WO2024012175A1

WO2024012175A1 - Driving wheel assembly, movable base, and transport robot

Info

Publication number: WO2024012175A1
Application number: PCT/CN2023/101968
Authority: WO
Inventors: 孔哲; 李晓宇; 王化杰; 周小红; 徐聪; 李响钟; 游辉; 袁海平
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2022-07-15
Filing date: 2023-06-21
Publication date: 2024-01-18
Also published as: CN217927828U

Abstract

A driving wheel assembly, comprising a motor shaft (10), a planetary transmission mechanism (20), and a hub (30). The motor shaft (10) has a gear end (14), and the gear end (14) and the motor shaft (10) are integrated; the hub (30) is provided with a mounting cavity, and the planetary transmission mechanism (20) is disposed in the mounting cavity and is connected to the inner surface of the hub (30); the planetary transmission mechanism (20) comprises a planet carrier (21) and a plurality of planet gears (22) provided on the planet carrier (21), and each planet gear (22) is engaged with the gear end (14); and the motor shaft (10) is configured to drive, by means of the planetary transmission mechanism (20), the hub (30) to rotate. The driving wheel assembly is high in integration level, and facilitates the disassembly and mounting of a transport robot. The present disclosure further relates to a movable base (100) and a transport robot.

Description

Driving wheel assembly, mobile base and handling robot

This application claims priority to the Chinese patent application filed with the China Patent Office on July 15, 2022, with the application number 202221820252.5 and the application name "Driving wheel assembly, mobile base and handling robot", the entire content of which is incorporated herein by reference. Applying.

Technical field

Embodiments of the present disclosure relate to the field of intelligent warehousing technology, and in particular to a driving wheel assembly, a mobile base and a handling robot.

Background technique

With the rapid development of artificial intelligence technology, automation technology, and information technology, the degree of intelligence of logistics has also continued to increase. Handling robots are one of the main equipment for realizing intelligent logistics. Handling robots can reduce the heavy physical labor of humans. , and improve handling efficiency.

In the related art, a handling robot usually includes a mobile base and a body disposed on the mobile base. Among them, the mobile base includes a chassis and a driving wheel assembly arranged on the chassis. The driving wheel assembly drives the main body to move in the warehouse to realize the function of the handling robot to transfer goods.

However, the structure of the above-mentioned driving wheel assembly is relatively complex, which is not conducive to the assembly and disassembly of the handling robot.

Application content

In view of the above problems, embodiments of the present disclosure provide a driving wheel assembly, a mobile base and a handling robot to facilitate the assembly and disassembly of the handling robot.

In order to achieve the above objectives, embodiments of the present disclosure provide the following technical solutions:

A first aspect of an embodiment of the present disclosure provides a driving wheel assembly, which includes: a motor shaft, a planetary transmission mechanism and a wheel hub;

The motor shaft has a gear end, and the gear end is integrated with the motor shaft; the hub has an installation cavity, and the planetary transmission mechanism is arranged in the installation cavity and connected with the inner part of the hub. surface connection;

The planetary transmission mechanism includes a planet carrier and a plurality of planet wheels arranged on the planet carrier, and each of the planet wheels is meshed with the gear end;

The motor shaft is configured to drive the wheel hub to rotate through the planetary transmission mechanism.

In a possible implementation, the motor shaft includes a first section, a second section and a third section connected in sequence, and the gear end is provided at an end of the third section away from the second section, so The diameter of the second section is larger than the diameter of the first section and the diameter of the third section, so that a first step surface is formed between the first section and the second section, and the third section and A second step surface is formed between the second sections;

A first bearing is provided on the first section and/or the third section.

In a possible implementation, it also includes a motor housing and a rotor arranged in the motor housing; the first section, the second section and part of the third section of the motor shaft are located in the motor Inside the casing, the first section is connected to the rotor; the gear end of the motor shaft is located outside the motor casing.

In a possible implementation, the first bearing is a tapered roller bearing.

In a possible implementation, the driving wheel assembly further includes a braking mechanism, which is sleeved on the first section and located between the first bearing and the first step surface. .

In a possible implementation, the driving wheel assembly further includes a bearing mounting bracket and a second bearing having an meshing portion, the meshing portion meshes with the at least two planetary gears;

The second bearing is sleeved on the bearing mounting bracket and abuts against the planet carrier.

