Mobile device, walking assembly, and power-off brake assembly

Abstract

The application discloses a mobile device, a walking assembly and a power-off brake assembly. The mobile device at least comprises a body, a walking wheel and a power-off brake assembly. The walking wheel is connected with the body. The power-off brake assembly comprises a holding component, a brake component and a driving component. The holding component is installed on the body. The brake component is located between the holding component and the driving component and the walking wheel. When the holding component is powered off, the acting force of the holding component on the brake component disappears. The driving component drives the brake component to move to the rotating path of the walking wheel, so as to brake the mobile device. The application can brake the mobile device in time after the power-off, and improve the use safety of the mobile device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mobile devices, in particular to a mobile device, a walking assembly and a power-off brake assembly. BACKGROUND

[0002] Common mobile devices control the motor shaft through a motor driver to realize the brake function of the mobile device.

[0003] However, the above brake function must be performed when the mobile device is powered on. If the mobile device is abnormally powered off, the mobile device cannot brake in time, and under the inertia, the mobile device will continue to move, thereby easily causing safety hazards to the surrounding things. SUMMARY

[0004] The purpose of the present application is to provide a mobile device, a walking assembly and a power-off brake assembly, so that the mobile device can brake in time after power-off.

[0005] The present application provides a mobile device. The mobile device at least comprises a body, a walking wheel and a power-off brake assembly, wherein the walking wheel is connected with the body; the power-off brake assembly comprises a retaining part, a brake piece and a driving piece, the retaining part is installed on the body, the brake piece is located between the retaining part and the driving piece and the walking wheel; when the retaining part is powered off, the force of the retaining part on the brake piece disappears, the driving piece drives the brake piece to move to the rotation path of the walking wheel to brake the mobile device.

[0006] In an embodiment of the present application, the driving piece is an energy accumulator; when the retaining part is powered on, the force of the retaining part on the brake piece keeps the brake piece away from the rotation path of the walking wheel, and drives the brake piece to press the driving piece, so that the driving piece stores energy; when the force of the retaining part on the brake piece disappears, the driving piece releases the stored energy to drive the brake piece to move to the rotation path of the walking wheel.

[0007] In an embodiment of the present application, the retaining part is an electromagnet; when the retaining part is powered on, the retaining part attracts the brake piece to keep the brake piece away from the rotation path of the walking wheel.

[0008] In an embodiment of the present application, the retaining part is connected with the body through a guide rod, and the brake piece is slidingly connected on the guide rod.

[0009] In an embodiment of the present application, the driving member is a spring; the guide rod is connected with a support, the support is located at one end of the driving member away from the brake member; the driving member is sleeved on the guide rod, and the two ends of the driving member are respectively in abutment with the support and the brake member.

[0010] In an embodiment of the present application, the brake member comprises a guide plate and a latch; the guide plate is slidingly connected on the guide rod, the guide plate is in abutment with one end of the driving member, and the guide plate is a magnetic material; the latch is connected with the guide plate, and the latch is located at one side of the guide plate away from the driving member, the latch is used to move to the rotation path of the walking wheel to brake the mobile device.

[0011] In an embodiment of the present application, when the latch moves to the rotation path of the walking wheel, the distance between the guide plate and the support is less than the free length of the driving member; when the holding component adsorbs the guide plate, the distance between the guide plate and the support is greater than the compression height of the driving member.

[0012] In an embodiment of the present application, the power-off brake assembly further comprises a reset component; the reset component is used to drive the guide plate to move towards the holding component. The reset component is a reset wire; the support has a guide hole, one end of the reset wire passes through the guide hole and is connected with the guide plate.

[0013] In an embodiment of the present application, the reset component further comprises a bracket and a limiting member; the bracket is connected with the body, the bracket has a first vertical part; the other end of the reset wire passes through the first vertical part and is connected with the limiting member, so that the other end of the reset wire is limited on the bracket by the limiting member.

[0014] In an embodiment of the present application, the reset component further comprises a connecting shaft and a reset handle, wherein the reset handle has a passing part; the bracket further has a second vertical part, the second vertical part is provided with a locking hole, and the limiting member is located between the first vertical part and the second vertical part; one end of the connecting shaft is connected with the limiting member, and the other end of the connecting shaft can be rotatably connected with the passing part through the locking hole, so that the passing part can be switched between a first state and a second state by rotation; the cross section of the locking hole and the cross section of the passing part are both non-circular, when the passing part is in the first state, the passing part can pass through the locking hole, and when the passing part is in the second state, the passing part cannot pass through the locking hole.

[0015] In an embodiment of the present application, the reset component further comprises a T-shaped piece and a compression spring; the small end of the T-shaped piece is connected with the limiting piece through the first vertical part; the compression spring is sleeved on the T-shaped piece, and the compression spring is located between the large end of the T-shaped piece and the first vertical part.

[0016] In an embodiment of the present application, the reset handle further has a blocking part; the blocking part is located at one end of the passing part away from the connecting shaft, and the blocking part blocks the reset handle from passing through the locking hole completely.

[0017] In an embodiment of the present application, when the walking wheel is a driving wheel, the walking wheel comprises a hub motor and a brake disc; the inner stator of the hub motor is connected with the machine body; the brake disc is connected with the outer rotor of the hub motor, and brake holes are formed on the brake disc; the brake piece brakes the mobile device by inserting into the brake holes.

[0018] In an embodiment of the present application, when the walking wheel is a driven wheel, the walking wheel is rotationally connected with the machine body, a brake disc is connected with the walking wheel, and brake holes are formed on the brake disc; the brake piece brakes the mobile device by inserting into the brake holes.

[0019] In an embodiment of the present application, when the holding component is powered off, the driving piece drives the brake piece to move linearly; the moving direction of the brake piece is perpendicular to the plane where the walking wheel is located; the direction of the force of the holding component acting on the brake piece, the moving direction of the brake piece and the direction of the force of the driving piece acting on the brake piece are parallel to each other.

[0020] Correspondingly, the present application further provides a walking assembly. The walking assembly comprises a support frame, a hub motor and a power-off brake assembly; the inner stator of the hub motor is connected with the support frame, the outer rotor of the hub motor is connected with a brake disc, and brake holes are formed on the brake disc; the power-off brake assembly comprises a holding component, a driving piece and a brake piece; the holding component is installed on the support frame, and the brake piece is located between the driving piece and the hub motor; when the holding component is powered off, the force of the holding component acting on the brake piece disappears, the driving piece drives the brake piece to move towards the brake disc and insert into the brake holes, so as to brake the hub motor.

