Pedal mechanism, traveling device, traveling system and medical device

Abstract

The present invention relates to the technical field of medical devices, and provides a pedal mechanism, a walking device, a walking system and a medical device, including a first pedal, a slider, a slide rail, a first link mechanism and a second link mechanism; during the process that the first pedal rotates downward to a depressed state, the first pedal drives the slider to slide to a first stop point through the first link mechanism; during the process that the first pedal rotates upward to a raised state, the first pedal drives the slider to slide to the first stop point through the second link mechanism; during the process of driving the slider to move from the first stop point to a second stop point, the first link mechanism and the second link mechanism respectively drive the first pedal to a reset state of the first pedal. Operating the first pedal to the depressed state and the raised state, the operating positions are clear and recognizable, which is easy to distinguish the current gear. Operating the slider to achieve the reset state of the first pedal solves the problems that it is difficult to operate the first pedal to reach the reset state and it is difficult to define the caster gear.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a pedal mechanism, a walking device, a walking system and a medical device. Background Art

[0002] Movable medical devices usually have casters with a first gear, a second gear and a third gear provided at the bottom of the device to form a walking system for facilitating the movement of the device. The three gears of the casters are switched by a pedal, so that the casters are respectively in a directional, free and locked state, thereby realizing the straight-line movement, brake release and braking control of the device. For example, when one end of the pedal is lifted (or pressed down), the caster is in a directional state, the caster can only rotate and cannot turn, and the device can only move straight; when one end of the pedal is pressed down (or lifted), the caster is in a locked state, the caster cannot rotate and turn, and the braking of the device is realized; when the pedal is horizontal, the caster is in a free state, the caster can rotate and turn, and the device can release the brake. However, in the actual operation process, it is difficult to define the gear of the caster by controlling the pedal, that is, the operator is not easy to distinguish the current gear of the caster through the operation of the pedal, especially in the free state gear. The operator usually has difficulty in controlling the force to make the pedal reach the horizontal state, and is prone to misoperation, and usually needs to try many times, which brings inconvenience to the actual use. Summary of the Invention

[0003] According to an embodiment of the present invention, a pedal mechanism is provided to solve the problem that it is difficult to define the gear of the caster by controlling the pedal, and a walking device, a walking system and a medical device having the pedal mechanism are provided.

[0004] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0005] In a first aspect of an embodiment of the present invention, a pedal mechanism is provided, which includes a first pedal, a slider, a slide rail, a first link mechanism and a second link mechanism. The first pedal can rotate along a rotation center. The slider is slidably disposed in the slide rail. The slider has a first stop point and a second stop point when sliding along the slide rail. The first link mechanism includes a first crank and a first link that are rotatably connected. The second link mechanism includes a second crank and a second link that are rotatably connected. The first link and the second link are both rotatably connected to the slider. Wherein, when the first pedal is pressed and rotated to a depressed state, the first pedal drives the slider to slide to the first stop point through the first link mechanism or the second link mechanism; when the first pedal is pressed and rotated to a lifted state, the first pedal drives the slider to slide to the first stop point through the first link mechanism or the second link mechanism; when the slider is driven to slide from the first stop point to the second stop point, the slider drives the first pedal to rotate to a reset state through the first link mechanism and / or the second link mechanism.

[0006] As an improvement of the above technical solution, limiting parts are respectively arranged on the first link mechanism and the second link mechanism; when the first pedal is pressed and rotates, the first pedal drives the first link mechanism and the second link mechanism to rotate through the limiting parts; when the slider is driven to slide from the first dead point to the second dead point, the first link mechanism or the second link mechanism drives the first pedal to rotate through the corresponding limiting parts under the action of the slider.

[0007] As a further improvement of the above technical solution, the limiting part of the first link mechanism includes a first stop block, and the first stop block is arranged on the first crank; the limiting part of the second link mechanism includes a second stop block, and the second stop block is arranged on the second crank.

[0008] As a further improvement of the above technical solution, the first pedal is provided with a stop part, and when the slider slides to the second dead point, the limiting parts of the first link mechanism and the second link mechanism are stopped and limited through the stop part.

[0009] As a further improvement of the above technical solution, the stop part includes a first stop arm and a second stop arm, the first stop arm is arranged on one side of the first pedal corresponding to the first crank, and the second stop arm is arranged on one side of the first pedal corresponding to the second crank.

[0010] As a further improvement of the above technical solution, both the first stop arm and the second stop arm extend from the rotation center of the first pedal, and there is an angle between the first stop arm and the second stop arm; the limiting parts of the first link mechanism and the second link mechanism are both located inside or outside the angle.

[0011] As another preferred embodiment, the first crank is arranged on the upper side of the first link, and the second crank is arranged on the upper side of the second link; the first ends of the first crank and the second crank are hinged, the second end of the first crank is hinged to the first end of the first link, the second end of the second crank is hinged to the first end of the second link, and the second ends of the first link and the second link are both hinged to the slider.

[0012] Furthermore, the hinge center of the first crank and the second crank is collinear with the rotation center of the first pedal.

[0013] Preferably, the pedal mechanism further includes a second pedal, and the second pedal is connected to the slider, or the second pedal and the slider are formed as an integral structure.

[0014] As a further improvement of the above technical solution, a connecting line between the connection of the first crank and the first connecting rod and the connection of the second crank and the second connecting rod is used as a reference line. The first crank and the first connecting rod are respectively located on both sides of the reference line, and the second crank and the second connecting rod are also respectively located on both sides of the reference line.

[0015] As a further improvement of the above technical solution, a connecting line between the connection of the first crank and the first connecting rod and the connection of the second crank and the second connecting rod is used as a reference line. The first crank and the first connecting rod are both located on the same side of the reference line, and the second crank and the second connecting rod are both located on the same side of the reference line.

[0016] Preferably, the first pedal includes a first plate body and a second plate body, and the first plate body and the second plate body are symmetrically arranged on both sides of the rotation center of the first pedal.

[0017] In a second aspect of the embodiments of the present invention, a walking device is provided, including a caster and the pedal mechanism of any of the above technical solutions. The caster has a shifting mechanism, and the shifting mechanism can switch the caster between a first gear, a second gear, and a third gear; the shifting mechanism is connected to the first pedal, and when the first pedal is in the depressed state, the caster is in the first gear; when the first pedal is in the reset state, the caster is in the second gear; when the first pedal is in the lifted state, the caster is in the third gear.

[0018] In a third aspect of the embodiments of the present invention, a walking system is provided, including a main walking system. The main walking system includes a first caster, a second caster, a main central control device, and the pedal mechanism of any of the above technical solutions. Among them, the first caster has a first shifting mechanism, and the first shifting mechanism can switch the first caster between a first gear, a second gear, and a third gear; the second caster has a second shifting mechanism, and the second shifting mechanism can switch the second caster between a first gear, a second gear, and a third gear; the first pedal is connected to the main central control device, and the main central control device is used to transmit the rotation of the first pedal to the first shifting mechanism and the second shifting mechanism; when the first pedal is in the depressed state, the first caster and the second caster are in the first gear; when the first pedal is in the reset state, the first caster and the second caster are in the second gear; when the first pedal is in the lifted state, the first caster and the second caster are in the third gear.