In a possible implementation manner, the number of the second bearings is two, and the two second bearings are spaced apart and sleeved on the bearing mounting bracket.

In a possible implementation, the planet carrier includes a body and a first annular mounting plate, the first annular mounting plate is provided on a side of the body facing the motor shaft, and the first annular mounting plate The plate is connected to the bearing mounting bracket;

The bearing mounting bracket includes a ring gear meshed with the planet gear and a second annular mounting plate. The second annular mounting plate is disposed on a side of the ring gear away from the planet carrier. The second annular mounting plate The board and the first annular mounting plate form an accommodation space;

The second bearing is located in the accommodation space, and the outer surface of the second bearing is in contact with the outer surface of the ring gear and the inner surface of the first annular mounting plate respectively.

In a possible implementation, the first annular mounting plate and the second annular mounting plate are fixedly connected by screws.

In a possible implementation, the hub further includes an elastic member covering the outer peripheral surface of the hub.

Compared with related technologies, the driving wheel assembly provided by the embodiment of the present disclosure has the following advantages:

The driving wheel assembly provided by the embodiment of the present disclosure integrates the motor shaft, planetary transmission mechanism and hub into one component, thereby avoiding the need to reassemble the driving wheel assembly when assembling with other components of the mobile base, and has the advantage of a high degree of integration. .

In addition, the end of the motor shaft is processed into a gear shape, which acts as the sun gear in the planetary gear system, simplifying the structure of the drive wheel assembly and further improving the integration of the drive wheel assembly.

A second aspect of the embodiment of the present disclosure provides a mobile base, which includes: a chassis and the driving wheel assembly described in the first aspect, and the driving wheel assembly is disposed on the chassis.

A third aspect of the embodiment of the present disclosure provides a handling robot, including the mobile base provided in the second aspect.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions and the beneficial effects brought by the technical features of these technical solutions described above, the driving wheel assembly, the mobile base and the transport provided by the embodiments of the present disclosure Other technical problems that robots can solve, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation methods.

Description of drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief introduction will be made below to the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a perspective view of a driving wheel assembly provided by an embodiment of the present disclosure;

Figure 2 is a cross-sectional view of a driving wheel assembly provided by an embodiment of the present disclosure;

Figure 3 is a schematic diagram of a motor shaft provided by an embodiment of the present disclosure;

Figure 4 is a second cross-sectional view of the driving wheel assembly provided by an embodiment of the present disclosure;

Figure 5 is a third cross-sectional view of the driving wheel assembly provided by the embodiment of the present disclosure;

Figure 6 is a schematic diagram of a handling robot provided by an embodiment of the present disclosure.

Explanation of reference symbols:

10: Motor shaft; 11: First section; 111: First sub-section; 112: Second sub-section; 113: Third sub-section; 12: Second section; 13: Third section; 14: Gear end; 15 : The first step surface; 16: The second step surface; 17: The third step surface; 18: The fourth step surface;

20: Planetary transmission mechanism; 21: Planetary carrier; 211: Body; 212: First annular mounting plate; 22: Planetary wheel;

30: hub;

40: First bearing;

50: Motor housing; 51: Rotor; 60: Braking mechanism;

70: Bearing mounting bracket; 71: Ring gear; 72: Second annular mounting plate;

80: Second bearing;

90: Elastic parts;

100: mobile base; 110: rack; 120: fork; 130: partition.

Detailed ways

As mentioned in the background art, the driving wheel assembly in the related art is usually a separate structure. For example, a drive wheel assembly typically includes a drive wheel and a drive system connected to the drive wheel. However, this driving wheel assembly has the disadvantage of low integration level. The inventor's research found that the reason for this problem is that the drive system usually includes a drive motor, a braking mechanism and a reducer mechanism. These components exist separately, and users also purchase such components separately. When the user assembles the driving wheel assembly, the driving wheel, driving motor, braking mechanism and reducer mechanism need to be assembled together one by one. In this way, it has the disadvantages of high assembly difficulty and low integration level.

In response to the above technical problems, embodiments of the present disclosure provide a driving wheel assembly, a mobile base and a handling robot. By integrating the motor shaft, planetary transmission mechanism and hub into one component, it avoids the need for assembly with other components of the mobile base. Assembling the various components of the drive wheel assembly again has the advantage of a high degree of integration.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more obvious and understandable, the following The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative efforts fall within the scope of protection of this disclosure.