[0021] In an embodiment of the present application, the driving member is an accumulator; when the holding member is powered, the holding member keeps the force of the brake member from the brake hole, and drives the brake member to press the driving member, so that the driving member stores energy; when the force of the holding member to the brake member disappears, the driving member releases the stored energy to drive the brake member to move to the brake disc.

[0022] In an embodiment of the present application, the power-off brake assembly further comprises a reset member; the reset member is connected with the brake member, and the reset member is used to pull the brake member to move to the holding member.

[0023] Correspondingly, the present application also provides a power-off brake assembly. The power-off brake assembly comprises a support member, a holding member, a driving member and a brake member; the holding member is installed on the support member, and the driving member is located between the brake member and the support member; when the holding member is powered off, the force of the holding member to the brake member disappears, and the driving member drives the brake member to move to the side away from the holding member.

[0024] In an embodiment of the present application, the driving member is an accumulator; when the holding member is powered, the force of the holding member to the brake member makes the brake member adsorb on the holding member, and drives the brake member to press the driving member, so that the driving member stores energy; when the force of the holding member to the brake member disappears, the driving member releases the stored energy to drive the brake member to move to the side away from the holding member.

[0025] In an embodiment of the present application, the power-off brake assembly further comprises a reset member; the reset member is connected with the brake member, and the reset member is used to pull the brake member to move to the holding member.

[0026] The present application has the following beneficial effects: different from the prior art, the present application provides a mobile device, a walking assembly and a power-off brake assembly. The mobile device is installed with a walking wheel and a power-off brake assembly on the body, and the power-off brake assembly comprises a holding member, a brake member and a driving member; when the mobile device is powered off, the force of the holding member to the brake member disappears due to power-off, the driving member drives the brake member to move to the rotating path of the walking wheel, and blocks the walking wheel from continuing to walk, so that the mobile device can brake in time after power-off, avoids the mobile device from continuing to move after power-off, and improves the use safety of the mobile device.

[0027] And, the brake piece of the power-off brake assembly is located between the holding component and the driving piece and the traveling wheel, so that the force of the holding component on the brake piece can directly act on the brake piece to drive the brake piece to move away from the traveling wheel. Similarly, the force of the driving piece on the brake piece can also directly act on the brake piece to drive the brake piece to move towards the traveling wheel. In this way, the power-off brake assembly does not need to additionally provide a transmission component for transmitting the force of the holding component and the driving piece, so that the structure of the power-off brake assembly is more compact, and the space occupation is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0029] Figure 1 is a structural schematic diagram of an embodiment of the mobile device of the present application;

[0030] Figure 2 is a partial structural schematic diagram of an embodiment of the mobile device of the present application;

[0031] Figure 3 is a structural schematic diagram of an embodiment of the power-off brake assembly of the present application;

[0032] Figure 4 is a structural schematic diagram of another embodiment of the power-off brake assembly of the present application;

[0033] Figure 5 is another angle structural schematic diagram of an embodiment of the power-off brake assembly of the present application;

[0034] Figure 6 is a structural schematic diagram of an embodiment of the reset component of the present application;

[0035] Figure 7 is an enlarged schematic diagram of A of Figure 6

[0036] Figure 8 is another angle structural schematic diagram of an embodiment of the reset component of the present application;

[0037] Figure 9 is another angle schematic diagram of a partial structure of an embodiment of the mobile device of the present application;

[0038] Figure 10 is a front view schematic diagram of a partial structure of an embodiment of the mobile device of the present application.

[0039] Explanation of reference signs:

[0040] ​10, body; 11, support frame; 20, walking wheel; 21, wheel hub motor; 22, brake disc; 221, brake hole; 30, power-off brake assembly; 31, retaining part; 32, brake part; 321, guide plate; 322, bolt; 33, driving part; 34, guide rod; 35, supporting part; 351, guide hole; 36, reset part; 361, reset wire; 362, bracket; 3621, first vertical part; 3622, second vertical part; 36221, locking hole; 363, limiting part; 364, connecting shaft; 365, reset handle; 3651, passing part; 3652, blocking part; 366, T-shaped part; 367, compression spring; 37, guide sleeve. DETAILED DESCRIPTION

[0041] For the purpose of making the objects, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application with reference to the drawings. The terms such as "upper", "above", "lower", "below", "first end", "second end", "one end", "the other end" and the like used in the present application to describe the spatial relative position of one unit or feature relative to another unit or feature are for the purpose of facilitating the description and describing the relationship of one unit or feature relative to another unit or feature as shown in the drawings. The spatial relative position terms can be intended to include different orientations of the device in use or in operation except the orientation shown in the drawings. For example, if the device in the drawings is turned over, the unit described as "below" or "under" the other unit or feature will be "above" the other unit or feature. Therefore, the exemplary term "below" can encompass both the above and below orientations. The device can be oriented in other ways (rotated 90 degrees or other orientations), and the spatial-related descriptions used herein are interpreted accordingly.

[0042] In addition, the terms "mount", "set", "provided with", "connect", "sliding connection", "fix", "sleeve" should be broadly understood. For example, "connection" can be fixed connection, detachable connection, or integral structure; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] The present application provides a mobile device, a walking assembly and a power-off brake assembly, which are described in detail below. It should be noted that the description order of the following embodiments is not limited as the preferred order of the embodiments of the present application. Moreover, the description of each embodiment in the following embodiments has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0044] Please refer to Figure 1 , Figure 2 ,Figure 3 and Figure 4 as shown in FIG. 1, Figure 1 is a structural schematic diagram of an embodiment of the mobile device, Figure 2 is a partial structural schematic diagram of an embodiment of the mobile device, Figure 3 is a structural schematic diagram of an embodiment of the power-off brake assembly, Figure 4 is a structural schematic diagram of another embodiment of the power-off brake assembly.

[0045] In an embodiment, the mobile device can be a cleaning robot or the like having a cleaning function such as floor washing, floor sweeping, floor mopping, and the like, and the mobile device is capable of automatically moving on a surface to be cleaned to perform cleaning work on the surface to be cleaned. Of course, the mobile device can also be a mowing robot, a service robot, a meal delivery robot, a transportation device, or the like having a walking function, and the like, without being specifically limited.

[0046] The mobile device comprises a body 10, which serves as a basic carrier of the mobile device and plays a role of bearing and protecting other components of the mobile device.

