Wheel mounting structure and walking robot

Abstract

The present application belongs to the technical field of shock absorption for walking robots, and in particular relates to a wheel mounting structure and a walking robot, wherein the wheel mounting structure includes a base plate, a connecting assembly, and a driving wheel; the connecting assembly includes a base block, a first elastic member, and a swing arm, the base block and the swing arm are respectively hinged to the base plate, the two ends of the first elastic member are respectively elastically connected to the base block and the swing arm, and the base block and the swing arm transmit force to each other through the elastic member; the driving wheel is mounted on the base block. The wheel mounting structure uses the elastic force of the first elastic member itself to cushion the impact force of the first driven wheel or driving wheel falling into a low ridge or pit, thereby reducing the vibration of the entire chassis structure and improving the shock absorption effect and reliability of the walking robot.

Description

Technical Field

[0001] The present application belongs to the technical field of shock absorption of walking robots, and in particular relates to a wheel mounting structure and a walking robot. Background Art

[0002] The chassis structure of a walking robot carries the basic functions of the walking robot itself, such as positioning, navigation and obstacle avoidance, and can help the walking robot achieve intelligent walking. Currently, the chassis structure includes a base plate and a driving wheel and a driven wheel installed on the base plate. The chassis structure rotates the driving wheel and drives the first driven wheel and the second driven wheel to rotate, thereby realizing the walking of the walking robot. However, when the walking robot encounters a low bump or a pit, the walking robot as a whole is subjected to greater impact and vibration, which affects the reliability of the walking robot. Summary of the Invention

[0003] The purpose of this application is to provide a wheel mounting structure and a walking robot, which can effectively improve the shock absorption ability and use reliability of the walking robot.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in this application is: a wheel mounting structure, including a base plate, a connecting assembly and a driving wheel; the connecting assembly includes a base block, a first elastic member and a swing arm, the base block and the swing arm are respectively hinged to the base plate, the two ends of the first elastic member are respectively elastically connected to the base block and the swing arm, and the base block and the swing arm transmit force to each other through the elastic member; the driving wheel is mounted on the base block.

[0005] Optionally, the connecting assembly further comprises a connecting plate and a guide column, wherein the connecting plate is connected to the swing arm;

[0006] The connecting plate is provided with a guide hole, the guide column is passed through the guide hole, the end of the guide column is hinged to the base plate, and the hinge axis between the guide column and the base plate is parallel to the hinge axis between the swing arm and the base plate.

[0007] Optionally, the connecting assembly further includes a second elastic member, which is sleeved on the guide column and located between the connecting plate and the base plate.

[0008] Optionally, the connecting assembly further includes a blocking member, the connecting plate is located between the blocking member and the second elastic member, the blocking member is connected to the end of the guide column, and is used to abut against the connecting plate.

[0009] Optionally, the base block and / or the swing arm is provided with a plurality of assembly structures at different positions, and the assembly structures are used to be connected to the first elastic member.

[0010] Optionally, the connection assembly further includes a third elastic member, wherein the third elastic member is connected between the base block and the bottom plate, and the base block and the bottom plate transmit force to each other through the third elastic member.

[0011] Optionally, the first elastic member is a spring or a shock absorber.

[0012] Optionally, the hinge axis between the base block and the base plate and the hinge axis between the swing arm and the base plate are located on the same straight line.

[0013] Optionally, the base plate is provided with a first hinge seat, and the base block and the swing arm are both hinged to the first hinge seat.

[0014] The above one or more technical solutions in the wheel mounting structure provided in the present application have at least one of the following technical effects: the wheel mounting structure needs to be used in conjunction with the first driven wheel, and the first driven wheel is connected to the swing arm, thus forming a chassis structure, and the chassis structure rotates on the driving surface through the driving wheel, and the driving wheel drives the first driven wheel to rotate on the driving surface while rotating, thereby realizing stable walking of the walking robot on the driving surface; and when the chassis structure encounters a low bump or pit, that is, when the first driven wheel or driving wheel falls into the low bump or pit, the first driven wheel and the driving wheel will drive the base block and the swing arm to rotate relative to the bottom plate, and when the base block and the swing arm rotate relative to the bottom plate, they will compress or stretch the first elastic member, and when the first elastic member is compressed or stretched, it can buffer the impact force of the first driven wheel or driving wheel falling into the low bump or pit through its own elastic force, reduce the vibration of the entire chassis structure, and also improve the shock absorption effect and use reliability of the walking robot.

