the middle part of the control box cover (33) comprising a protruding part comprising a recess communicating with the control box (32);

the vehicle frame assembly (3) comprises two transverse axles (34), the protruding portion is located between the two transverse axles (34), a mounting structure (331) is arranged in the groove, the electric assembly (4) comprises a controller (41) and a power supply (42), the power supply (42) is arranged in the control box body (32), and the controller (41) is connected with the mounting structure (331).

5. The driving wheel structure according to claim 4, wherein the reduction gearbox (35) comprises a reduction gearbox cover (31), a plurality of dovetail convex pieces (311) are arranged on the bottom surface of the reduction gearbox cover (31), and dovetail grooves (355) used for being clamped with the dovetail convex pieces (311) are arranged at ports of the reduction gearbox (35).

6. The driving wheel structure according to claim 5, wherein the opposite surfaces of the dovetail convex part (311) and the dovetail groove (355) are respectively provided with a third pin groove (312) and a fourth pin groove (356), and the third pin groove (312) and the fourth pin groove (356) are internally provided with a second pin (38) and an elastic part (36).

7. The driving wheel structure according to any one of claims 1 to 6, wherein the wheel assembly (1) comprises a rim, a hub (13) and a self-locking pin shaft (15), a first pin hole is formed in the rim, a second pin hole (131) is formed in the hub (13), a locking protrusion (151) is formed on the peripheral surface of one end of the self-locking pin shaft (15), and a limiting snap ring (152) is formed on the other end of the self-locking pin shaft;

the first pin hole and the second pin hole (131) are provided with avoidance holes of the locking protrusions (151), the self-locking pin shafts (15) sequentially penetrate through the first pin hole and the second pin hole (131), the limiting clamp rings (152) are abutted to the rim, and after the self-locking pin shafts (15) rotate for a set angle, the locking protrusions (151) are abutted to the hub.

8. The drive wheel arrangement according to claim 7, characterized in that the rim comprises a rigid rim body (12), magnets (14) and a buffer rim (11);

the radial outer side of the rigid rim main body (12) is fixedly connected with the magnet (14), and the radial outer side of the magnet (14) is fixedly connected with the buffer rim (11).

9. The driving wheel structure according to claim 8, characterized in that the driving assembly (2) comprises a driving motor (21), a driving structure (22), a driven driving structure (24) and a shaft end retainer ring (25), the driving motor (21) is arranged on the outer side of the reduction gearbox (35), and the driving structure (22), the driven driving structure (24) and the shaft end retainer ring (25) are arranged in the reduction gearbox (35);

the output shaft of driving motor (21) with initiative drive structure (22) is connected, initiative drive structure (22) with driven drive structure (24) are connected, wheel hub includes connecting axle (112), connecting axle (112) pass driven drive structure (24), and with driven drive structure (24) fixed connection, the end connection of connecting axle (112) axle head retaining ring (25), axle head retaining ring (25) with reduction box (35) are connected.

10. A robot comprising a drive wheel arrangement according to any one of claims 1 to 9.