[0047] The mobile device further comprises a walking wheel 20 connected with the body 10, which is used to support the body 10 and move the body 10 through rotation of the walking wheel 20. In terms of use, the walking wheel 20 can be a driving wheel of the mobile device, which is used to provide driving force for the mobile device to move forward and drive the mobile device to move. The walking wheel 20 can also be a driven wheel of the mobile device, which is used to support the body 10 and move the mobile device in cooperation with the driving wheel. In terms of shape, the walking wheel 20 can be a round wheel, and of course can also be an oval track wheel, without being specifically limited.

[0048] The mobile device further comprises a power-off brake assembly 30 for braking the mobile device in time when the mobile device is powered off to ensure the safety of the mobile device. Specifically, the power-off brake assembly 30 can comprise a holding component 31, a brake component 32 and a driving component 33. The holding component 31 is installed on the body 10. The holding component 31 is used to apply a force to the brake component 32 when powered to make the brake component 32 disengage from the rotating path of the walking wheel 20 to ensure the normal rotation of the walking wheel 20. When the holding component 31 is powered off, the force of the holding component 31 on the brake component 32 disappears, i.e. without the force of the holding component 31, the driving component 33 can drive the brake component 32 to move to the rotating path of the walking wheel 20 to brake the mobile device. The brake component 32 should be located between the holding component 31 and the driving component 33 and the walking wheel 20, so that the force of the holding component 31 on the brake component 32 can directly act on the brake component 32 to make the brake component 32 move away from the walking wheel 20. Similarly, the force of the driving component 33 on the brake component 32 can also directly act on the brake component 32 to make the brake component 32 move towards the walking wheel 20. In this way, the power-off brake assembly 30 does not need to additionally set a transmission component to transmit the force of the holding component 31 and the driving component 33 on the brake component 32, so that the structure of the power-off brake assembly 30 can be more compact and reduce the space occupation. It should be pointed out that the rotating path of the walking wheel 20 should be understood as the path passed by the walking wheel 20 and the parts rotating with the walking wheel 20 during rotation.

[0049] In the present embodiment, the power-off brake assembly 30 is one of the components on the mobile device, and the power-off brake assembly 30 shares the same power supply with the mobile device. When the mobile device is suddenly powered off, the mobile device cannot brake by normal means. At this time, since the power-off brake assembly 30 shares the same power supply with the mobile device, the power-off brake assembly 30 is also powered off, i.e. the holding component 31 is powered off, the force of the holding component 31 on the brake component 32 disappears, so that the driving component 33 can drive the brake component 32 to move to the rotating path of the walking wheel 20 to hinder the rotation of the walking wheel 20, and thus the power-off brake assembly 30 can be used for emergency braking of the mobile device when powered off. In actual use, the walking wheel 20 and the power-off brake assembly 30 can be directly connected with the body 10, of course, the walking wheel 20 and the power-off brake assembly 30 can also be indirectly connected with the body 10, for example, the walking wheel 20 and the power-off brake assembly 30 are connected with the body 10 through the support frame 11, which is not limited in the present application.

[0050] For the convenience of understanding, the present application provides two specific embodiments about the above-mentioned driving component 33, which are described respectively.

[0051] In the first embodiment, it can be seen that Figure 4As shown, the driving member 33 can be a pneumatic cylinder or a hydraulic cylinder. Taking the driving member 33 as a pneumatic cylinder as an example, the mobile device further has a pneumatic circuit, the rod cavity and the rodless cavity of the driving member 33 each has a gas connection, and the two gas connections are controlled by a two-position five-way single electric control electromagnetic valve. Among them, the driving member 33 is connected with the body 10, the telescopic end of the driving member 33 is connected with the brake member 32, when the driving member 33 drives the brake member 32 to retract, the brake member 32 is in contact with the retaining member 31.

[0052] In use, when the mobile device is normally moved with power, that is, the retaining member 31 and the above-mentioned electromagnetic valve are powered, the electromagnetic valve controls the driving member 33 to be in the retracted state, and the brake member 32 is in contact with the retaining member 31, the driving member 33 and the retaining member 31 jointly provide the brake member 32 with a force, so that the brake member 32 is separated from the rotating path of the traveling wheel 20, avoiding the instability of the gas circuit affecting the normal operation of the mobile device. When the mobile device is powered off accidentally, that is, the retaining member 31 and the above-mentioned electromagnetic valve are both powered off, the force of the retaining member 31 on the brake member 32 disappears, at the same time, the electromagnetic valve is powered off to control the driving member 33 to be in the extended state, the driving member 33 drives the brake member 32 to move to the rotating path of the traveling wheel 20 to brake the traveling wheel 20. It should be noted that although the air pump for providing air pressure to the driving member 33 is also powered off when the mobile device is powered off, the air cylinder of the air pump still has pressure, which is sufficient to control the driving member 33 to switch from the retracted state to the extended state.

[0053] In the second embodiment, it can be seen from Figure 3 As shown, the driving member 33 can be a pneumatic cylinder or a hydraulic cylinder. Taking the driving member 33 as a pneumatic cylinder as an example, the mobile device further has a pneumatic circuit, the rod cavity and the rodless cavity of the driving member 33 each has a gas connection, and the two gas connections are controlled by a two-position five-way single electric control electromagnetic valve. Among them, the driving member 33 is connected with the body 10, the telescopic end of the driving member 33 is connected with the brake member 32, when the driving member 33 drives the brake member 32 to retract, the brake member 32 is in contact with the retaining member 31.

[0054] In this embodiment, when the retaining member 31 is powered, the force of the driving member 33 on the brake member 32 should be smaller than the force of the retaining member 31 on the brake member 32. In this way, the force of the retaining member 31 on the brake member 32 can overcome the force of the driving member 33 on the brake member 32, so that the brake member 32 is always separated from the rotating path of the traveling wheel 20. It should be noted that compared with the last embodiment, in this embodiment, there is no need to additionally set up a pneumatic control circuit and a hydraulic control circuit, the structure is more simple, the braking effect is more stable, and the manufacturing cost is low. Therefore, the application preferably drives the driving member 33 to be a storage device, and the driving member 33 will be driven to be a storage device in the following.

[0055] In an embodiment, when the holding component 31 is powered off, the driving component 33 can drive the brake component 32 to move in a straight line, wherein the moving direction of the brake component 32 is perpendicular to the plane where the walking wheel 20 is located, and the direction of the force of the holding component 31 on the brake component 32, the moving direction of the brake component 32 and the direction of the force of the driving component 33 on the brake component 32 are parallel to each other.