[0015] Another technical solution adopted in this application is: a walking robot, including the above-mentioned wheel mounting structure.

[0016] The walking robot of the present application adopts the above-mentioned wheel mounting structure. Therefore, when the chassis structure encounters a low bump or a pit, that is, when the first driven wheel or the driving wheel falls into the low bump or the pit, the first driven wheel or the driving wheel will drive the base block and the swing arm to rotate relative to the bottom plate. When the base block and the swing arm rotate relative to the bottom plate, they will compress or stretch the first elastic member. When the first elastic member is compressed or stretched, it can buffer the impact force of the first driven wheel or the driving wheel falling into the low bump or the pit through its own elastic force, thereby reducing the vibration of the entire chassis structure and improving the shock absorption effect and use reliability of the walking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 A schematic structural diagram of the chassis structure provided in an embodiment of the present application.

[0019] Figure 2 for Figure 1 The chassis structure shown is a schematic structural diagram from a first perspective with the running surface and support bracket hidden.

[0020] Figure 3 for Figure 1 The chassis structure shown is a schematic structural diagram from a second perspective after the running surface and support bracket are hidden.

[0021] Figure 4 for Figure 3 Exploded view of the chassis structure shown.

[0022] Figure 5 for Figure 3 The schematic diagram of the chassis structure when it is lowered into the steps is shown.

[0023] Figure 6 for Figure 3 The schematic diagram of the chassis structure shown is when it is on the steps.

[0024] Among them, the reference numerals in the figures are:

[0025] 10—base plate 11—second hinge seat 12—connecting bracket

[0026] 13 - avoidance gap 14 - mounting seat 15 - first hinge seat

[0027] 16 - articulated shaft 20 - connecting assembly 21 - base block

[0028] 22 - first elastic member 23 - swing arm 24 - connecting plate

[0029] 25 - guide column 26 - second elastic member 27 - blocking member

[0030] 28 - third elastic member 30 - driving wheel 40 - assembly structure

[0031] 51 - first driven wheel 52 - second driven wheel 60 - running surface

[0032] 61 — step 100 — chassis structure 141 — second connection hole

[0033] 151 - first hinge groove 211 - first horizontal section 212 - first inclined section

[0034] 231 - second horizontal section 232 - vertical section 233 - second inclined section

[0035] 241—guide hole 2111—first connecting hole 2121—second hinge slot

[0036] 2122—Second hinge hole 2331—Third hinge hole. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the attached Figures 1 to 6 , wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. Figures 1 to 6 The described embodiments are exemplary and intended to be used to explain the present application, but should not be construed as limiting the present application.

[0038] In the description of this application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0040] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0041] like Figures 1 to 6As shown, in one embodiment of the present application, a wheel mounting structure is provided for use in conjunction with a driven wheel to form a chassis structure 100. The chassis structure 100 is suitable for use in a walking robot, and can also be used in some vehicles or other equipment that requires walking, which is not limited here.

[0042] Combine Figure 1 、 Figure 2 and Figure 3 As shown, the wheel mounting structure includes a base plate 10, a connecting assembly 20 and a driving wheel 30; wherein, a connecting bracket 12 is provided on the upper part of the base plate 10, and at least parts of the driven mechanism and the driving mechanism are installed between the base plate 10 and the connecting bracket 12. In addition, the connecting bracket 12 can be used to install the control module, positioning module and some operating mechanisms on the walking robot. The base plate 10 and the connecting bracket 12 serve as the body parts of the walking robot.

[0043] In this embodiment, the connecting assembly 20 includes a base block 21, a first elastic member 22 and a swing arm 23. The base block 21 and the swing arm 23 are respectively hinged to the bottom plate 10. The two ends of the first elastic member 22 are elastically connected to the base block 21 and the swing arm 23 respectively. The base block 21 and the swing arm 23 transmit the force to each other through the elastic member. Figure 1 and Figure 2 As shown, the swing arm 23 and the base block 21 are arranged front and back above the base plate 10 , wherein the swing arm 23 is connected to a first driven wheel 51 , and a second driven wheel 52 is also installed below the base plate 10 .