Please refer to accompanying drawings 1 to 5. Embodiments of the present disclosure provide a driving wheel assembly. The driving assembly can be applied to the mobile base of a handling robot to drive the handling robot to move to a designated area to carry goods.

The driving wheel assembly includes a motor shaft 10, a planetary transmission mechanism 20 and a hub 30; the motor shaft 10 has a gear end 14, and the gear end 14 and the motor shaft 10 are integrated. For example, please refer to FIG. 3 . Along the length direction of the motor shaft 10 , the motor shaft 10 has a first end and a second end that are oppositely arranged. The first end is used to connect with other power components, and uses the power output of the power components to drive the motor shaft to rotate, and then drive the wheel hub 30 to rotate. The outer circumferential surface of the second end is machined into a gear structure to form the gear end 14 .

The hub 30 has an installation cavity, and the planetary transmission mechanism 20 is disposed in the installation cavity and connected with the inner surface of the hub 30 . The shape of the installation cavity may be a regular shape or an irregular shape.

The planetary transmission mechanism 20 includes a planetary carrier 21 and a plurality of planetary gears 22 arranged on the planetary carrier 21 . Each planetary gear 22 is meshed with the gear end 14 ; the motor shaft 10 is configured to drive the hub 30 to rotate through the planetary transmission mechanism 20 .

When the motor shaft 10 is working, the gear end 14 of the motor shaft 10 meshes with each planet wheel 22, so that the driving load is transmitted to the planet carrier 21 through the planet wheel 22, and then drives the hub 30 to rotate through the planet carrier 21 to realize the driving wheel assembly. mobile functionality. In this embodiment, the end of the motor shaft is processed into a gear shape, which serves as the sun gear in the planetary gear system. It is not necessary to configure the sun gear in the planetary gear system as in the related art, thereby simplifying the structure of the driving wheel assembly, and further Improve the integration of the drive wheel assembly.

In addition, the hub 30 has an installation cavity, so that parts of the planetary transmission mechanism and the motor shaft can be integrated into the installation cavity of the hub 30 . When it is necessary to assemble with other parts of the mobile base, it can avoid re-assembly of various parts of the driving wheel assembly, which has the advantage of a high degree of integration.

Please refer to FIG. 3 . In some embodiments, the motor shaft 10 includes a first section 11 , a second section 12 , and a third section 13 connected in sequence. Taking the orientation shown in Figure 3 as an example, the first section 11, the second section Section 12 and the third section 13 are arranged in sequence from left to right. In order to facilitate the description of the positions of the first section 11, the second section 12 and the third section 13, it may be useful to mark the area between the left end of the motor shaft 10 and the first dotted line in Figure 3 as the first section. Section 11, the area between the first dotted line and the second dotted line is marked as the second section 12, and the area between the second dotted line and the right end of the motor shaft 10 is marked as the third section 13.

The gear end 14 is provided at the end of the third section 13 facing away from the second section 12 . That is, the gear end 14 is provided at the right end of the third section 13 .

The diameter of the second section 12 is larger than the diameter of the first section 11 and the diameter of the third section 13, so that a first step surface 15 is formed between the first section 11 and the second section 12, and the third section 13 and the second section 12 A second step surface 16 is formed therebetween. A first bearing 40 is provided on the first section 11 and/or the third section 13 . That is to say, the first bearing 40 is provided on one of the first section 11 and the third section 13 . Or first bearings 40 are provided on both the first section 11 and the third section 13 .

The first bearing 40 can be used as a support bearing of the planet carrier 21 to ensure the smooth operation of the planetary transmission mechanism 20 . Wherein, the first bearing 40 may be a tapered roller bearing. In this way, the motor shaft 10 can be prevented from sliding in a direction perpendicular to its axis, thereby improving the safety of the driving wheel assembly.

The number of the first bearing 40 may be one or multiple. The number of the first bearings 40 can be selected according to the actual stress situation of the driving wheel assembly during use. In this way, the normal operation of the driving wheel assembly can be ensured, and the cost of the driving wheel assembly can also be reduced.