[0019] As an improvement to the above technical solution, the main central control device includes a first rocker. First connecting rods are rotatably connected to both ends of the first rocker. A first shaft is provided at the other end of the first connecting rod, and the first shaft is used to transmit rotation to the first shifting mechanism. A second shaft is provided at the other end of the second connecting rod, and the second shaft is used to transmit rotation to the second shifting mechanism. The main central control device further includes a driving rod. A rotating shaft is fixedly provided at one end of the driving rod, and the axis of the rotating shaft is collinear with the rotation center of the first pedal. The rotating shaft is connected to the first pedal and rotates synchronously with the first pedal. The other end of the driving rod is hinged to the rod portion of the first rocker.

[0020] As a further improvement to the above technical solution, it further includes a secondary traveling system and a transmission device. The secondary traveling system includes a third caster, a fourth caster, and a secondary central control device. The third caster has a third shifting mechanism, and the third shifting mechanism can switch the third caster between a first gear, a second gear, and a third gear. The fourth caster has a fourth shifting mechanism, and the fourth shifting mechanism can switch the fourth caster between a first gear, a second gear, and a third gear. The transmission device is used to transmit the movement of the main central control device to the secondary traveling system, and the secondary central control device is used to synchronously switch the gears of the third caster and the fourth caster.

[0021] As a further improvement to the above technical solution, the transmission device includes a transmission rod. One end of the transmission rod is drivingly connected to the first connecting rod, and the other end of the transmission rod is used to transmit rotation to the third shifting mechanism. The secondary central control device includes a second rocker. Third connecting rods are rotatably connected to both ends of the second rocker. A third shaft is provided at the other end of the third connecting rod, and the transmission rod is connected to the third shaft and can drive the third shaft to rotate synchronously. A fourth shaft is provided at the other end of the fourth connecting rod, and the fourth shaft is used to transmit rotation to the fourth shifting mechanism.

[0022] As another preferred embodiment, the main central control device includes a main central control shaft, and the main central control shaft rotates synchronously with the rotation of the first pedal. Both ends of the main central control shaft are respectively connected to the first shifting mechanism and the second shifting mechanism, and drive the first shifting mechanism and the second shifting mechanism to synchronously switch the gears of the first caster and the second caster.

[0023] As an improvement to the above technical solution, the rotation center of the first pedal is collinear with the central axis of the main central control shaft, and a sliding hole for avoiding the main central control shaft is provided on the slider.

[0024] As a further improvement of the above technical solution, it further includes a secondary traveling system and a transmission device. The secondary traveling system includes a third caster, a fourth caster, and a secondary central control device. The third caster has a third shifting mechanism, and the third shifting mechanism can make the third caster switch between a first gear, a second gear, and a third gear; the fourth caster has a fourth shifting mechanism, and the fourth shifting mechanism can make the fourth caster switch between a first gear, a second gear, and a third gear; the transmission device is used to transmit the movement of the main central control device to the secondary traveling system, and the secondary central control device is used to make the third caster and the fourth caster switch gears synchronously.

[0025] As a further improvement of the above technical solution, the secondary central control device includes a secondary central control shaft, and the transmission device is used to synchronously transmit the rotation of the main central control shaft to the secondary central control shaft; both ends of the secondary central control shaft are respectively connected to the third shifting mechanism and the fourth shifting mechanism, and drive the third shifting mechanism and the fourth shifting mechanism to synchronously switch the gears of the third caster and the fourth caster.

[0026] As a further improvement of the above technical solution, the transmission device includes a first cable, a second cable, a first connector, and a second connector. The first connector is fixedly connected to the main central control shaft, and the second connector is fixedly connected to the secondary central control shaft; a protruding end of the first connector and a protruding end of the second connector are connected by the first cable, and another protruding end of the first connector and another protruding end of the second connector are connected by the second cable, and both the first cable and the second cable are in a tensioned state.

[0027] In the fourth aspect of the embodiments of the present invention, a medical device is provided, including the traveling device of any of the above technical solutions. The medical device realizes straight travel, braking, or release of braking through the traveling device.

[0028] In the fifth aspect of the embodiments of the present invention, another medical device is provided, including the traveling system of any of the above technical solutions. The medical device realizes straight travel, braking, or release of braking through the traveling system.

[0029] The above technical solution has at least the following advantages or beneficial effects:

[0030] The pedal mechanism includes a first pedal, a slider, a slide rail, a first linkage mechanism, and a second linkage mechanism; during the process of the first pedal rotating downward and pressing to the depressed state, the first pedal drives the slider to slide to the first stop point through the first linkage mechanism; during the process of the first pedal rotating upward and lifting to the lifted state, the first pedal drives the slider to slide to the first stop point through the second linkage mechanism; during the process of driving the slider to move from the first stop point to the second stop point, the first linkage mechanism and the second linkage mechanism respectively drive the first pedal to the reset state of the first pedal. Operating the first pedal to the depressed state and the lifted state, the operating positions are clear and recognizable, making it easy to distinguish the current gear. Operating the slider to achieve the reset state of the first pedal solves the problems of difficult operation to reach the reset state of the first pedal and difficult to define the caster gear position. Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings required for the description of the embodiments:

[0032] Figure 1 Structural schematic diagram of the first embodiment of the pedal mechanism of the present invention;

[0033] Figure 2 For Figure 1 Schematic diagrams of several states of the illustrated embodiment;

[0034] Figure 3 Structural schematic diagram of the second embodiment of the pedal mechanism of the present invention;

[0035] Figure 4 For Figure 3 Schematic diagrams of several states of the illustrated embodiment;

[0036] Figure 5 Structural schematic diagram of an embodiment of the traveling device;

[0037] Figure 6 Structural schematic diagram of the first embodiment of the traveling system;

[0038] Figure 7 Structural schematic diagram of the second embodiment of the traveling system (partial structure omitted);

[0039] Figure 8 Structural schematic diagram of the third embodiment of the traveling system;

[0040] Figure 9 Structural schematic diagram of the fourth embodiment of the traveling system. Detailed Embodiments

[0041] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The function of the accompanying drawings is to supplement the description in the text part of the specification, so that each technical feature and the overall technical solution of the present invention can be intuitively and vividly understood. However, it should not be construed as a limitation on the protection scope of the present invention.

[0042] In the description of the present invention, if it involves orientation description, such as "upper", "lower", "front", "rear", "left", "right", etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the present invention. If a certain feature is referred to as "arranged", "fixed", "connected" to another feature, it can be directly arranged, fixed, connected to another feature, or indirectly arranged, fixed, connected to another feature.

[0043] In the description of the present invention, if it involves "several", its meaning is one or more; if it involves "multiple", its meaning is more than two; if it involves "greater than", "less than", "exceeding", it should be understood as not including the recited number; if it involves "above", "below", "within", it should be understood as including the recited number. If it involves "first", "second", it should be understood as being used to distinguish technical features, rather than indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0044] In addition, unless otherwise defined, the technical terms and scientific terms used in the present invention are the same as those generally understood by those skilled in the art to which the present invention belongs. The terms used in the present invention are only for describing specific embodiments, rather than for limiting the present invention.

[0045] Figure 1 is a schematic structural diagram of the first embodiment of the pedal mechanism of the present invention. Figure 2 is Figure 1 a schematic diagram of several states of the illustrated embodiment. Please refer to Figure 1 and 2 simultaneously.