[0044] In this embodiment, the driving wheel 30 is mounted on the base block 21. The axle of the driving wheel 30 is connected to the base block 21. The base plate 10 is provided with an avoidance notch 13 for avoiding the first driven wheel 51 and the driving wheel 30. The driving wheel 30 and the first driven wheel 51 extend from the corresponding avoidance notch 13, so that the first driven wheel 51 and the driving wheel 30 are supported on the running surface 60 to achieve walking. The first driven wheel 51 and the second driven wheel 52 are located at the front and rear sides of the base plate 10, and the driving wheel 30 is located between the first driven wheel 51 and the second driven wheel 52. There are two first driven wheels 51, and the two first driven wheels 51 are located at the front and rear sides of the base plate 10. There are two second driven wheels 52 on the left and right sides of the front of the base plate 10, and two second driven wheels 52 on the left and right sides of the rear of the base plate 10. There are two drive wheels 30 on the left and right sides of the middle of the base plate 10, thus forming a six-wheel chassis structure 100. Of course, in other embodiments, this wheel mounting structure can also be applied to other types of chassis structures 100, which are not limited here. In addition, the speed of the drive wheels 30 is adjustable to enable the walking robot to move forward, backward, decelerate, accelerate, and stop. The drive wheels 30 can be wheels with hub motors.

[0045] The following is a further description of the wheel mounting structure of the embodiment of the present application. The wheel mounting structure needs to be used in conjunction with the first driven wheel 51, and the first driven wheel 51 is connected to the swing arm 23, so that a chassis structure 100 is formed. The chassis structure 100 rotates on the running surface 60 through the driving wheel 30, and the driving wheel 30 rotates while driving the first driven wheel 51 to rotate on the running surface 60, so that the walking robot can walk stably on the running surface 60; and when the chassis structure 100 encounters a low bump or a pit, that is, the first driven wheel When the first driven wheel 51 or the driving wheel 30 falls into a low ridge or a pit, the first driven wheel 51 and the driving wheel 30 will drive the base block 21 and the swing arm 23 to rotate relative to the bottom plate 10. When the base block 21 and the swing arm 23 rotate relative to the bottom plate 10, they will compress or stretch the first elastic member 22. When the first elastic member 22 is compressed or stretched, it can buffer the impact force of the first driven wheel 51 or the driving wheel 30 falling into the low ridge or the pit through its own elastic force, reduce the vibration of the entire chassis structure 100, and also improve the shock absorption effect and reliability of the walking robot.

[0046] In this embodiment, combined with Figure 6 As shown, when the first driven wheel 51 is on the step 61, the first driven wheel 51 is lifted upward, thereby driving the swing arm 23 to flip toward the driving wheel 30 and compressing the first elastic member 22. The compressed first elastic member 22 will give the base block 21 a thrust, which presses the driving wheel 30 against the running surface 60, ensuring that the driving wheel 30 is always in close contact with the running surface 60, improving the grip of the chassis structure 100 and ensuring sufficient driving force, and making the walking robot with the wheel mounting structure have a relatively large performance improvement when going up the step 61, effectively improving its obstacle-crossing and shock-absorbing ability and improving the overall movement stability.

[0047] In another embodiment of the present application, Figure 3 、 Figure 4 and Figure 5 As shown, the connecting assembly 20 of the wheel mounting structure provided also includes a connecting plate 24 and a guide column 25, and the connecting plate 24 is connected to the swing arm 23; wherein, the connecting plate 24 serves as a mounting base for the first driven wheel 51; in addition, the connecting plate 24 is connected to the base plate 10 via the swing arm 23, and the swing arm 23 occupies a small space, which can provide more installation space for other components to be installed on the base plate 10, thereby facilitating the installation of other components; specifically, the two first driven wheels 51 are respectively installed on the left and right sides of the connecting plate 24, and the connecting plate 24 and the swing arm 23 are both located above the base plate 10; there are two swing arms 23, and one end of the two swing arms 23 is respectively connected to the left and right sides of the connecting plate 24, wherein the swing arm 23 and the connecting plate 24 can be fixedly connected by fasteners or other fixing parts, or can be an integrated structure made by an integrated molding process such as one-piece injection molding or 3D printing.

