A walking wheel drive structure

Abstract

This invention provides a wheel drive structure to improve upon the problems of existing devices being unable to achieve bidirectional drive of the wheel by a power component and the inability to unlock the drive shaft and wheel when the power component is turned off. The wheel drive structure includes a drive shaft and a locking member. The drive shaft is connected to a drive unit; the locking member is mounted on the drive shaft and has a first position, a second position, and a third position; wherein the drive unit drives the locking member to switch between the first, second, and third positions; when the locking member is in the first position, the drive unit drives the wheel to rotate forward; when the locking member is in the second position, the drive unit drives the wheel to rotate in the reverse direction; when the locking member is in the third position, the wheel rotates freely relative to the drive shaft. This invention not only achieves bidirectional drive of the wheel using the same drive unit and the same wheel drive structure, but also allows the wheel to rotate freely relative to the drive shaft.

Description

[0001] The present patent application is a divisional application. The original application number is 202111647174.3, the application date is December 30, 2021, and the invention name is: an automatic unlocking driving device. TECHNICAL FIELD

[0002] The present application relates to the field of self-propelled equipment driving, in particular to a walking wheel driving structure. BACKGROUND

[0003] The hand-pushed self-propelled mower is a mower device with a self-propelled function. The walking wheels are driven to rotate by the driving device, so that the hand-pushed self-propelled mower automatically walks on the ground. It has the advantages of labor saving, high efficiency, and simple operation, and is very suitable for mowing lawns in green areas and the like.

[0004] The driving device of the existing self-propelled mower is connected to the walking wheel through a driving structure. The traditional walking wheel driving structure generally adopts a centrifugal structure. When the driving device drives the wheels to rotate together through the driving structure, the self-propelled function is realized. However, the existing driving structure is mostly one-way driving, which can only provide self-propelled function in the forward direction. When the hand-pushed self-propelled mower needs to cut repeatedly, the hand-pushed self-propelled mower needs to move forward and backward repeatedly. When moving backward, the driving device cannot provide power and can only be turned off. The user has to pull the equipment backward by hand. The walking wheel will rotate the transmission shaft of the driving device, increasing the burden on the user. Therefore, a walking wheel driving structure is needed to realize bidirectional driving of the walking wheel by the same power assembly and unlock the transmission shaft and the walking wheel after the power assembly is turned off. SUMMARY

[0005] In view of the above shortcomings of the prior art, the present application provides a walking wheel driving structure to improve the problem that the existing walking wheel driving structure cannot realize bidirectional driving of the walking wheel by the power assembly and cannot unlock the transmission shaft and the walking wheel after the power assembly is turned off.

[0006] To achieve the above-mentioned and other related purposes, the present application provides a walking wheel driving structure, which comprises a transmission shaft and a locking member. The transmission shaft is connected to the driving device. The locking member is installed on the transmission shaft and has a first position, a second position and a third position. The driving device drives the locking member to switch between the first position, the second position and the third position. When the locking member is in the first position, the driving device drives the walking wheel to rotate forward. When the locking member is in the second position, the driving device drives the walking wheel to rotate reversely. When the locking member is in the third position, the walking wheel rotates freely relative to the transmission shaft.

[0007] In an example of the present application, the transmission shaft is provided with a driving member, the driving member is provided with a rolling body, the locking member is provided with a sliding groove, and the transmission shaft rolls in the sliding groove through the rolling body during rotation, thereby driving the locking member to switch between the first position, the second position and the third position.

[0008] In an example of the present application, the sliding groove comprises first and second spiral grooves with opposite rotation directions, the first and second spiral grooves intersect at one end and extend away from the walking wheel at the other end respectively; when the rolling body reaches the intersection of the first and second spiral grooves, the locking member is in the third position; when the rolling body reaches the end of the first spiral groove away from the intersection, the locking member is in the first position; and when the rolling body reaches the end of the second spiral groove away from the intersection, the locking member is in the second position.

[0009] In an example of the present application, the sliding groove is even in number and is arranged on the inner wall of the locking member in a circumferential direction, and the number of rolling bodies corresponds to the number of sliding grooves and is arranged on the driving member in a circumferential direction.

[0010] In an example of the present application, the driving member is arranged separately from the transmission shaft, the driving member is sleeved on the transmission shaft and rotates with the transmission shaft.