In the direction from the first section 11 to the third section 13, the diameter of the first section 11 can be equal everywhere, or can be unequal. Exemplarily, the first section 11 at least includes a first sub-section 111, a second sub-section 112 and a third sub-section 113 connected in sequence, wherein the first sub-section 111, the second sub-section 112 and the third sub-section 113 The diameters increase sequentially, so that a third step surface 17 is formed between the first sub-section 111 and the second sub-section 112, and a fourth step surface 18 is formed between the second sub-section 112 and the third sub-section 113.

The first section 11 also has a third step surface 17 . The third step surface 17 can be used as a stop surface for the first bearing 40 set on the first section 11 . The first bearing 40 is limited to facilitate the installation of the first bearing 40 .

The fourth step surface 18 can facilitate the installation of other components. For example, the fourth step surface 18 can facilitate the installation of the braking mechanism.

Exemplarily, the driving wheel assembly also includes a braking mechanism 60, the braking mechanism 60 is sleeved on the first section 11 and located between the first bearing 40 and the first step surface 15 . Among them, the fourth step surface 18 can be used as a stop surface of the braking mechanism 60 to limit the position of the braking mechanism 60 provided on the first section 11 to facilitate the installation of the braking mechanism 60 .

The braking mechanism 60 may have a brake-type structure. For example, the braking mechanism 60 may include a first braking part, a second braking part, and a driving part respectively connected to the first braking part and the second braking part. The first braking part and the second braking part are respectively located on both sides of the motor shaft, and the driving part can drive the first braking part and the second braking part to move toward or away from the motor shaft.

When the driving part drives the first braking part and the second braking part to move toward the motor shaft 10 and come into contact with the motor shaft 10 , the motor shaft 10 can be braked.

When the driving part drives the first braking part and the second braking part to move along the side away from the motor shaft 10 , contact with the motor shaft 10 is released to ensure the normal operation of the motor shaft 10 .

In this embodiment, the braking mechanism 60 is integrated into the driving wheel assembly, thereby maximizing the integration level of the driving wheel assembly.

In some embodiments, the drive wheel assembly also includes a motor housing 50 and a rotor 51 disposed within the motor housing 50 . The motor housing 50 is used to provide installation space for the rotor 51 and part of the motor shaft 10 .

The first section 11 , the second section 12 and part of the third section 13 of the motor shaft 10 are located in the motor housing 50 , and the first section 11 is connected to the rotor 51 . The gear end 14 of the motor shaft 10 is located outside the motor housing 50 .

When the rotor 51 rotates, the motor shaft 10 and the planet carrier 21 are driven to rotate, and then the hub 30 is driven to rotate, thereby realizing the moving function of the driving wheel assembly.

In some embodiments, the drive wheel assembly also includes a bearing mounting bracket 70 and a second bearing 80 . The bearing mounting bracket 70 includes an meshing portion (not shown in the figure), and the meshing portion meshes with at least two planetary gears 22 .

The second bearing 80 is sleeved on the bearing mounting bracket 70 , and the outer peripheral surface of the second bearing 80 is in contact with the planet carrier 21 . In this embodiment, the second bearing 80 can not only serve as a supporting component of the planet carrier 21, but also support the rotation of the hub 30 and the planet carrier 21, making the structure of the driving wheel assembly simpler and further reducing the volume and size of the driving wheel assembly. weight. In addition, the second bearing 80 can also ensure the force balance of the planetary transmission mechanism 20 and increase the stability of the planet carrier 21 and the hub 30 during rotation.

The number of the second bearing 80 may be one or two. When the second bearing 80 When the number is two, the two second bearings 80 are sleeved on the bearing mounting bracket 70 at intervals. In this way, the stability of the planet carrier 21 and the hub 30 during rotation can be increased to the greatest extent.

There are many types of second bearing 80 to choose from. For example, please refer to Figure 2 and Figure 4. The second bearing 80 can be a deep groove ball bearing. The deep groove ball bearing can not only bear radial load, but also bear A certain axial load, and this type of bearing also has the advantages of small friction coefficient and high limit speed.

For another example, please refer to FIG. 5 . The type of the second bearing 80 can be a cylindrical roller bearing. This type of bearing has the advantage of being more convenient to install and disassemble.

In some embodiments, please continue to refer to FIG. 2 , the planet carrier 21 includes a body 211 and a first annular mounting plate 212 .