[0046] The pedal mechanism 14 includes a first pedal 141, a slider 147, a slide rail 148, a first link mechanism and a second link mechanism. The first pedal 141 can rotate about a rotation center 142. Specifically, in implementation, the first pedal can be rotatably connected to a frame. The slide rail 148 is fixedly connected to the frame, and the slider 147 is slidably connected to the slide rail 148. In this embodiment, the first link mechanism includes a first crank 143 and a first link 144, and the second link mechanism includes a second crank 145 and a second link 146. The first crank 143 is disposed above the first link 144, and the second crank 145 is disposed above the second link 146. The first end of the first crank 143 and the first end of the second crank 145 are hinged. The second end of the first crank 143 is hinged to the first end of the first link 144, and the second end of the second crank 145 is hinged to the first end of the second link 146. The second ends of the first link 144 and the second link 146 are both hinged to the slider 147. Therefore, by driving either the first crank 143 or the second crank 145 to rotate, the slider 147 can be driven to slide towards one end of the slide rail 148. When the slider 147 is pushed to slide towards the other end of the slide rail 148, the first crank 143 and the second crank 145 can be driven to rotate simultaneously. The slider 147 has a first dead point A and a second dead point B during sliding along the slide rail 148. The first dead point A and the second dead point B can be realized by setting corresponding limiting structures for the sliding range of the slider, or by setting corresponding limiting structures for the movement of the first link mechanism or the second link mechanism. When the first pedal 141 rotates to the depressed state, the slider 147 slides to the first dead point A; when the first pedal 141 rotates to the lifted state, the slider 147 slides to the first dead point A; when the slider 147 is driven to slide to the second dead point B, the first pedal 141 is in the reset state and can thus be restored. Therefore, by driving the slider 147, the first pedal 141 can be brought to the reset state, enabling the pedal mechanism 14 to have a reset function. Compared with the method of controlling the pedal by foot, it avoids the situation of gear shifting not in place or skipping two gears due to the problem of difficult force control, thereby avoiding misoperation.

[0047] Limiting portions are respectively provided on the first link mechanism and the second link mechanism. The first pedal 141 drives the first crank 143 or the second crank 145 to rotate through the limiting portions.

[0048] Reference Figure 2 , the several states of the pedal mechanism 14 are roughly as follows:

[0049] Such as Figure 2In a, when rotating and pressing down the first pedal 141 along the rotation center 142, the first crank 143 can be driven by the limiting part to rotate to the highest position. At this time, the slider 147 slides to the first dead point A, the first pedal 141 is in the pressed state, and the second connecting rod 146 and the second crank 145 are linked with the sliding of the slider 147;

[0050] As Figure 2 In b, pushing the slider 147 to slide to the other side of the first dead point A drives the first crank 143 and the second crank 145 to rotate until the first pedal 141 abuts against the limiting part. At this time, the first crank 143 and the second crank 145 stop rotating due to being limited, the slider 147 slides to the second dead point B, and the first pedal 141 reaches the reset state;

[0051] As Figure 2 In c, when rotating and lifting the first pedal 141 along the rotation center 142, the second crank 145 can be driven by the limiting part to rotate to the highest position. At this time, the slider 147 slides to the first dead point A, the first pedal 141 is in the lifted state, and the first connecting rod 144 and the first crank 143 are linked with the sliding of the slider 147;

[0052] Pushing the slider 147 to slide to the other side of the first dead point A can reset the first pedal 141. Refer to figure as Figure 2 In b.

[0053] The first pedal is provided with a stop part. When the slider slides to the second dead point B, the limiting parts of the first link mechanism and the second link mechanism are stopped and limited through this stop part. The stop part includes a first stop arm 1411 and a second stop arm 1412. The first stop arm 1411 is arranged on one side of the first pedal 141 corresponding to the first crank 143, and the second stop arm 1412 is arranged on one side of the first pedal 141 corresponding to the second crank 145.

[0054] Specifically, both the first stop arm 1411 and the second stop arm 1412 extend from the rotation center of the first pedal 141, and there is an angle between the first stop arm 1411 and the second stop arm 1412; the limiting parts of the first link mechanism and the second link mechanism are both outside this angle. Therefore, when the first stop arm 1411 and the second stop arm 1412 rotate with the first pedal 141, they can push the limiting part of the first link mechanism or the second link mechanism to drive the first link mechanism or the second link mechanism to move.

[0055] The first link mechanism and the second link mechanism have the same structure and are symmetrically arranged, which can simplify the structure and ensure the smoothness of movement. Further, the hinge centers of the first crank and the second crank are collinear with the rotation center of the first pedal, which can make the structure simpler and easier to implement.

[0056] For the limiting part, it can be realized by arranging stoppers on the first crank 143 and the second crank 145. Specifically, a first stopper 1431 can be arranged on the first crank 143, and a second stopper 1451 can be arranged on the second crank 145. At the same time, a first stop arm 1411 can be arranged on one side of the first pedal 141 corresponding to the first crank 143, and a second stop arm 1412 can be arranged on one side of the first pedal 141 corresponding to the second crank 145. The first stop arm 1411 and the second stop arm 1412 can be connected to the first pedal 141 by a fixed connection method, or can be formed into an integral structure with the first pedal 141; when the first pedal 141 is in the reset state, the first stopper 1431 is located above the first stop arm 1411, and the second stopper 1451 is located above the second stop arm 1412. Therefore, during the process of pressing down the first pedal 141, the first stop arm 1411 abuts against the first stopper 1431, thereby driving the first crank 143 to rotate, and driving the slider 147 to slide through the first connecting rod 144; during the reset process, the slider 147 drives the first connecting rod 144 and the second connecting rod 146 to slide towards the second dead point B, thereby driving the first crank 143 and the second crank 145 to rotate until the first stopper 1431 abuts against the upper part of the first stop arm 1411, and the second stopper 1451 abuts against the upper part of the second stop arm 1412. At this time, the first crank 143 and the second crank 145 are limited, so that the slider 147 reaches the second dead point B, and the first pedal 141 is reset to the reset state; during the process of lifting the first pedal 141, the second stop arm 1412 abuts against the second stopper 1451, thereby driving the second crank 145 to rotate, and driving the slider 147 to slide through the second connecting rod 146.

[0057] The above-mentioned first stopper and second stopper can also be respectively arranged on the first connecting rod and the second connecting rod (not shown). Similarly, by the first stop arm and the second stop arm respectively pushing the first stopper and the second stopper, the first link mechanism can be moved to make the slider slide correspondingly, and the reset process is the same as the above technical solution. During specific implementation, a second pedal 149 can also be arranged. The second pedal 149 is connected to the slider 147, or the second pedal 149 is formed into an integral structure with the slider 147. Therefore, the second pedal 149 moves synchronously with the sliding of the slider 147. Correspondingly, when pressing down the first pedal 141, the slider 147 is pushed to slide to the first dead point A through the first connecting rod 144 and the first crank 143, and at the same time the second pedal 149 is lifted; pressing down the second pedal 149 makes the slider 147 slide towards the second dead point B until the first crank 143 and the second crank 145 are limited. At this time, the first pedal 141 is reset to the reset state; when lifting the first pedal 141, the slider 147 is pushed to slide to the first dead point A through the second connecting rod 146 and the second crank 145, and at the same time the second pedal 149 is lifted.

[0058] The depressed state and the lifted state of the first pedal 141 can be achieved by directly operating the first pedal 141, and the depressed state and the lifted state of the first pedal 141 are clear and recognizable, which is easy to distinguish the current gear. The reset state of the first pedal 141 can be achieved by operating the slider 147 or other structures connected to the slider 147, such as the second pedal 149 mentioned above. By operating the second pedal 149, the reset state of the first pedal 141 is achieved. The operation is convenient and the state is clear and recognizable. Moreover, the crank has corresponding limits, so that the slider 147 has obvious first dead point A and second dead point B. Compared with the conventional direct operation of the first pedal to execute the reset state, achieving the reset state by operating the slider 147 or other structures connected to the slider 147 makes the operation more direct and clear, and does not require excessive control force to reach the corresponding relatively stable pedal state, thus solving the problem that it is difficult to define the caster gear state by the pedal, and improving the accuracy and convenience of the operation.