[0056] It can be understood that, since the walking wheel 20 is in a vertical state when walking, that is, the plane where the walking wheel 20 is located is a vertical plane, correspondingly, since the moving direction of the brake component 32 is perpendicular to the walking wheel 20, the moving direction of the brake component 32 is a horizontal direction. It can be seen that the direction of the gravity of the brake component 32 is perpendicular to the direction of the force of the driving component 33 on the brake component 32, which makes the gravity of the brake component 32 not overcome the force of the holding component 31 together with the driving component 33 when the holding component 31 is powered on, thereby ensuring the adsorption stability of the holding component 31. At the same time, when the holding component 31 is powered off, the gravity of the brake component 32 does not hinder the driving component 33 from driving the brake component 32 to move, and the brake stability of the brake component 32 on the moving device can also be ensured.

[0057] In an embodiment, the holding component 31 described above can be an electromagnet, and the characteristics that the electromagnet generates magnetism when powered on and the magnetism disappears after the electromagnet is powered off are used to control whether the brake component 32 brakes the walking wheel 20. Specifically, when the holding component 31 is powered on, the holding component 31 adsorbs the brake component 32 to keep the brake component 32 away from the rotating path of the walking wheel 20. When the holding component 31 is powered off, the magnetism of the holding component 31 disappears, and then the adsorption force of the holding component 31 on the brake component 32 disappears, and the driving component 33 drives the brake component 32 to move to the rotating path of the walking wheel 20 to brake the walking wheel 20.

[0058] In the embodiment, the brake component 32 is at least partially made of a magnetic material, so that when the holding component 31 generates magnetism, the holding component 31 can adsorb the brake component 32. It should be noted that the magnetic material can be understood as a material that can be attracted by a magnet, such as iron, cobalt, nickel, etc.

[0059] Further, in order to ensure that the brake component 32 can accurately move into the rotating path of the walking wheel 20, in an embodiment, the powered-off brake assembly 30 further comprises a guide rod 34. The guide rod 34 is used to support the holding component 31, so that the holding component 31 can be connected to the body 10 through the guide rod 34. Moreover, the brake component 32 is slidingly connected to the guide rod 34, and when the driving component 33 drives the brake component 32 to move, the brake component 32 can move along the guide rod 34 towards the walking wheel 20, and the guide rod 34 is used to guide the movement of the brake component 32, thereby ensuring that the brake component 32 can accurately move into the rotating path of the walking wheel 20 to brake the walking wheel 20.

[0060] In the embodiment, when the brake piece 32 slides along the guide rod 34, there should be no relative rotation between the brake piece 32 and the guide rod 34, so as to ensure that the brake piece 32 can be accurately moved into the rotation path of the walking wheel 20. In actual application, the cross section of the guide rod 34 can be configured as a non-circular structure, and the cross section of the brake piece 32 cooperates with the cross section of the guide rod 34 to prevent relative rotation between the brake piece 32 and the guide rod 34. Of course, the cross section of the guide rod 34 can also be circular, and when the cross section of the guide rod 34 is circular, a plurality of guide rods 34 are arranged so that the brake piece 32 is simultaneously connected with the plurality of guide rods 34 in sliding mode, thereby also preventing relative rotation between the brake piece 32 and the guide rod 34.

[0061] Regarding the specific structure of the brake piece 32. In an embodiment, the brake piece 32 includes a guide plate 321 and a plug 322. The guide plate 321 is connected in sliding mode on the guide rod 34, the guide plate 321 abuts one end of the driving piece 33, the guide plate 321 is a magnetic material, and the holding component 31 is adsorbed to the guide plate 321 to provide a holding force to the brake piece 32. The plug 322 is connected with the guide plate 321, and the plug 322 is located on the side of the guide plate 321 away from the driving piece 33, and the plug 322 is used to move into the rotation path of the walking wheel 20 to brake the moving device.

[0062] In the embodiment, since the brake piece 32 adopts a split structure design, that is, the brake piece 32 is separately produced by the guide plate 321 and the plug 322 and then assembled, the guide plate 321 and the plug 322 can be made of different materials, for example, the guide plate 321 can be made of a magnetic material to meet the adsorption effect of the holding component 31 on the brake piece 32, and the plug 322 can be made of a material with high wear resistance and high shear strength to meet the braking environment of the walking wheel 20 and improve the service life. At the same time, the guide plate 321 and the plug 322 made of different materials can further reduce the overall production cost of the brake piece 32.

[0063] In an embodiment, the driving member 33 is a spring. The support member 35 can be further connected to the guide rod 34 and located at the end of the driving member 33 away from the brake member 32. The driving member 33 is sleeved on the guide rod 34, and the two ends of the driving member 33 are respectively in abutment with the support member 35 and the brake member 32. When the brake member 32 moves along the guide rod 34 towards the side of the support member 35, the support member 35 can support one end of the driving member 33, and the brake member 32 can extrude the driving member 33, so that the driving member 33 shrinks and deforms towards the side of the support member 35, and stores the deformation energy. When the force of the retaining member 31 on the brake member 32 disappears, the driving member 33 releases the deformation energy towards the end away from the support member 35 under the support of the support member 35, thereby driving the brake member 32 to move.

[0064] In actual application, when the driving member 33 is a spring, the technical parameters of the driving member 33 should also meet the following requirements:

[0065] I. When the latch 322 moves to the rotation path of the walking wheel 20, the distance between the guide plate 321 and the support member 35 should be less than the free length of the driving member 33, so that the driving member 33 is still in a compressed state. In this way, the driving member 33 can always have a driving force on the brake member 32, so that the brake member 32 is always located on the rotation path of the walking wheel 20 when it is not subjected to external force, avoiding the brake member 32 from falling off the rotation path of the walking wheel 20, and ensuring the stability of the brake.

[0066] II. When the retaining member 31 adsorbs the guide plate 321, the distance between the guide plate 321 and the support member 35 should be greater than the compression height of the driving member 33, so as to avoid damage to the driving member 33 under compression and improve the service life of the driving member 33.

[0067] Please refer to Figure 3 and Figure 5 , as shown in Figure 3 is a structural schematic diagram of an embodiment of the power-off brake assembly of the present application, Figure 5 is another angle structural schematic diagram of an embodiment of the power-off brake assembly of the present application.

[0068] Since the electromagnet has a certain magnetic attraction distance, when the brake member 32 exceeds the magnetic attraction distance, the electromagnet cannot adsorb the brake member 32, so that the brake member 32 is separated from the rotation path of the walking wheel 20 to achieve the purpose of resetting. Therefore, the reset member 36 can be added in the power-off brake assembly 30 to drive the guide plate 321 to move towards the retaining member 31, so as to reset the brake member 32.