The body 211 may include a cover plate, and one end of the motor shaft 10 extending outside the motor housing 50 is fixedly connected to the cover plate. The first annular mounting plate 212 is provided on the side of the body 211 facing the motor shaft 10 and is fixedly connected to the bearing mounting bracket 70 . Since the bearing mounting bracket 70 engages with the planet gear 22 for transmission, and the motor shaft 10 engages with the planet gear 22 for transmission, the motor shaft 10 can drive the planet carrier 21 to rotate through the planet gear 22 and the bearing mounting bracket 70 , thereby driving the hub 30 to rotate.

In this embodiment, the body 211 can protect the planet wheel 22, the first bearing 40 and the second bearing 80, prevent impurities or pollutants from the external environment from damaging the above components, and improve the service life of the driving wheel assembly.

The bearing mounting bracket 70 includes a ring gear 71 meshing with the planet gear 22 and a second annular mounting plate 72. The ring gear 71 constitutes the meshing portion.

The second annular mounting plate 72 is disposed on the side of the ring gear 71 away from the planet carrier 21 . The second annular mounting plate 72 and the first annular mounting plate 212 form an accommodating space; the second bearing 80 is located in the accommodating space. The outer surface of the bearing 80 is in contact with the outer surface of the ring gear 71 and the inner surface of the first annular mounting plate 212 respectively. In this way, the arrangement of the accommodation space can, on the one hand, protect the second bearing 80 from pollution of the external environment, and on the other hand, it can occupy a smaller space and improve the integration of the driving wheel assembly.

In some embodiments, the first annular mounting plate 212 and the second annular mounting plate 72 are fixedly connected by screws. For example, the first annular mounting plate 212 is provided with threaded holes, the second annular mounting plate 72 is provided with connecting holes corresponding to the threaded holes, and the threaded segments of the screws are sequentially passed through the connecting holes and then threaded into the threaded holes. This has the advantage of high connection strength.

It should be noted that the screws may be countersunk head screws, and the heads of the screws are located in the connection holes. In this way, the screws can be prevented from scratching other components, thereby improving the safety of the drive wheel assembly.

The connection method of the first annular installation plate 212 and the second annular installation plate 72 is not limited to this. For example, the first annular installation plate 212 and the second annular installation plate 72 can also be connected by keying, interference fitting or bonding. Fixed connection.

In some embodiments, the driving wheel assembly further includes an elastic member 90 , and the elastic member 90 covers the outer peripheral surface of the hub 30 . The material of the elastic member 90 may include polyurethane or rubber, and is covered on the outer surface of the wheel hub 30 using a rubber coating process to provide wear resistance and impact resistance.

An embodiment of the present disclosure also provides a mobile base, which includes a chassis and the driving wheel assembly in the above embodiment, and the driving wheel assembly is disposed on the chassis. Among them, the number of driving wheel assemblies is at least two. The driving wheel assembly drives the chassis and other components located on the chassis to move in a warehouse or other space.

The driving wheel assembly integrates the motor shaft 10, the planetary transmission mechanism 20, the braking mechanism 60 and the wheel hub 30. When the motor shaft 10 rotates, the planet gear 22 and the planet carrier 21 of the planetary transmission mechanism 20 are driven to rotate, and then the hub 30 is driven to rotate.

In actual use, the driving wheel assembly can be sold as an integral component, so that the user can directly install the driving wheel assembly on the chassis. Compared with the technical solution in the related art where the user needs to assemble the driving wheel, the driving shaft, the planetary transmission mechanism 20 and the braking mechanism 60 separately from the chassis, it can simplify the user's assembly operation of the mobile base and improve the assembly efficiency. efficiency.

Please refer to FIG. 6 , an embodiment of the present disclosure also provides a handling robot. The handling robot includes a mobile base 100 , a frame 110 and a fork 120 . The mobile base 100 is used to carry the frame 110 and the forks 120, and drive the frame 110 and the forks 120 to move to the working position. The structure and working principle of the mobile base 100 have been described in detail in the above embodiments, and will not be described again in this embodiment.

The bottom end of the frame 110 is installed on the mobile base 100. For example, the bottom end of the frame 110 is welded to the upper surface of the mobile base 100. The frame 110 may include two spaced apart columns, and the bottom ends of the columns are fixed. On a mobile base.