[0048] In this embodiment, the connecting plate 24 defines a guide hole 241, into which a guide post 25 is inserted. The end of the guide post 25 is hingedly connected to the base plate 10, and the line of the hinge axis 16 between the guide post 25 and the base plate 10 is parallel to the line of the hinge axis 16 between the swing arm 23 and the base plate 10. When the first driven wheel 51 is on the upper or lower step 61, the swing arm 23 rotates relative to the base plate 10, simultaneously driving the guide post 25 to rotate relative to the base plate 10. The guiding action of the guide post 25 and the guide hole 241 enhances the stability and reliability of the turning of the connecting plate 24, thereby improving the stability and reliability of the upper or lower step 61 of the chassis structure 100. Specifically, the guide post 25 is located between the two first driven wheels 51; of course, in other embodiments, it can be located elsewhere, and the specific location is not limited here. A second hinge seat 11 is provided on the base plate 10, into which the lower end of the guide post 25 is hinged.

[0049] In another embodiment of the present application, Figure 3 、 Figure 4 and Figure 5 As shown, the connecting assembly 20 of the provided wheel mounting structure further includes a second elastic member 26, which is sleeved on the guide post 25 and located between the connecting plate 24 and the base plate 10. When the wheel mounting structure is located on a flat running surface 60, the connecting plate 24 and other components compress the spring under the action of restraining forces such as their own weight. When the first driven wheel 51 ascends the step 61, the first driven wheel 51 drives the connecting plate 24 to move upward. At this time, the second elastic member 26 returns to its original state and applies an upward force to the connecting plate 24, thereby making it easier to lift the first driven wheel 51 and improving the ability of the chassis structure 100 to ascend the step 61.

[0050] In another embodiment of the present application, Figure 3 、 Figure 4 and Figure 5 As shown, the connection assembly 20 of the wheel mounting structure provided further includes a blocking member 27. The connection plate 24 is located between the blocking member 27 and the second elastic member 26. The blocking member 27 is connected to the end of the guide post 25 and is used to abut against the connection plate 24. When the first driven wheel 51 goes up the step 61, the connection plate 24 will move upward with the first driven wheel 51. When the connection plate 24 moves upward to abut against the blocking member 27, the connection plate 24 will drive the guide post 25 to move upward together, so that the guide post 25 will not fall out of the guide hole 241, ensuring that the guide post 25 is always inserted into the guide hole 241. The blocking member 27 can be a nut screwed to the end of the guide post 25 or other blocking structure, which is not limited here.

[0051] In another embodiment of the present application, Figure 3 、 Figure 4 and Figure 5 As shown, the base block 21 and / or the swing arm 23 of the provided wheel mounting structure are provided with a plurality of assembly structures 40 at different positions, and the assembly structures 40 are used to connect to the first elastic member 22. Specifically, the base block 21 is provided with a plurality of assembly structures 40 at different positions, or the swing arm 23 is provided with a plurality of assembly structures 40 at different positions, or both the base block 21 and the swing arm 23 are provided with a plurality of assembly structures 40 at different positions. In this way, the first elastic member 22 can select assembly structures 40 at different positions for connection according to actual needs, thereby providing different buffering elastic forces to meet different usage requirements. Among them, the number of assembly structures 40 can be two, three, or more than four, and their specific number and specific positions can be selected according to actual needs and are not limited here.

[0052] In another embodiment of the present application, Figure 2 、 Figure 3 and Figure 5 As shown, the connection assembly 20 of the wheel mounting structure provided also includes a third elastic member 28, which is connected between the base block 21 and the bottom plate 10, and the base block 21 and the bottom plate 10 transmit force to each other through the third elastic member 28; specifically, the third elastic member 28 is connected between the end of the base block 21 facing away from the swing arm 23 and the bottom plate 10; since the swing arm 23 and the base plate are both hinged to the base plate 10, when the second driven wheel 52 goes down the step 61, the bottom plate 10 can be flipped relative to the base plate and the swing arm 23, and during the flipping process of the bottom plate 10, the third elastic member 28 will generate an elastic pulling force on the bottom plate 10, slowing down the rapid flipping and falling of the bottom plate 10, slowing down the falling speed of the second driven wheel 52, avoiding the second driven wheel 52 from falling quickly, reducing the impact force on the wheel chassis structure 100, improving the reliability of the walking robot, and improving the shock absorption effect.

[0053] In a specific embodiment, combining Figure 3 and Figure 4 As shown, the third elastic member 28 can be an elastic element such as a spring or a shock absorber; preferably, for cost considerations, the third elastic member 28 is a spring. Specifically, a first connecting hole 2111 is provided at the end of the base block 21, a mounting seat 14 is provided on the bottom plate 10, and a second connecting hole 141 is provided on the mounting seat 14. The two ends of the spring are hooked in the first connecting hole 2111 and the second connecting hole 141 respectively. The installation structure of the spring is simple and the production cost is effectively reduced. At the same time, the spring should also have good elasticity, so as to effectively slow down the flipping and falling of the bottom plate 10.