[0011] In an example of the present application, the rolling body is a ball, the driving member is provided with a groove matched with the ball, the ball is partially contained in the groove, and the part exposed from the groove rolls along the sliding groove.

[0012] In an example of the present application, the locking member is provided with a first plug-in driving structure, the first plug-in driving structure drives a second plug-in driving structure arranged on the walking wheel to rotate the walking wheel.

[0013] In an example of the present application, the walking wheel driving structure further comprises a power output member, the power output member is mounted on the transmission shaft on the side of the locking member facing the walking wheel and can rotate relative to the transmission shaft, a clutch plug-in structure is arranged between the power output member and the locking member, and a driving connection structure is arranged between the power output member and the walking wheel.

[0014] In an example of the present application, the clutch plug-in structure comprises a plurality of first plug-in teeth arranged on the locking member and a plurality of second plug-in teeth arranged on the power output member, and the plurality of first plug-in teeth and the plurality of second plug-in teeth are plugged in when the locking member is in the locking position.

[0015] In an example of the present application, the driving connection structure comprises a gear assembly.

[0016] In an example of the present application, the walking wheel driving structure further comprises an elastic member, which is installed between the locking member and the walking wheel and accumulates energy during movement of the locking member from the third position to the first position or the second position, so as to restore deformation and reset the locking member to the third position when the power input of the transmission shaft is removed or the input torque of the transmission shaft is smaller than the resistance torque of the walking wheel.

[0017] In an example of the present application, the transmission shaft is provided with a driving member, and the elastic member comprises a first reset elastic body and a second reset elastic body; the first reset elastic body is installed between the locking member and the driving member and accumulates circumferential reset energy when the locking member rotates relative to the driving member; and the second reset elastic body is installed between the walking wheel and the locking member and accumulates axial reset energy when the locking member moves towards the walking wheel.

[0018] In an example of the present application, the first reset elastic body comprises a torsion spring, one end of the torsion spring is installed on the driving member, and the other end of the torsion spring is installed on the locking member.

[0019] In an example of the present application, the second reset elastic body comprises a spring, one end of the spring abuts against the locking member, and the other end of the spring abuts against the power output member.

[0020] The locking member of the walking wheel driving structure of the present application has the first position, the second position and the third position, which not only realizes bidirectional driving, but also enables the walking wheel to rotate freely relative to the driving device when the locking member is in the third position, thereby meeting the requirement of the user to unlock and separate the walking wheel from the transmission shaft of the driving device. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0022] Figure 1 The installation structure diagram of the walking wheel driving structure of the present application on the transmission shaft;

[0023] Figure 2 The exploded view of the walking wheel driving structure of the present application on the transmission shaft;

[0024] Figure 3 The exploded view of the walking wheel driving structure of the present application on the transmission shaft from another angle;

[0025] Figure 4 The three-dimensional schematic view of the walking wheel driving structure of the present application when the transmission shaft starts to rotate;

[0026] Figure 5 Three-dimensional diagram of the locking member in the walking wheel driving structure of the present application reaching the locking position under the driving of the driving member;

[0027] Figure 6 Stress diagram of the locking member in the walking wheel driving structure of the present application after the driving shaft stops rotating;

[0028] Figure 7 Three-dimensional diagram of the locking member in the walking wheel driving structure of the present application returning to the third position under the action of the elastic member;

[0029] Figure 8 Position diagram between the ball and the sliding groove when the locking member in the walking wheel driving structure of the present application is in the third position;

[0030] Figure 9 Structure diagram of the driving member in the walking wheel driving structure of the present application rotating with the driving shaft, and driving the locking member to the first position or the second position;

[0031] Figure 10 Rotation angle diagram between the third position and the first position and the second position of the locking member in the walking wheel driving structure of the present application;

[0032] Figure 11 Three-dimensional sectional view of the locking member in the walking wheel driving structure of the present application;

[0033] Figure 12 Main sectional view of the locking member in the walking wheel driving structure of the present application;

[0034] Figure 13 Position diagram of the ball when the locking member in the walking wheel driving structure of the present application is in the first position, the second position and the third position;

[0035] Figure 14 Diagram of the driving structure between the power output member and the walking wheel.