[0059] Taking the connection line between the connection point of the first crank 143 and the first connecting rod 144 and the connection point of the second crank 145 and the second connecting rod 146 as the reference line, in the pedal mechanism 14 of this embodiment, the first crank 143 and the first connecting rod 144 are respectively located on both sides of the reference line, and the second crank 145 and the second connecting rod 146 are also respectively located on both sides of the reference line. It should be noted that this reference line is only used as a reference benchmark and is not an actual existing structure. Refer to Figure 1 、 2 In the orientation in, the first dead point A is located above the second dead point B. Depressing and lifting the first pedal 141 can drive the slider 147 to slide upward to the first dead point A; pushing the second pedal 149 downward can drive the slider 147 to slide downward and the first crank 143 and the second crank 145 to rotate downward until they are limited. At this time, the slider 147 slides to the second dead point B and the first pedal 141 is reset.

[0060] For the pedal, in the actual operation process, the depressing operation is more convenient for the foot to operate than the lifting operation. Therefore, the first pedal 141 can be improved. Refer to Figure 1: The plate body of the first pedal 141 includes a first plate body 1413 and a second plate body 1414. The first plate body 1413 and the second plate body 1414 are symmetrically arranged on both sides of the rotation center 142 of the first pedal 141. Therefore, by pressing down the first plate body 1413, the "pressed state" of the first pedal 141 can be achieved, and by pressing down the second plate body 1414, the "lifted state" of the first pedal 141 can be achieved. Therefore, by respectively pressing down the first plate body 1413 and the second plate body 1414 on both sides of the first pedal 141, different states of the pedal mechanism 14 can be achieved, which is more convenient for actual operation. The first pedal 141 can be rotated to any specified position between the pressed state and the lifted state as the reset state position of the first pedal 141. This position can be determined according to actual design and installation requirements. For example, in this embodiment, with the extension direction of the slide rail 148 as the vertical direction, the direction perpendicular to this vertical direction is the horizontal direction. When the plate body of the first pedal 141 extends along the horizontal direction, it is set as the reset position, that is: when the driving slider 147 slides to reset the first pedal 141, the plate body of the first pedal 141 rotates to the position extending along the horizontal direction. At this time, the first pedal 141 is in the reset state, which has obvious identifiability.

[0061] Figure 3 Structural schematic diagram of the second embodiment of the pedal mechanism of the present invention, Figure 4 is Figure 3 Schematic diagrams of several states of the illustrated embodiment, also referring to Figure 3 、 4, according to the principle of the linkage mechanism, the first embodiment of the above pedal mechanism can be reasonably transformed. For example, in the pedal mechanism 14' of this embodiment, the line connecting the joint of the first crank 143' and the first connecting rod 144' and the joint of the second crank 145' and the second connecting rod 146' is used as a reference line. This reference line is only used as a reference benchmark and is not an actual existing structure. The first crank 143' and the first connecting rod 144' are located on the same side of the reference line; the second crank 145' and the second connecting rod 146' are located on the same side of the reference line, and the position of the limiting structure is also different from that in the first embodiment of the pedal mechanism. In this embodiment, the limiting parts of the first linkage mechanism and the second linkage mechanism are both inside the angle between the first stop arm 1411 and the second stop arm 1412. Therefore, when the first stop arm 1411 and the second stop arm 1412 rotate with the first pedal 141, they can push the limiting part of the first linkage mechanism or the limiting part of the second linkage mechanism to drive the first linkage mechanism or the second linkage mechanism to move. The limiting part of the first linkage mechanism in this embodiment is set as the first stop block 1431' provided on the first crank 143', and the limiting part of the second linkage mechanism is set as the second stop block 1451' provided on the second crank 145'. The first stop block 1431' and the second stop block 1451' are inside the angle between the first stop arm 1411 and the second stop arm 1412. Therefore, when the first pedal 141 is in the reset state, the first stop block 1431' is located below the first stop arm 1411, and the second stop block 1451' is located below the second stop arm 1412.

[0062] At this time, when the first pedal 141 is pressed down, the second stop arm 1412 abuts against the second stop block 1451' to drive the second crank 145' to swing downward, so that the second connecting rod 146' drives the slider to slide upward until a limiting abutment occurs between the first connecting rod 144' and the first stop block 1431', and the slider 147 reaches the first stop point A'; when the second pedal 149 is pushed downward to make the slider slide downward, and drives the first crank 143' and the second crank 145' to rotate upward through the first connecting rod 144' and the second connecting rod 146' until they are limited by the first stop block 1431' and the second stop block 1451' respectively. At this time, the slider slides to the second stop point B', and the first pedal 141 resets; when the first pedal 141 is lifted, the first stop arm 1411 can abut against the first stop block 1431' to drive the first crank 143' to swing downward, so that the first connecting rod 144' drives the slider 147 to slide upward until a limiting abutment occurs between the first connecting rod 144' and the first stop block 1431', and the slider reaches the first stop point A'. In this scheme, the first stop point A' is located above the second stop point B'.

[0063] A comparison schematic diagram of the first pedal 141 in three states is shown in Figure 4 :

[0064] AsFigure 4 In a, when the first pedal 141 is rotated downward along the rotation center 142, the second crank 145' can be driven by the limiting portion to rotate to the lowest position. At this time, the second connecting rod 146' drives the slider 147 to slide to the first dead point A'. The first pedal 141 is in the downward pressure state, and the first connecting rod 144' and the first crank 143' are linked with the sliding of the slider 147.

[0065] As shown in Figure 4 In b, when the slider 147 is pushed to slide to the other side of the first dead point A', the first crank 143' and the second crank 145' are driven by the first connecting rod 144' and the second connecting rod 146' to rotate until the first pedal 141 abuts against the limiting portion. At this time, the first crank 143 and the second crank 145 stop rotating due to being limited. The slider 147 slides to the second dead point B', and the first pedal 141 reaches the reset state.

[0066] As shown in Figure 4 In c, when the first pedal 141 is rotated upward along the rotation center 142, the first crank 143' can be driven by the limiting portion to rotate to the lowest position. At this time, the first connecting rod 144' drives the slider 147 to slide to the first dead point A'. The first pedal 141 is in the raised state, and the second connecting rod 146' and the second crank 145' are linked with the sliding of the slider 147.

[0067] Figure 5 It is a schematic structural diagram of an embodiment of a walking device. Refer to Figure 5 and in combination with Figure 1 、 2 A walking device according to this embodiment includes a caster 201 and a pedal mechanism (taking the first embodiment of the above pedal mechanism as an example). The caster 201 has a shifting mechanism, and this shifting mechanism can make the caster 201 switch between a first gear, a second gear, and a third gear; corresponding to the three states of orientation, freedom, and locking of the caster 201; for a conventional caster 201 with three gears, its shifting mechanism includes a cam and a control shaft. When shifting gears, only an external structure needs to be used to drive the cam to rotate to make the control rod move linearly in its axial direction. Corresponding to the three gears, the positions of the control rod are position one, position two, and position three, so as to realize the three states of orientation, freedom, and locking of the caster. This caster is a commonly used central control caster, and its structure and principle will not be elaborated here.