[0069] In one embodiment, the reset component 36 can be an electric cylinder. When the mobile device is powered on, the electric cylinder extends to drive the guide plate 321 to move towards the holding component 31 and to a distance within the magnetic attraction distance of the holding component 31, so that the holding component 31 attracts the guide plate 321, thereby unlocking the walking wheel 20, so that the mobile device can continue to move. Then, the electric cylinder retracts to avoid affecting the next power-off braking operation.

[0070] However, in the above embodiment, the brake 32 needs to be reset when the mobile device is powered on, so that the mobile device can move. In some application scenarios, the mobile device often cannot be powered on in the field to troubleshoot, so it is necessary to restore the moving function of the mobile device in advance to facilitate the movement of the mobile device to the maintenance site.

[0071] Therefore, the present application also provides another embodiment, in which the reset component 36 can include a reset line 361. The support 35 has a guide hole 351, and one end of the reset line 361 is connected to the guide plate 321 through the guide hole 351. When the user needs to move the mobile device in the case of power off, the user can manually pull the reset line 361 to make the brake 32 disengage from the rotating path of the walking wheel 20. Then, the user fixes the reset line 361, so that the walking wheel 20 is in an unlocked state for a long time, thereby the mobile device can be moved. When the mobile device is powered on, the user can manually pull the reset line 361 to make the guide plate 321 of the brake 32 move to a distance within the magnetic attraction distance of the holding component 31, so that the holding component 31 attracts the guide plate 321, thereby unlocking the walking wheel 20, so that the mobile device can continue to move.

[0072] Please refer to Figure 6 , Figure 7 and Figure 8 , Figure 6 is a structural schematic diagram of an embodiment of the reset component of the present application, Figure 7 is an enlarged schematic diagram of part A of Figure 6 , Figure 8 is a structural schematic diagram of another embodiment of the reset component of the present application.

[0073] The other end of the reset line 361 can be fixed at a preset position of the machine body 10 by a fixing mechanism to facilitate the user to find and use the reset line 361. Specifically, the reset component 36 can further include a bracket 362 and a limiting piece 363. The bracket 362 is connected with the machine body 10, the bracket 362 has a first vertical part 3621, the other end of the reset line 361 passes through the first vertical part 3621 and is connected with the limiting piece 363, and the limiting piece 363 cannot pass through the hole position between the reset line 361 and the bracket 362, so that the other end of the reset line 361 is limited on the bracket 362 by the limiting piece 363. In this way, the other end of the reset line 361 can be fixed at the bracket 362, when the user needs to move the mobile device after the brake, the user only needs to find the position of the bracket 362, pull the limiting piece 363, and drive the brake piece 32 away from the walking wheel 20 through the reset line 361 to achieve unlocking. At the same time, the other end of the reset line 361 is fixed at the bracket 362, which can also avoid the reset line 361 from being scattered everywhere to affect the normal operation of the mobile device.

[0074] Further, the reset component 36 can further include a connecting shaft 364 and a reset handle 365, wherein the reset handle 365 has a passing part 3651. Correspondingly, the bracket 362 further has a second vertical part 3622, and the second vertical part 3622 is provided with a locking hole 36221. One end of the connecting shaft 364 is connected with the limiting piece 363, and the other end of the connecting shaft 364 can be rotatably connected with the passing part 3651 through the locking hole 36221. The passing part 3651 has a first state and a second state which are changed relative to the locking hole 36221, the passing part 3651 can be switched between the first state and the second state by rotating, and the cross section of the locking hole 36221 and the cross section of the passing part 3651 are both non-circular. When the passing part 3651 is in the first state, the projection of the passing part 3651 on the second vertical part 3622 is located in the locking hole 36221, so that the passing part 3651 can pass through the locking hole 36221. When the passing part 3651 is in the second state, the projection of the passing part 3651 on the second vertical part 3622 is partially located outside the locking hole 36221, so that the passing part 3651 cannot pass through the locking hole 36221. In this way, the user can adjust the passing part 3651 to be in different states to limit the movement state between the reset handle 365 and the bracket 362, that is, to limit the movement state of the reset line 361.

[0075] In actual application, the cross section of the locking hole 36221 can be rectangular, and correspondingly, the cross section of the passing portion 3651 can also be rectangular. When the passing portion 3651 is in the first state, the passing portion 3651 is parallel to the locking hole 36221, so that the passing portion 3651 can pass through the locking hole 36221. When the passing portion 3651 is in the second state, the passing portion 3651 is perpendicular to the locking hole 36221, and part of the passing portion 3651 is located outside the locking hole 36221, so that the passing portion 3651 cannot pass through the locking hole 36221. Of course, the cross section of the locking hole 36221 and the cross section of the passing portion 3651 can also be other arbitrary non-circular shapes, such as oval, square, star, etc., which are not limited herein.

[0076] In order to ensure the reliability of the reset component 36, the reset line 361 can have multiple, for example, 2, 3, 4, etc. One end of the multiple reset lines 361 can be connected with the brake 32, and the other end of the multiple reset lines 361 can be connected with the limiting piece 363. Taking the reset line 361 having two as an example, one end of the two reset lines 361 can be connected with the two ends of the guide plate 321 respectively, and the other end of the two reset lines 361 can be connected with the two ends of the limiting piece 363 respectively, so as to ensure the uniformity of the stress of the guide plate 321 and the limiting piece 363. Among them, the other end of the reset line 361 can be locked and connected with the limiting piece 361 through a screw, so as to facilitate the disassembly and replacement of the reset line 361.

[0077] It should be pointed out that the limiting piece 363 should be located between the first vertical portion 3621 and the second vertical portion 3622, so that the reset handle 365, the connecting shaft 364 and the reset line 361 can be located on the same straight line. When the user pulls the reset handle 365, the reset handle 365 can smoothly pull the reset line 361 through the connecting shaft 364 and the limiting piece 363.

[0078] For example, when the mobile device is normally walking, the passing part 3651 can be adjusted to the first state. In this way, the passing part 3651 can slide in the locking hole 36221, release the reset line 361, so that the reset line 361 is relaxed and there is no backward pulling force on the brake piece 32. When the mobile device is powered off accidentally, the driving piece 33 can drive the brake piece 32 to brake. When the user needs to move the mobile device in the case of power failure of the mobile device, the user can pull the passing part 3651 backward, so that the brake piece 32 is separated from the rotating path of the walking wheel 20 through the connecting shaft 364, the limiting piece 363 and the reset line 361. At this time, the passing part 3651 is located outside the locking hole 36221 as a whole, and the user can rotate the passing part 3651 to the second state, so that the passing part 3651 cannot pass through the locking hole 36221, so that the brake piece 32 is always separated from the rotating path of the walking wheel 20, that is, the walking wheel 20 is in the unlocked state for a long time, and then the mobile device can be moved.