[0054] In this embodiment, the first elastic member 22 and the second elastic member 26 can both be elastic components such as springs and shock absorbers, and their specific types are not limited here. Preferably, the first elastic member 22 is a shock absorber to improve the shock absorption effect of the chassis structure 100; the second elastic member 26 is a spring, and the production cost of the spring is low, thereby reducing the production cost.

[0055] In this embodiment, the first driven wheel 51 and the second driven wheel 52 are universal wheels, which improve the mobility of the chassis structure 100.

[0056] In another embodiment of the present application, the wheel mounting structure provides a structure in which the hinge axis 16 line between the base block 21 and the base plate 10 and the hinge axis 16 line between the swing arm 23 and the base plate 10 are located on the same straight line. In this way, on the upper and lower steps 61, the base block 21 and the swing arm 23 rotate around the same hinge axis 16 line, which makes the rotation of the base block 21 and the swing arm 23 smoother. At the same time, the flipping of the base plate 10 is also smoother, and the ability of the entire chassis to move up and down the steps 61 is improved. Among them, when the second driven wheel 52 of the chassis structure 100 is located on the step 61, and the driving wheel 30 and the first driven wheel 51 are both on the ground, as the driving wheel 30 rotates, driving the second driven wheel 52 to fall from the step 61 to the driving surface 60, since the hinge axis 16 line of the base block 21 and the bottom plate 10 and the hinge axis 16 line of the swing arm 23 and the bottom plate 10 are located on the same straight line, the bottom plate 10 can be quickly flipped around the hinge axis 16 line during the falling process of the second driven wheel 52, and during the rapid flipping of the bottom plate 10, the third elastic member 28 will generate elastic tension on the bottom plate 10, thereby slowing down the speed of the rapid flipping and falling of the bottom plate 10, and then slowing down the speed of the second driven wheel 52, avoiding the second driven wheel 52 from falling quickly, reducing the impact force on the chassis structure 100, improving the reliability of the chassis structure 100, and improving the shock absorption effect.

[0057] In another embodiment of the present application, Figure 2 、 Figure 3 and Figure 4 As shown, the base plate 10 of the provided wheel mounting structure is provided with a first hinge seat 15, and the base block 21 and the swing arm 23 are both hingedly connected to the first hinge seat 15. The base block 21 and the swing arm 23 are both hingedly connected to the same first hinge seat 15, which can reduce installation errors, improve the smoothness of the flipping of the base plate 10, and the third elastic member 28 has a better shock absorption effect, thereby improving the shock absorption effect of the chassis structure 100.

[0058] In a specific embodiment, the wheel mounting structure also includes a hinge shaft 16, a first hinge seat 15 is provided with a first hinge groove 151, and the end of the base block 21 facing away from the third elastic member 28 is provided with a second hinge groove 2121, the opposite side walls of the first hinge groove 151 are provided with a first hinge hole, the opposite side walls of the second hinge groove 2121 are provided with a second hinge hole 2122, and the end of the swing arm 23 facing away from the connecting plate 24 is provided with a third hinge hole 2331; the end of the base block 21 with the second hinge groove 2121 is located in the first hinge groove 151, and the end of the swing arm 23 with the third hinge hole 2331 is located in the second hinge groove 2121, the hinge shaft 16 is passed through the first hinge hole, the second hinge hole 2122 and the third hinge hole 2331, and the base block 21 and the swing arm 23 rotate around the hinge shaft 16, so that the base block 21 and the swing arm 23 rotate around the same straight line.