[0068] The shifting mechanism is connected to the first pedal 141. When the first pedal 141 is in the depressed state, the caster 201 is in the first gear and presents a directional state; when the slider 147 slides to drive the first pedal 141 to be in the reset state, the caster 201 is in the second gear and presents a free state, that is, a universal rotation state; when the first pedal 141 is in the lifted state, the caster 201 is in the third gear and presents a locked state. The depressed state and the lifted state of the first pedal 141 are realized by directly operating the first pedal 141, and the state of the first pedal 141 is clear and recognizable. The reset state of the first pedal 141 can be realized by operating the slider 147 or other structures connected to the slider 147. For example, in the first embodiment, a second pedal 149 connected to the slider 147 is provided, and the reset state of the first pedal 141 is realized by operating the second pedal 149. The operation is convenient and the state is clear and recognizable, thus solving the problem that it is difficult to define the gear state of the caster 201 by controlling the caster 201 through the pedal, and improving the accuracy and convenience of the operation.

[0069] The traveling device can be used as a main control caster 201 for direction control and cooperate with other wheels to be jointly applied to the traveling system. The straight running, brake release and braking of the traveling system are realized through the directional, free and locked states of the main control caster 201. And as can be seen from the above, the structural setting of the pedal mechanism 14 makes the operation more direct and clear, and does not require too much control force to reach the corresponding relatively stable pedal state, thus solving the problem that it is difficult to define the gear state of the caster 201 by controlling the caster 201 through the pedal, and improving the operation accuracy and convenience of the traveling device. Specifically, when implemented, for example, when applied to a trolley traveling system, one or two or more of the above traveling devices can be reasonably set according to needs.

[0070] Figure 6 It is a schematic structural diagram of the first embodiment of the traveling system. Refer to Figure 6 , and in combination with Figure 1 , 2 , the traveling system of this embodiment includes a main traveling system 10. The main traveling system 10 includes a first caster 11, a second caster 12, a main central control device 13 and a pedal mechanism 14 (taking the first embodiment of the above pedal mechanism as an example). Among them:

[0071] The first caster 11 is provided with a first shifting mechanism, and the first shifting mechanism can enable the first caster 11 to switch between a first gear, a second gear, and a third gear, corresponding to the three states of orientation, free, and locked of the first caster 11; the second caster 12 is provided with a second shifting mechanism, and the second shifting mechanism can enable the second caster 12 to switch between a first gear, a second gear, and a third gear, corresponding to the three states of orientation, free, and locked of the second caster 12; the first pedal 141 is connected to the main central control device 13, and the main central control device 13 is used to transmit the rotation of the first pedal 141 to the first shifting mechanism and the second shifting mechanism; both the first caster 11 and the second caster 12 can adopt conventional three-gear casters. For a conventional three-gear caster, its shifting mechanism includes a cam and a control shaft. When shifting gears, only an external structure needs to be used to drive the cam to rotate, so that the control rod can make a linear motion in its axial direction. Corresponding to the three gears, the positions of the control rod are position one, position two, and position three, so as to realize the three states of orientation, free, and locked of the caster. The three-gear caster is a commonly used central control caster, and its structure and principle will not be elaborated here.

[0072] When the first pedal 141 is in the depressed state, the first caster 11 and the second caster 12 are in the first gear and present an oriented state; when the first pedal 141 is in the reset state, the first caster 11 and the second caster 12 are in the second gear and present a free state; when the first pedal 141 is in the lifted state, the first caster 11 and the second caster 12 are in the third gear and present a locked state.

[0073] The main central control device 13 includes a first rocker 132. The two ends of the first rocker 132 are respectively rotatably connected with a first connecting rod 133 and a second connecting rod 134. The other end of the first connecting rod 133 is provided with a first shaft 1331, and the first shaft 1331 is used to transmit rotation to the first shifting mechanism. The other end of the second connecting rod 134 is provided with a second shaft 1341, and the second shaft 1341 is used to transmit rotation to the second shifting mechanism;

[0074] The main central control device 13 further includes an active rod 135. One end of the active rod 135 is fixedly provided with a rotating shaft 1351. The axis of the rotating shaft 1351 is collinear with the rotation center 142 of the first pedal 141. The rotating shaft 1351 is connected to the first pedal 141 and rotates synchronously with the first pedal 141. The connection between the rotating shaft 1351 and the first pedal 141 can be a fixed connection, or can be set to other connections that prevent relative rotation between the rotating shaft 1351 and the first pedal 141, such as the cooperation connection of a square shaft and a square hole, or the cooperation connection of other polygonal shafts and corresponding polygonal holes, or a flat position is provided on the rotating shaft 1351, and a special-shaped hole matching the flat position is provided on the first pedal 141 for plug-in connection, which can prevent relative rotation between the rotating shaft 1351 and the first pedal 141 and realize the synchronous rotation of the rotating shaft 1351 and the first pedal 141.

[0075] The other end of the active rod 135 is hinged to the rod portion of the first rocker 132. Therefore, when the first pedal 141 rotates about its rotation center 142, the active rod 135 rotates synchronously. At the same time, the active rod 135 drives the first rocker 132 to swing, so that the first connecting rod 133 and the second connecting rod 134 at both ends of the first rocker 132 rotate synchronously, and the rotation range is between the first position and the second position, realizing the synchronous shifting operation of the first shifting mechanism and the second shifting mechanism.

[0076] When the first pedal 141 is in the depressed state, the first connecting rod 133 and the second connecting rod 134 are rotated to the first position. At this time, the first shifting mechanism and the second shifting mechanism switch the first caster 11 and the second caster 12 to the first gear; when the first pedal 141 is in the reset state, the first connecting rod 133 and the second connecting rod 134 are rotated to the third position between the first position and the second position. At this time, the first shifting mechanism and the second shifting mechanism switch the first caster 11 and the second caster 12 to the second gear; when the first pedal 141 is in the lifted state, the first connecting rod 133 and the second connecting rod 134 are rotated to the second position. At this time, the first shifting mechanism and the second shifting mechanism switch the first caster 11 and the second caster 12 to the third gear. The designs of the first connecting rod 133, the second connecting rod 134, the first rocker 132, and the active rod 135 can be calculated according to the basic transmission principle of conventional rod connections according to specific requirements, which will not be elaborated here.

[0077] The traveling system includes a frame 40. The slide rail 148 on the pedal mechanism 14 is fixedly connected to the frame 40. The first pedal 141 is rotatably connected to the frame 40. In actual application, the frame 40 includes a frame 42. A support member 41 is provided on the frame 42. The slide rail 148 is connected to the support member 41. The frame 42 can be used to carry the equipment to be moved. The first caster 11 and the second caster 12 are arranged at the bottom of one side of the frame 42 and serve as the main control casters for direction control. Other conventional casters without shifting functions can also be configured as auxiliary conveying casters. The straight running, brake release, and braking of the traveling system are realized through the directional, free, and locked states of the first caster 11 and the second caster 12.

[0078] Figure 7 Schematic diagram of the structure of the second embodiment of the traveling system (partial structure omitted), also refer to Figure 6 、 Figure 7, this embodiment is an improvement based on the first embodiment of the walking system above. On the basis of the structure of the first embodiment of the walking system, the walking system of this embodiment further includes a secondary walking system 20 and a transmission device 30. The secondary walking system 20 includes a third caster 21, a fourth caster 22, and a secondary central control device 23. Similar to the first caster 11 and the second caster 12, the third caster 21 has a third shifting mechanism, and the third shifting mechanism can make the third caster 21 switch between a first gear, a second gear, and a third gear, corresponding to the three states of orientation, free, and locked of the third caster 21; the fourth caster 22 has a fourth shifting mechanism, and the fourth shifting mechanism can make the fourth caster 22 switch between a first gear, a second gear, and a third gear, corresponding to the three states of orientation, free, and locked of the fourth caster 22. The transmission device 30 is used to transmit the movement of the main central control device 13 to the secondary walking system 20, and the secondary central control device 23 is used to make the third caster 21 and the fourth caster 22 switch gears synchronously.