Multiple partitions 130 are provided between the columns. The multiple partitions divide the rack into multiple layers to form a multi-layer storage shelf. Any layer of the multi-layer storage shelf can be used for temporary storage of goods. In this way, the handling robot can Handle multiple goods at one time, thereby improving the handling efficiency of the handling robot.

The fork 120 is slidably mounted on the frame 110. For example, the fork 120 can be slidably mounted on the column, and the fork 120 can move in a direction perpendicular to the mobile base 110 to adjust the height of the fork 120 from the ground, which is convenient. The forks pick up and place goods at different heights.

Each embodiment or implementation mode in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between various embodiments can be referred to each other.

It should be noted that references in the specification to "one embodiment," "an embodiment," "exemplary embodiments," "some embodiments," etc. mean that the described embodiments may include specific features, structures or characteristics, but not necessarily Each embodiment includes this particular feature, structure, or characteristic. Furthermore, such phrases are not necessarily referring to the same embodiment. Furthermore, where a particular feature, structure or characteristic is described in connection with an embodiment, it is within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, explicitly or not explicitly described.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. scope.

Claims

A driving wheel assembly, characterized by including a motor shaft, a planetary transmission mechanism and a wheel hub;

The motor shaft has a gear end, and the gear end is integrated with the motor shaft; the hub has an installation cavity, and the planetary transmission mechanism is arranged in the installation cavity and connected to the inner surface of the hub;

The planetary transmission mechanism includes a planet carrier and a plurality of planet wheels arranged on the planet carrier, and each of the planet wheels is meshed with the gear end;

The motor shaft is configured to drive the wheel hub to rotate through the planetary transmission mechanism.
The drive wheel assembly according to claim 1, wherein the motor shaft includes a first section, a second section and a third section connected in sequence, and the gear end is disposed on the third section away from the The end of the second section, the diameter of the second section is larger than the diameter of the first section and the diameter of the third section, so that a first step is formed between the first section and the second section surface, a second step surface is formed between the third section and the second section;

A first bearing is provided on the first section and/or the third section.
The driving wheel assembly according to claim 2, further comprising a motor housing and a rotor disposed in the motor housing; the first section, the second section and part of the third section of the motor shaft. The first section is located in the motor housing, and the first section is connected to the rotor; the gear end of the motor shaft is located outside the motor housing.
The drive wheel assembly according to claim 2 or 3, characterized in that the first bearing is a tapered roller bearing.
The driving wheel assembly according to claim 2 or 3, characterized in that the driving wheel assembly further includes a braking mechanism, the braking mechanism is sleeved on the first section and is located between the first bearing and between the first step surfaces.
The driving wheel assembly according to any one of claims 1 to 3, characterized in that the driving wheel assembly further includes a bearing mounting bracket with an engaging portion and a second bearing, the engaging portion is connected to at least two of the planets wheel mesh;

The second bearing is sleeved on the bearing mounting bracket and abuts against the planet carrier.
The driving wheel assembly according to claim 6, characterized in that the number of the second bearings is two, and the two second bearings are sleeved on the bearing mounting bracket at intervals.
The drive wheel assembly of claim 7, wherein the planet carrier includes The body and a first annular mounting plate, the first annular mounting plate is provided on the side of the body facing the motor shaft, and the first annular mounting plate is connected to the bearing mounting bracket;

The bearing mounting bracket includes a ring gear meshed with the planet gear and a second annular mounting plate. The second annular mounting plate is disposed on a side of the ring gear away from the planet carrier. The second annular mounting plate The board and the first annular mounting plate form an accommodation space;

The second bearing is located in the accommodation space, and the outer surface of the second bearing is in contact with the outer surface of the ring gear and the inner surface of the first annular mounting plate respectively.
The driving wheel assembly according to claim 8, wherein the first annular mounting plate and the second annular mounting plate are fixedly connected by screws.
The driving wheel assembly according to any one of claims 1 to 3, further comprising an elastic member covering the outer peripheral surface of the hub.
A mobile base, characterized in that it includes a chassis and the driving wheel assembly according to any one of claims 1 to 10, and the driving wheel assembly is arranged on the chassis.
A handling robot, characterized by comprising the mobile base according to claim 11.