[0079] Considering that during the movement of the mobile device, there is an accidental switching between the first state and the second state of the passing part 3651 due to shaking, thereby affecting the braking and walking of the mobile device. In order to avoid the above problems as much as possible, in an embodiment, the reset component 36 can further include a T-shaped piece 366 and a compression spring 367. The two ends of the T-shaped piece 366 can be divided into a large end and a small end according to the shape and size, and the small end of the T-shaped piece 366 can pass through the first vertical part 3621 and be connected with the limiting piece 363, and the compression spring 367 is sleeved on the T-shaped piece 366, and the compression spring 367 is located between the large end of the T-shaped piece 366 and the first vertical part 3621.

[0080] In the above manner, the compression spring 367 always has an action force on the limiting piece 363 towards the first vertical part 3621, and since the limiting piece 363 is connected with the passing part 3651 through the connecting shaft 364, the compression spring 367 also has an action force on the passing part 3651 towards the first vertical part 3621. In this way, when the passing part 3651 is in the first state, the action force can pull the passing part 3651 to always be located in the locking hole 36221, avoiding the passing part 3651 from sliding out of the locking hole 36221 without user operation, thereby accidentally switching to the second state. When the passing part 3651 is in the second state, the action force can increase the friction between the passing part 3651 and the second vertical part 3622, so as to reduce the accidental switching of the passing part 3651 to the first state without user operation.

[0081] Further, the reset handle 365 can further have a blocking portion 3652. The blocking portion 3652 is located at an end of the passing portion 3651 away from the connecting shaft 364, and is used to block the reset handle 365 from passing through the locking hole 36221 completely, so that the reset handle 365 is at least partially located outside the locking hole 36221, to facilitate the user to hold and operate.

[0082] In actual application, the blocking portion 3652 and the passing portion 3651 can be integrally formed, and the blocking portion 3652 extends outward from the outer side of the passing portion 3651. Of course, the blocking portion 3652 and the passing portion 3651 are formed respectively, for example, the blocking portion 3652 can adopt a connecting pin, and the passing portion 3651 is formed with a pin hole at an end away from the connecting shaft 364, and the connecting pin is inserted into the pin hole to block the reset handle 365 from passing through the locking hole 36221 completely.

[0083] Please refer to Figure 9 and Figure 10 together, Figure 9 is another angle view of a part of structure of an embodiment of the mobile device, Figure 10 is a front view of a part of structure of an embodiment of the mobile device.

[0084] The above walking wheel 20 can be a driving wheel or a driven wheel, that is, the power-off brake assembly 30 brakes the driving wheel or the driven wheel of the mobile device, and the power-off brake effect of the mobile device can be achieved.

[0085] When the walking wheel 20 is a driving wheel, the walking wheel 20 can include a hub motor 21, and an inner stator of the hub motor 21 is fixedly connected with the body 10. In this way, when the hub motor 21 operates, an outer rotor of the hub motor 21 rotates relative to the body 10, thereby driving the mobile device to move. Correspondingly, when it is needed to brake the mobile device, the power-off brake assembly 30 only needs to lock the outer rotor of the hub motor 21, and the brake of the mobile device can be achieved.

[0086] In actual application, the walking wheel 20 can further include a brake disc 22, and the brake disc 22 is fixedly connected with the outer rotor of the hub motor 21, so that the brake disc 22 is locked to brake the mobile device. Specifically, the brake disc 22 is formed with a brake hole 221, and the brake piece 32 is inserted into the brake hole 221 to lock the brake disc 22, so as to brake the mobile device.

[0087] When the walking wheel 20 is a driven wheel, the walking wheel 20 is rotationally connected with the body 10. In this way, when the mobile device is moving, the walking wheel 20 rotates to assist the movement of the mobile device. Correspondingly, when it is required to brake the mobile device, the brake assembly 30 only needs to lock the walking wheel 20, so that the walking wheel 20 is fixed relative to the body 10, and the braking of the mobile device is realized. In actual application, the walking wheel 20 is connected with a brake disc 22, and the brake disc 22 is formed with a brake hole 221, and the brake piece 32 is inserted into the brake hole 221 to lock the brake disc 22, so that the walking wheel 20 is fixed relative to the body 10 to brake the mobile device.

[0088] It should be pointed out that the brake hole 221 can be circular, oval or any other shape. Of course, the brake disc 22 can also be formed with a protrusion or a groove instead of the brake hole 221, and the braking function can also be realized, which is not limited here.

[0089] In an embodiment, the mobile device can further include a guide sleeve 37. The guide sleeve 37 is connected with the support frame 11, and the guide sleeve 37 has a through hole (not shown) located on the extension line of the latch 322, so that the latch 322 can pass through the support frame 11 through the through hole and be inserted into the brake hole 221.

[0090] Further, when the latch 322 is inserted into the through hole, the cooperation gap between the latch 322 and the through hole should be smaller than the cooperation gap between the guide plate 321 and the guide rod 34. In this way, when the walking wheel 20 brakes the latch 322, the force of the walking wheel 20 on the latch 322 can be supported by the guide sleeve 37, and compared with the force of the walking wheel 20 on the latch 322 supported by the guide rod 34, the torque on the latch 322 can be reduced, and the service life of the latch 322 can be improved. In actual application, the guide sleeve 37 can be made of wear-resistant material to reduce the wear degree of the guide sleeve 37 by the latch 322.

[0091] Correspondingly, the application also provides a walking assembly which is independent of the mobile device and can be assembled with the mobile device as a whole system.

[0092] Specifically, referring again to Figure 2 , Figure 9 and Figure 10As shown, the walking assembly can at least include a support frame 11, a wheel hub motor 21 and a power-off brake assembly 30. The inner stator of the wheel hub motor 21 is connected with the support frame 11, and the outer rotor of the wheel hub motor 21 is connected with a brake disc 22, and the brake disc 22 is formed with a brake hole 221. The power-off brake assembly 30 includes a holding component 31, a driving component 33 and a brake component 32, the holding component 31 is installed on the support frame 11, and the brake component 32 is located between the driving component 33 and the wheel hub motor 21. When the holding component 31 is powered off, the holding component 31 disappears the acting force on the brake component 32, the driving component 33 drives the brake component 32 to move to the brake disc 22, and inserts into the brake hole 221, so as to brake the wheel hub motor 21.