[0079] The secondary central control device 23 includes a second rocker 232, and the transmission device 30 includes a transmission rod 301. One end of the transmission rod 301 is drivingly connected to the first connecting rod 133, and the other end of the transmission rod 301 is used to transmit rotation to the third shifting mechanism; when the first pedal 141 is rotated, the first connecting rod 133 rotates accordingly, and at the same time drives the transmission rod 301 to rotate synchronously. Therefore, the third shifting mechanism can be driven to shift gears for the third caster 21. Between the transmission rod 301 and the first connecting rod 133, it can be connected in a fixed connection manner, or adopt the connection manner between the first pedal 141 and the rotating shaft 1351 of the driving rod 135 above, or adopt other common connection manners, as long as there is no relative rotation between the transmission rod 301 and the first connecting rod 133.

[0080] Both ends of the second rocker 232 are respectively rotatably connected to a third connecting rod 233 and a fourth connecting rod 234. The other end of the third connecting rod 233 is provided with a third shaft 2331, and the other end of the fourth connecting rod 234 is provided with a fourth shaft 2341. The fourth shaft 2341 is used to transmit rotation to the fourth shifting mechanism. The transmission rod 301 is connected to the third shaft 2331 and can drive the third shaft 2331 to rotate synchronously. Thus, the third connecting rod 233 rotates to drive the second rocker 232 to rotate, making the fourth connecting rod 234 rotate synchronously, thereby driving the fourth shifting mechanism to shift gears for the fourth caster 22. The first caster 11, the second caster 12, the third caster 21, and the fourth caster 22 can select the same three-gear casters, and the first connecting rod 133, the second connecting rod 134, the third connecting rod 233, and the fourth connecting rod 234 are set to be of equal length. The third caster 21 and the fourth caster 22 are respectively arranged on the other side of the bottom of the frame 42, corresponding to the first caster 11 and the second caster 12, which helps to maintain the stable transportation of the walking system.

[0081] Figure 8Schematic structural diagram of the third embodiment of the walking system. Refer to Figure 8 And referring to the first embodiment of the above walking system, the difference between this embodiment and the first embodiment of the above walking system lies in the different main central control device and the different connection manner between the main central control device and the pedal mechanism 14, and the other structures are substantially the same as those of the first embodiment of the walking system.

[0082] In this embodiment, the main central control device 13' includes a main central control shaft 131. The first pedal 141 is connected to the main central control shaft 131. The main central control shaft 131 rotates synchronously with the rotation of the first pedal 141. The axis of the main central control shaft 131 can be set to be collinear with the rotation center 142 of the first pedal 141. At this time, the main central control shaft 131 passes through the slider 147 and the slide rail 148. A slide hole 15 for avoiding the main central control shaft 131 is provided on the slider 147. When the slider 147 slides between the first stop point and the second stop point, the length of the extension of the slide hole 15 can accommodate the main central control shaft 131, so as to avoid interference between the slider 147 and the main central control shaft 131 when the slider 147 slides along the slide rail 148; a relief notch 1481 can be provided at the position corresponding to the slide hole 15 on the slide rail 148, which is convenient for assembly and makes the structure of the assembly of the pedal mechanism 14 and the main central control shaft 131 more compact; the first pedal 141 is fixedly connected to the main central control shaft 131 or connected in a non-rotatable manner, such as socket connection with a polygonal shaft hole; rotating the first pedal 141 makes the main central control shaft 131 rotate synchronously. The two ends of the main central control shaft 131 are respectively connected to the first shifting mechanism and the second shifting mechanism. Therefore, the main central control shaft 131 can synchronously transmit the rotation to the first shifting mechanism and the second shifting mechanism, thereby driving the first shifting mechanism and the second shifting mechanism to synchronously switch the gears of the first caster 11 and the second caster 12. As can be seen from the foregoing, the structural setting of the pedal mechanism 14 makes the shifting operation more direct and clear, and the first pedal 141 can reach the corresponding state without too much control force, thus solving the problem that it is difficult to define the gear state of the caster by controlling the pedal with the pedal, and improving the operation accuracy and convenience of the walking system. Specifically, during implementation, the slide rail 148 and the slider 147 can be arranged in a vertical state. At this time, the upper plate surface of the second pedal 149 is in a horizontal state, and pressing down the second pedal 149 vertically can reset the pedal mechanism; alternatively, the slide rail 148 and the slider 147 can also be arranged obliquely, so that the extension direction of the slide rail 148 and the slider 147 has a certain inclination relative to the vertical direction, so that the second pedal 149 has a corresponding inclination relative to the horizontal direction, which is convenient for foot operation.

[0083] In practical applications, the walking system can also be configured with other wheels as auxiliary conveying wheels. The first caster 11 and the second caster 12 serve as the main control casters for direction control, and the remaining wheels can be conventional casters without a shifting function. The straight running, brake release, and braking of the walking system are achieved through the directional, free, and locked states of the first caster 11 and the second caster 12.

[0084] Figure 9 It is a schematic structural diagram of the fourth embodiment of the walking system. Refer to Figure 9 Combined with the third embodiment of the above walking system, this embodiment is an improvement based on the third embodiment of the walking system in the previous text. On the basis of its structure, the walking system further includes a secondary walking system 20' and a transmission device 30'. The secondary walking system 20' includes a third caster 21, a fourth caster 22, and a secondary central control device 23'. Similar to the first caster 11 and the second caster 12, the third caster 21 has a third shifting mechanism, and the third shifting mechanism can switch the third caster 21 among the first gear, the second gear, and the third gear, corresponding to the three states of the third caster 21: directional, free, and locked. The fourth caster 22 has a fourth shifting mechanism, and the fourth shifting mechanism can switch the fourth caster 22 among the first gear, the second gear, and the third gear, corresponding to the three states of the fourth caster 22: directional, free, and locked. The transmission device 30' is used to transmit the movement of the main central control device 13' to the secondary walking system 20', and the secondary central control device 23' is used to synchronously switch the gears of the third caster 21 and the fourth caster 22.

[0085] The secondary central control device 23' includes a secondary central control shaft 231. The transmission device 30' is used to synchronously transmit the rotation of the main central control shaft 131 to the secondary central control shaft 231. Both ends of the secondary central control shaft 231 are respectively connected to the third shifting mechanism and the fourth shifting mechanism, and drive the third shifting mechanism and the fourth shifting mechanism to synchronously switch the gears of the third caster 21 and the fourth caster 22. The connection method of the secondary central control shaft 231 to the third caster 21 and the fourth caster 22 can refer to the connection method of the main central control shaft 131 to the first caster 11 and the second caster 12.

[0086] The transmission device 30' includes a first cable 33, a second cable 34, a first connecting member 31, and a second connecting member 32. The first connecting member 31 is fixedly connected to the main central control shaft 131, and the second connecting member 32 is fixedly connected to the secondary central control shaft 231. A protruding end of the first connecting member 31 and a protruding end of the second connecting member 32 are connected by the first cable 33, and another protruding end of the first connecting member 31 and another protruding end of the second connecting member 32 are connected by the second cable 34. Both the first cable 33 and the second cable 34 are in a tensioned state.