[0059] Further, combined with Figure 2 、 Figure 3 and Figure 4 As shown, for the consideration of processing and manufacturing, in order to avoid interference, the base block 21 includes a first horizontal section 211 and a first inclined section 212, one end of the first horizontal section 211 is provided with a first connecting hole 2111, the other end of the first horizontal section 211 is connected to the first inclined section 212, the first inclined section 212 extends obliquely downward toward the first driven wheel 51, and the lower end of the first inclined section 212 is provided with a second hinge groove 2121, the first horizontal section 211 is connected to the axle of the driving wheel 30, and the inclined first inclined section 212 is used to keep a certain distance between the first horizontal section 211 and the bottom plate 10, so that the flipping of the bottom plate 10 is smoother, and the connection between the first inclined section 212 and the first horizontal section 211 is provided with an assembly structure 40 for connecting to one end of the first elastic member 22; the swing arm 23 includes a second horizontal section 231, a vertical section 232 and a second inclined section 233 connected in sequence, The second horizontal section 231 is installed parallel to the connecting plate 24, and the second inclined section 233 extends obliquely downward from the lower end of the vertical section toward the driving wheel 30. A third hinge hole 2331 is provided at the lower end of the second inclined section 233, and the vertical section and the second horizontal section 231 are lifted by the second inclined section 233, so that there is a certain distance between the connecting plate 24 and the base plate 10, which facilitates the flipping of the base plate 10, wherein the vertical section is provided with a plurality of assembly structures 40 distributed vertically and used to be connected to the other end of the first elastic member 22; wherein the assembly structure 40 can be a hole structure, and the two ends of the first elastic member 22 are respectively rotatably connected to the hole structure through a rotating shaft, and the first elastic member 22 can rotate around the axis of the rotating shaft to realize the rotation of the base block 21 and the swing arm 23 relative to the base plate 10; of course, in other embodiments, the assembly structure 40 can also be other structures that can be connected to the first elastic member 22, which is not limited here.

[0060] In another embodiment of the present application, a walking robot is provided, including the above-mentioned wheel mounting structure. The walking robot can be an indoor walking robot, an outdoor walking robot, or other types of walking robots, which are not limited here.

[0061] The walking robot of the present application adopts the above-mentioned wheel mounting structure. When the chassis structure 100 encounters a low ridge or a pit, that is, when the first driven wheel 51 or the driving wheel 30 falls into the low ridge or the pit, the first driven wheel 51 or the driving wheel 30 will drive the base block 21 and the swing arm 23 to rotate relative to the bottom plate 10. When the base block 21 and the swing arm 23 rotate relative to the bottom plate 10, they will compress or stretch the first elastic member 22. When the first elastic member 22 is compressed or stretched, it can buffer the impact force of the first driven wheel 51 or the driving wheel 30 falling into the low ridge or the pit through its own elastic force, thereby reducing the vibration of the entire chassis structure 100 and improving the shock absorption effect and reliability of the walking robot. Since the walking robot of the embodiment of the present application adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0062] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A wheel mounting structure, characterized in that: include, base plate; a connecting assembly comprising a base block, a first elastic member, and a swing arm, wherein the base block and the swing arm are respectively hinged to the bottom plate, two ends of the first elastic member are respectively elastically connected to the base block and the swing arm, and the base block and the swing arm transmit force to each other through the elastic member; a driving wheel mounted on the base block; Wherein, the connecting assembly further comprises a connecting plate and a guide column, and the connecting plate is connected to the swing arm; The connecting plate is provided with a guide hole, the guide column is passed through the guide hole, the end of the guide column is hinged to the base plate, and the hinge axis between the guide column and the base plate is parallel to the hinge axis between the swing arm and the base plate.

2. The wheel mounting structure according to claim 1, characterized in that: The connecting assembly further includes a second elastic member, which is sleeved on the guide column and located between the connecting plate and the bottom plate.

3. The wheel mounting structure according to claim 2, characterized in that: The connecting assembly further includes a blocking member. The connecting plate is located between the blocking member and the second elastic member. The blocking member is connected to the end of the guide column and is used to abut against the connecting plate.

4. The wheel mounting structure according to any one of claims 1 to 3, characterized in that: The base block and / or the swing arm are provided with a plurality of assembly structures at different positions, and the assembly structures are used to be connected with the first elastic member.

5. The wheel mounting structure according to any one of claims 1 to 3, characterized in that: The connecting assembly further includes a third elastic member, which is connected between the base block and the bottom plate. The base block and the bottom plate transmit force to each other through the third elastic member.

6. The wheel mounting structure according to any one of claims 1 to 3, characterized in that: The first elastic member is a spring or a shock absorber.

7. The wheel mounting structure according to any one of claims 1 to 3, characterized in that: The hinge axis between the base block and the bottom plate and the hinge axis between the swing arm and the bottom plate are located on the same straight line.

8. The wheel mounting structure according to claim 5, characterized in that: The bottom plate is provided with a first hinge seat, and the base block and the swing arm are both hinged to the first hinge seat.

9. A walking robot, characterized in that: Comprising the wheel mounting structure according to any one of claims 1 to 8.

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