[0093] In actual application, if it is needed to assemble the above walking assembly into a mobile device, the user can connect the support frame 11 with the body 10 of the mobile device to complete the installation operation.

[0094] Optionally, the driving component 33 is an accumulator. When the holding component 31 is powered on, the holding component 31 keeps the brake component 32 away from the brake hole 221 by the acting force on the brake component 32, and drives the brake component 32 to press the driving component 33, so that the driving component 33 stores energy. When the holding component 31 disappears the acting force on the brake component 32, the driving component 33 releases the stored energy to drive the brake component 32 to move to the brake disc 22.

[0095] Optionally, the power-off brake assembly 30 further includes a reset component 36. The reset component 36 is connected with the brake component 32, and the reset component 36 is used to pull the brake component 32 to move to the holding component 31.

[0096] It should be noted that the wheel hub motor 21, the power-off brake assembly 30 and the brake disc 22 have been described in detail in the above embodiment, and will not be repeated here.

[0097] Correspondingly, the application also provides a power-off brake assembly 30, which is not only limited to brake use for a mobile device, but also can be used for locking and stopping other arbitrary moving parts or components.

[0098] Specifically, referring again to Figure 3 and Figure 5 As shown, the power-off brake assembly 30 can at least include a support component 35, a holding component 31, a driving component 33 and a brake component 32. The holding component 31 is installed on the support component 35, and the driving component 33 is located between the brake component 32 and the support component 35. When the holding component 31 is powered off, the holding component 31 disappears the acting force on the brake component 32, and the driving component 33 drives the brake component 32 to move to the side away from the holding component 31.

[0099] Optionally, the driving member 33 is an accumulator. When the holding member 31 is powered, the holding member 31 exerts a force on the brake member 32, so that the brake member 32 is adsorbed on the holding member 31, and the driving member 33 is driven to press the brake member 32, so that the driving member 33 stores energy. When the force of the holding member 31 on the brake member 32 disappears, the driving member 33 releases the stored energy to drive the brake member 32 to move away from the holding member 31.

[0100] Optionally, the brake assembly further comprises a reset member 36. The reset member 36 is connected with the brake member 32, and the reset member 36 is used to pull the brake member 32 to move towards the holding member 31.

[0101] It should be noted that the power-off brake assembly 30 has been described in detail in the above embodiment, and will not be repeated here.

[0102] The above embodiments of the present application will be described in detail in combination with specific application scenarios.

[0103] Application scenario one:

[0104] Taking a mobile device as an example, a restaurant purchases a batch of meal delivery robots to reduce the work intensity of waiters. The meal delivery robots are used to transport dishes by moving between the kitchen and the dining table, thereby assisting the waiters to serve the dishes.

[0105] In the use process, part of the meal delivery robots will have accidental power-off during meal delivery, which causes the meal delivery robots to be unable to brake in time and collide with pedestrians or tables and chairs and other objects, seriously affecting the use safety. Therefore, the restaurant personnel contact the selling manufacturer to improve the meal delivery robots and add the power-off brake function.

[0106] When the improved meal delivery robots are used again, in the case of accidental power-off of the meal delivery robots, the magnetic attraction force of the electromagnet on the brake member disappears, and the brake member is driven by the spring to insert into the brake hole of the brake disc to brake the meal delivery robots.

[0107] Since then, the meal delivery robots can brake in time in the case of accidental power-off, and there is no collision event as before, and the service personnel also feel relieved and use the meal delivery robots to assist in serving dishes.

[0108] Application scenario two:

[0109] One day, the meal delivery robot accidentally loses power, and the meal delivery robot brakes in time under the action of the power-off brake assembly, and there is no collision between the meal delivery robot and external objects.

[0110] The new waiter A wants to move the broken delivery robot to the warehouse to avoid hindering the use of subsequent delivery robots. First, the waiter A tries to push the delivery robot, but since the bottom wheels of the delivery robot are still in the locked state, it cannot be moved. Then, the waiter A tries to separate the brake piece from the brake hole with his hand to unlock the walking wheels, but every time the waiter A's hand is removed from the brake piece, the brake piece will be inserted into the brake hole again, causing the walking wheels to be locked.

[0111] When the waiter A is at a loss, the foreman comes to demonstrate to the waiter A how to unlock the walking wheels of the delivery robot. The foreman pulls the reset line on one side of the power-off brake assembly with his hand, and as the reset line is pulled, the brake piece moves with the reset line. After the brake piece is separated from the brake hole, the foreman ties the reset line to one side of the machine body to fix the reset line, so that the brake piece and the brake hole are always in a separated state, thereby completing the unlocking operation.

[0112] After the walking wheels of the delivery robot are unlocked, the foreman pushes the delivery robot into the warehouse.

[0113] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile device, comprising: The mobile device comprises a body, a walking wheel, a power-off brake assembly and a support frame, wherein the walking wheel and the power-off brake assembly are connected to the body through the support frame; The power-off brake assembly comprises a holding component, a brake piece and a driving piece, the holding component is installed on the body, the brake piece is located between the holding component and the driving piece and the walking wheel; When the holding component is powered off, the holding component disappears the force on the brake piece, the driving piece drives the brake piece to move to the rotating path of the walking wheel to brake the mobile device; The power-off brake assembly further comprises a reset component, the reset component comprises a support frame and a limiting piece, the support frame has a first vertical part; The reset component further comprises a connecting shaft and a reset handle, wherein the reset handle has a passing part; The support frame further has a second vertical part, the second vertical part is provided with a locking hole, and the limiting piece is located between the first vertical part and the second vertical part; One end of the connecting shaft is connected with the limiting piece, and the other end of the connecting shaft is rotatably connected with the passing part through the locking hole, so that the passing part can be switched between a first state and a second state by rotating; The cross section of the locking hole and the cross section of the passing part are both non-circular, when the passing part is in the first state, the passing part can pass through the locking hole, and when the passing part is in the second state, the passing part cannot pass through the locking hole.

2. The mobile device of claim 1, wherein, The driving piece is an energy accumulator; When the holding component is powered on, the holding component keeps the brake piece away from the rotating path of the walking wheel by the force on the brake piece, and drives the brake piece to press the driving piece, so that the driving piece stores energy; When the force of the holding component on the brake piece disappears, the driving piece releases the stored energy to drive the brake piece to move to the rotating path of the walking wheel.