[0087] When the main central control shaft 131 rotates in the first direction, the first connecting member 31 rotates accordingly and pulls the first cable 33 to pull the second connecting member 32 to rotate synchronously, so that the secondary central control shaft 231 rotates synchronously to achieve the transmission of rotation, thereby driving the third caster 21 and the fourth caster 22 to shift synchronously with the first caster 11 and the second caster 12, and making the second cable 34 tightened accordingly to ensure the continuity of the rotation transmission;

[0088] When the main central control shaft 131 rotates in a second direction opposite to the first direction, the first connecting member 31 rotates in the opposite direction, thereby pulling the second cable 34 to pull the second connecting member 32 to rotate synchronously, and the secondary central control shaft 231 rotates synchronously, realizing the rotation transmission, so that the third caster 21 and the fourth caster 22 can be driven to shift gears synchronously with the first caster 11 and the second caster 12, and the first cable 33 can be tightened accordingly.

[0089] At the proximal end of the first connecting member 31, a first pulley 35 and a second pulley 36 are provided. At the proximal end of the second connecting member 32, a third pulley 37 and a fourth pulley 38 are provided. Two ends of the first cable 33 are respectively wound around the first pulley 35 and the third pulley 37 and then connected to the first connecting member 31 and the second connecting member 32. The first pulley 35 and the third pulley 37 can guide the first cable 33. Two ends of the second cable 34 are respectively wound around the second pulley 36 and the fourth pulley 38 and then connected to the second connecting member 32. The second pulley 36 and the fourth pulley 38 can guide the second cable 34. In this embodiment, the first connecting member 31 includes a first main body 313 and two protruding ends provided on the first main body 313. The first main body 313 is used to connect to the main central control shaft 131. The two protruding ends are respectively used to connect the first cable and the second cable. Specifically, a connecting hole for sleeving on the main central control shaft 131 is provided on the first main body 313. A first protruding end 311 protruding radially outward along the connecting hole is provided on one side of the first main body 313, and a second protruding end 312 protruding radially outward along the connecting hole is provided on the other side. The positions of the first protruding end 311 and the second protruding end 312 are opposite. Here, the opposite positions do not necessarily mean absolutely opposite, but only generally opposite in orientation. The first main body 313 can be set as a disc shape or a cylindrical shape. The second connecting member 32 is provided with a second main body 323, a third protruding end 321 and a fourth protruding end 322. The structure of the second connecting member 32 is the same as that of the first connecting member 31, that is, the second main body 323, the third protruding end 321 and the fourth protruding end 322 respectively correspond to the first main body 313, the first protruding end 311 and the second protruding end 312 of the first connecting member 31 in structure, which will not be elaborated here. Two ends of the first cable 33 are respectively connected to the first protruding end 311 of the first connecting member 31 and the third protruding end 321 of the second connecting member 32. Two ends of the second cable 34 are respectively connected to the second protruding end 312 of the first connecting member 31 and the fourth protruding end 322 of the second connecting member 32. The second connecting member 32 and the first connecting member 31 are symmetrically arranged. Taking the orientation in the figure as a reference, the first pulley 35 is arranged directly below or obliquely below the first protruding end 311 of the first connecting member 31, and the third pulley 37 is arranged directly below or obliquely below the third protruding end 321 of the second connecting member 32, so as to change the direction and guide the first cable 33. The second pulley 36 is arranged directly below or obliquely below the second protruding end 312 of the first connecting member 31, and the fourth pulley 38 is arranged directly below or obliquely below the fourth protruding end 322 of the second connecting member 32, so as to change the direction and guide the second cable 34. In addition, in this embodiment, a cable protection sleeve 39 is also provided. The first cable 33 and the second cable 34 pass through the cable protection sleeve 39 and expose from both ends of the cable protection sleeve 39, so as to connect the first connecting member 31 and the second connecting member 32.

[0090] The walking system includes a frame 40, which includes a framework 42 that can be used to carry the equipment to be moved. The first caster 11, the second caster 12, the third caster 21, and the fourth caster 22 are respectively arranged at the four corners of the framework 42. The transmission device is arranged on one side of the framework 42. The first pulley 35 and the second pulley 36 are connected to one end of the framework 42 close to the second caster 12. The third pulley 37 and the fourth pulley 38 are connected to one end of the framework 42 close to the fourth caster 22. Alternatively, the first pulley 35 and the second pulley 36 are connected to one end of the framework 42 close to the first caster 11; the third pulley 37 and the fourth pulley 38 are connected to one end of the framework 42 close to the third caster 21. A cable protector 39 can also be arranged in the middle of the first cable 33 and the second cable 34. Both ends of the cable protector 39 are connected to the framework 42 through connectors 43. The cable protector 39 can protect and guide the first cable 33 and the second cable 34.

[0091] In the above embodiments, according to the differences of the casters and the actual requirements, the corresponding relationship between the position state of the first pedal and the gear state of the casters can be opposite to the corresponding relationship described above. For example: when the first pedal is in the depressed state, the caster is in the first gear, corresponding to the caster locked state; when the first pedal is in the lifted state, the caster is in the third gear, corresponding to the caster directional state; the second gear of the caster corresponding to the reset state of the first pedal is still the free state of the caster.

[0092] This embodiment provides a medical device (not shown), including a device host and the walking device described above. The walking device is arranged below the device host and is used to carry and transport the device host. Through the gear shifting operation of the walking device, the straight movement, brake release or braking of the medical device can be realized.

[0093] This embodiment also provides another medical device (not shown), including a device host and the walking system of any one of the above embodiments. The walking system is arranged below the device host and is used to carry and transport the device host. Through the gear shifting operation of the walking device, the straight movement, brake release or braking of the medical device can be realized.

[0094] The medical device in the above embodiments can be a trolley-type ultrasonic diagnostic medical device. Through the above walking system, the trolley-type ultrasonic diagnostic medical device can switch gears during the movement process to realize flexible operations of orientation, brake release and braking. Moreover, when the above pedal mechanism switches between gears, the depressed, lifted and reset states of the pedal can be accurately defined, with obvious identifiability, which can avoid misoperations.

[0095] The above are only the preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present invention, and these equivalent deformations or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A pedal mechanism, characterized in that: It includes a first pedal, a slider, a slide rail, a first link mechanism and a second link mechanism. The first pedal is capable of rotating about a rotation center. The slider is slidably disposed in the slide rail. The slider has a first stop point and a second stop point when sliding along the slide rail. The first link mechanism includes a first crank and a first link that are rotatably connected. The second link mechanism includes a second crank and a second link that are rotatably connected. Moreover, the first link and the second link are both rotatably connected to the slider. Among them, When the first pedal is pressed and rotated to the depressed state, the first pedal drives the slider to slide to the first stop point through the first link mechanism or the second link mechanism; When the first pedal is pressed and rotated to the lifted state, the first pedal drives the slider to slide to the first stop point through the first link mechanism or the second link mechanism; When the slider is driven to slide from the first stop point to the second stop point, the slider drives the first pedal to rotate to the reset state through the first link mechanism and / or the second link mechanism; Limit parts are respectively provided on the first link mechanism and the second link mechanism, and a stop part is provided on the first pedal; When the first pedal is pressed and rotated, the first pedal drives the first link mechanism and the second link mechanism to rotate through the limit part; When the slider is driven to slide from the first stop point to the second stop point, the first link mechanism or the second link mechanism drives the first pedal to rotate through the corresponding limit part under the action of the slider. The limit part of the first link mechanism and the limit part of the second link mechanism are stopped and limited through the stop part; The first crank is disposed on the upper side of the first link, and the second crank is disposed on the upper side of the second link; The first end of the first crank and the first end of the second crank are hinged. The second end of the first crank is hinged to the first end of the first link. The second end of the second crank is hinged to the first end of the second link. The second ends of the first link and the second link are both hinged to the slider.