3. The mobile device of claim 2, wherein, The holding component is an electromagnet; When the holding component is powered on, the holding component attracts the brake piece to keep the brake piece away from the rotating path of the walking wheel.

4. The mobile device of claim 3, wherein, The holding component is connected with the body through a guide rod, and the brake piece is slidingly connected on the guide rod.

5. The mobile device of claim 4, wherein, The driving piece is a spring; The guide rod is connected with a support piece, and the support piece is located at one end of the driving piece away from the brake piece; The driving piece is sleeved on the guide rod, and the two ends of the driving piece are respectively abutted with the support piece and the brake piece.

6. The mobile device of claim 5, wherein, The brake piece comprises a guide plate and a latch; The guide plate is slidingly connected on the guide rod, and the guide plate is abutted with one end of the driving piece, and the guide plate is a magnetic material; The latch is connected with the guide plate, and the latch is located on the side of the guide plate away from the driving piece, and the latch is used to move to the rotating path of the walking wheel to brake the mobile device.

7. The mobile device of claim 6, wherein, When the latch moves to the rotating path of the walking wheel, the distance between the guide plate and the support piece is less than the free length of the driving piece. When the holding component adsorbs the guide plate, the distance between the guide plate and the support is greater than the pressing height of the driving component.

8. The mobile device of claim 7, wherein, The resetting component is used to drive the guide plate to move towards the holding component.

9. The mobile device of claim 8, wherein, The resetting component at least comprises a resetting wire. The support has a guide hole, and one end of the resetting wire passes through the guide hole and is connected with the guide plate.

10. The mobile device of claim 9, wherein, The support is connected with the machine body, and the other end of the resetting wire passes through the first vertical part and is connected with the limiting piece, so that the other end of the resetting wire is limited on the support by the limiting piece.

11. The mobile device of any one of claims 1 to 10, wherein, The resetting component further comprises a T-shaped piece and a compression spring. The small end of the T-shaped piece passes through the first vertical part and is connected with the limiting piece. The compression spring is sleeved on the T-shaped piece, and the compression spring is located between the large end of the T-shaped piece and the first vertical part.

12. The mobile device of any one of claims 1 to 10, wherein, The resetting handle further has a blocking part. The blocking part is located at the end of the passing part away from the connecting shaft, and the blocking part blocks the resetting handle from passing through the locking hole completely.

13. The mobile device of any one of claims 1 to 10, wherein, When the walking wheel is a driving wheel, the walking wheel comprises a hub motor and a brake disc. The inner stator of the hub motor is connected with the machine body. The brake disc is connected with the outer rotor of the hub motor, and the brake disc is formed with a brake hole, and the brake piece brakes the mobile device by inserting into the brake hole.

14. The mobile device of any one of claims 1 to 10, wherein, When the walking wheel is a driven wheel, the walking wheel is rotationally connected with the machine body, the walking wheel is connected with a brake disc, and the brake disc is formed with a brake hole, and the brake piece brakes the mobile device by inserting into the brake hole.

15. The mobile device of claim 2, wherein, When the holding component is powered off, the driving component drives the brake piece to move linearly. The moving direction of the brake piece is perpendicular to the plane where the walking wheel is located, and the direction of the force of the holding component on the brake piece, the moving direction of the brake piece and the direction of the force of the driving component on the brake piece are parallel to each other.

16. A walking assembly characterized by, The walking assembly comprises a support frame, a hub motor and a power-off brake assembly. The inner stator of the hub motor is connected with the support frame, and the outer rotor of the hub motor is connected with a brake disc, and the brake disc is formed with a brake hole. The power-off brake assembly comprises a holding component, a driving component and a brake piece, the holding component is installed on the support frame, and the brake piece is located between the driving component and the hub motor. When the holding component is powered off, the force of the holding component on the brake piece disappears, the driving component drives the brake piece to move towards the brake disc and inserts into the brake hole, so as to brake the hub motor. The power-off brake assembly further comprises a resetting component, the resetting component is connected with the brake piece, and the resetting component is used to pull the brake piece to move towards the holding component. The resetting component comprises a support frame and a limiting piece, and the support frame has a first vertical part. The resetting component further comprises a connecting shaft and a resetting handle, and the resetting handle has a passing part. The support frame further has a second vertical part, the second vertical part is formed with a locking hole, and the limiting piece is located between the first vertical part and the second vertical part. One end of the connecting shaft is connected with the limiting piece, and the other end of the connecting shaft is rotatably connected with the passing part through the locking hole, so that the passing part can be switched between the first state and the second state by rotation; Cross sections of the locking hole and the passing part are non-circular, the passing part can pass through the locking hole when the passing part is in the first state, and the passing part cannot pass through the locking hole when the passing part is in the second state.

17. The walking assembly of claim 16, wherein, The driving piece is an energy accumulator; When the retaining part is powered, the retaining part applies a force to the brake piece to separate the brake piece from the brake hole, and drives the brake piece to press the driving piece, so that the driving piece stores energy; When the force applied by the retaining part to the brake piece disappears, the driving piece releases the stored energy to drive the brake piece to move towards the brake disc.

18. A de-energized brake assembly comprising: The power-off brake assembly comprises a support, a retaining part, a driving piece and a brake piece; The retaining part is mounted on the support, and the driving piece is located between the brake piece and the support; When the retaining part is powered off, the force applied by the retaining part to the brake piece disappears, and the driving piece drives the brake piece to move away from the retaining part; The power-off brake assembly further comprises a reset part; The reset part is connected with the brake piece, and the reset part is used to pull the brake piece to move towards the retaining part; The reset part comprises a bracket and a limiting piece, and the bracket has a first vertical part; The reset part further comprises a connecting shaft and a reset handle, wherein the reset handle has a passing part; The bracket further has a second vertical part, the second vertical part is provided with a locking hole, and the limiting piece is located between the first vertical part and the second vertical part; One end of the connecting shaft is connected with the limiting piece, and the other end of the connecting shaft is rotatably connected with the passing part through the locking hole, so that the passing part can be switched between the first state and the second state by rotation; Cross sections of the locking hole and the passing part are non-circular, the passing part can pass through the locking hole when the passing part is in the first state, and the passing part cannot pass through the locking hole when the passing part is in the second state.

19. The de-energized brake assembly of claim 18, wherein, The driving piece is an energy accumulator; When the retaining part is powered, the retaining part applies a force to the brake piece to separate the brake piece from the brake hole, and drives the brake piece to press the driving piece, so that the driving piece stores energy; When the force applied by the retaining part to the brake piece disappears, the driving piece releases the stored energy to drive the brake piece to move towards the brake disc.

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