2. The pedal mechanism according to claim 1, characterized in that: The limit part of the first link mechanism includes a first stop block, and the first stop block is disposed on the first crank; The limit part of the second link mechanism includes a second stop block, and the second stop block is disposed on the second crank.

3. The pedal mechanism according to claim 1, wherein: The stop part includes a first stop arm and a second stop arm. The first stop arm is disposed on one side of the first pedal corresponding to the first crank, and the second stop arm is disposed on one side of the first pedal corresponding to the second crank.

4. The pedal mechanism according to claim 3, wherein: Both the first stop arm and the second stop arm extend from the rotation center of the first pedal, and there is an angle between the first stop arm and the second stop arm; The limit parts of the first link mechanism and the second link mechanism are both located inside or outside the angle.

5. The pedal mechanism according to claim 1, characterized in that: The hinge center of the first crank and the second crank is collinear with the rotation center of the first pedal.

6. The pedal mechanism according to claim 1, characterized in that: It further includes a second pedal, which is connected to the slider, or the second pedal and the slider are formed into an integral structure.

7. The pedal mechanism according to any one of claims 1 to 6, characterized in that: Taking the connection line between the connection point of the first crank and the first connecting rod and the connection point of the second crank and the second connecting rod as a reference line, the first crank and the first connecting rod are respectively located on both sides of the reference line, and the second crank and the second connecting rod are also respectively located on both sides of the reference line.

8. The pedal mechanism according to any one of claims 1 to 6, characterized in that: Taking the connection line between the connection point of the first crank and the first connecting rod and the connection point of the second crank and the second connecting rod as a reference line, the first crank and the first connecting rod are both located on the same side of the reference line, and the second crank and the second connecting rod are both located on the same side of the reference line.

9. The pedal mechanism according to claim 1, characterized in that: The first pedal includes a first plate body and a second plate body, and the first plate body and the second plate body are symmetrically arranged on both sides of the rotation center of the first pedal.

10. A walking device, characterized in that: It includes a caster and the pedal mechanism according to any one of claims 1 to 9, wherein the caster has a shifting mechanism, and the shifting mechanism can switch the caster between a first gear, a second gear and a third gear; The shifting mechanism is connected to the first pedal, and when the first pedal is in the depressed state, the caster is in the first gear; When the first pedal is in the reset state, the caster is in the second gear; when the first pedal is in the lifted state, the caster is in the third gear.

11. A walking system, characterized in that: It includes a main walking system, and the main walking system includes a first caster, a second caster, a main central control device and the pedal mechanism according to any one of claims 1 to 9, wherein, The first caster has a first shifting mechanism, and the first shifting mechanism can switch the first caster between a first gear, a second gear and a third gear; the second caster has a second shifting mechanism, and the second shifting mechanism can switch the second caster between a first gear, a second gear and a third gear; The first pedal is connected to the main central control device, and the main central control device is used to transmit the rotation of the first pedal to the first shifting mechanism and the second shifting mechanism; When the first pedal is in the depressed state, the first caster and the second caster are in the first gear; when the first pedal is in the reset state, the first caster and the second caster are in the second gear; when the first pedal is in the lifted state, the first caster and the second caster are in the third gear.

12. The walking system according to claim 11, wherein: The main central control device includes a first rocker, and both ends of the first rocker are respectively rotatably connected with a first connecting rod and a second connecting rod. A first shaft is provided at the other end of the first connecting rod, and the first shaft is used to transmit rotation to the first shifting mechanism. A second shaft is provided at the other end of the second connecting rod, and the second shaft is used to transmit rotation to the second shifting mechanism; The main central control device further includes an active rod, one end of the active rod is fixedly provided with a rotating shaft, the axis of the rotating shaft is collinear with the rotation center of the first pedal, the rotating shaft is connected to the first pedal and rotates synchronously with the first pedal; the other end of the active rod is hinged to the rod portion of the first rocker.

13. The walking system according to claim 12, wherein: It further includes a secondary traveling system and a transmission device. The secondary traveling system includes a third caster, a fourth caster and a secondary central control device. The third caster has a third shifting mechanism, and the third shifting mechanism can switch the third caster between a first gear, a second gear and a third gear; the fourth caster has a fourth shifting mechanism, and the fourth shifting mechanism can switch the fourth caster between a first gear, a second gear and a third gear; the transmission device is used to transmit the movement of the main central control device to the secondary traveling system, and the secondary central control device is used to synchronously switch the gears of the third caster and the fourth caster.

14. The walking system according to claim 13, characterized in that: The transmission device includes a transmission rod, one end of the transmission rod is drivingly connected to the first connecting rod, and the other end of the transmission rod is used to transmit rotation to the third shifting mechanism. The secondary central control device includes a second rocker. The two ends of the second rocker are respectively rotatably connected to a third connecting rod and a fourth connecting rod. A third shaft is provided at the other end of the third connecting rod, and the transmission rod is connected to the third shaft and can drive the third shaft to rotate synchronously; a fourth shaft is provided at the other end of the fourth connecting rod, and the fourth shaft is used to transmit rotation to the fourth shifting mechanism.

15. The walking system according to claim 11, wherein: The main central control device includes a main central control shaft, and the main central control shaft rotates synchronously with the rotation of the first pedal; the two ends of the main central control shaft are respectively connected to the first shifting mechanism and the second shifting mechanism, and drive the first shifting mechanism and the second shifting mechanism to synchronously switch the gears of the first caster and the second caster.

16. The walking system according to claim 15, wherein: The rotation center of the first pedal is collinear with the central axis of the main central control shaft, and a sliding hole for avoiding the main central control shaft is provided on the slider.

17. The walking system according to claim 15 or 16, characterized in that: It further includes a secondary traveling system and a transmission device. The secondary traveling system includes a third caster, a fourth caster and a secondary central control device. The third caster has a third shifting mechanism, and the third shifting mechanism can switch the third caster between a first gear, a second gear and a third gear; the fourth caster has a fourth shifting mechanism, and the fourth shifting mechanism can switch the fourth caster between a first gear, a second gear and a third gear; the transmission device is used to transmit the movement of the main central control device to the secondary traveling system, and the secondary central control device is used to synchronously switch the gears of the third caster and the fourth caster.

18. The walking system according to claim 17, wherein: The secondary central control device includes a secondary central control shaft, and the transmission device is used to synchronously transmit the rotation of the main central control shaft to the secondary central control shaft; the two ends of the secondary central control shaft are respectively connected to the third shifting mechanism and the fourth shifting mechanism, and drive the third shifting mechanism and the fourth shifting mechanism to synchronously switch the gears of the third caster and the fourth caster.

19. The walking system according to claim 18, wherein: The transmission device includes a first cable, a second cable, a first connecting member, and a second connecting member. The first connecting member is fixedly connected to the main central control shaft, and the second connecting member is fixedly connected to the auxiliary central control shaft. A protruding end of the first connecting member and a protruding end of the second connecting member are connected by the first cable, and another protruding end of the first connecting member and another protruding end of the second connecting member are connected by the second cable. Both the first cable and the second cable are in a tensioned state.

20. A medical device, characterized in that: It includes the traveling device according to claim 10.

21. A medical device, characterized in that: It includes the traveling system according to any one of claims 11 to 19.

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