[0036] Explanation of element numbers:

[0037] 100, walking wheel driving structure; 110, driving member; 111, second through hole; 112, groove; 113, rolling body; 114, spring mounting section; 115, first torsion spring slot; 116, torsion spring mounting section; 117, end face; 120, first reset elastic body; 121, first end; 122, second end; 130, locking member; 131, sliding groove; 1311, first helical groove; 1312, second helical groove; 132, first insertion tooth; 133, spring mounting slot on the locking member; 134, first through hole; 135, second torsion spring slot; 140, second reset elastic body; 150, power output member; 151, inner side end face; 152, second insertion tooth; 153, spring mounting slot on the power output member; 154, driving gear; 160, gasket; 170, shaft check ring; 200, driving device; 210, transmission shaft; 220, gearbox; 301, walking wheel; 302, driven gear. DETAILED DESCRIPTION

[0038] Other advantages and effects of the present application can be easily understood by those skilled in the art from the above description. The present application can also be implemented or applied in other different embodiments, and various modifications or changes can be made to the details of the present application based on different views and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present application are for describing specific embodiments, not for limiting the protection scope of the present application. The test methods in the following embodiments are not specified, and are generally carried out under conventional conditions or under conditions recommended by the manufacturers.

[0039] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" in the specification are only for the convenience of clear description, not for limiting the scope of the present application. The change or adjustment of the relative relationship without substantial change of the technical content is also regarded as the scope of the present application.

[0040] Please refer to Figures 1 to 14 The present application provides a walking wheel driving structure 100, which can improve the problem that the existing self-propelled equipment or lawn mower cannot realize bidirectional driving of the power assembly to the walking wheel and cannot unlock the transmission shaft 210 and the walking wheel after the power assembly is turned off.

[0041] Please refer to Figures 2 to 4The walking wheel driving structure 100 comprises a transmission shaft 210 and a locking piece 130. The driving device 200 is connected with the transmission shaft 210 and can drive the transmission shaft 210 to rotate in two directions. The locking piece 130 is installed on the transmission shaft 210 and has a first position, a second position and a third position. The driving device 200 drives the transmission shaft 210 to rotate, and the transmission shaft 210 drives the locking piece 130 to switch between the first position, the second position and the third position through the driving piece 110. The first position is a locking position in which the locking piece 130 is in driving connection with the walking wheel when the transmission shaft 210 rotates in a forward direction. When the locking piece 130 is in the first position, the driving device 200 rotates in a forward direction and drives the walking wheel to rotate in a forward direction. The second position is a locking position in which the locking piece 130 is in driving connection with the walking wheel when the transmission shaft 210 rotates in a reverse direction. When the locking piece 130 is in the second position, the driving device 200 rotates in a reverse direction and drives the walking wheel to rotate in a reverse direction. The third position is a third position in which the transmission shaft 210 is disconnected with the walking wheel. When the locking piece 130 is in the third position, the walking wheel rotates freely relative to the transmission shaft 210. The locking piece 130 can switch between the third position and the first position when the transmission shaft 210 rotates in a forward direction, and can switch between the third position and the second position when the transmission shaft 210 rotates in a reverse direction. The walking wheel driving structure 100 can automatically switch the position of the locking piece 130 through the bidirectional rotation of the driving device 200 to realize bidirectional driving of the walking wheel.

[0042] Please refer to Figure 2 、 Figure 3 In an example of the present application, the transmission shaft 210 is provided with the driving piece 110. The driving piece 110 drives the locking piece 130 to move from the third position to the first position or the second position when the transmission shaft 210 rotates, so as to correspondingly realize the forward rotation or reverse rotation driving connection between the transmission shaft 210 and the walking wheel. In the present application, the driving piece 110 can be integrally arranged with the transmission shaft 210 or can be separately arranged. In an example of the present application, the driving piece 110 is separately arranged with the transmission shaft 210. The driving piece 110 is provided with a second through hole 111 matched with the transmission shaft 210. The transmission shaft 210 is inserted into the second through hole 111 and extends to the outside of the driving piece 110. The driving piece 110 is sleeved on the transmission shaft 210 and rotates with the transmission shaft 210. The driving piece 110 is provided with a rolling body 113. The locking piece 130 is provided with a sliding groove 131. The transmission shaft 210 drives the locking piece 130 to switch between the first position, the second position and the third position through the rolling of the rolling body 113 in the sliding groove 131 during rotation.

[0043] Please refer to Figures 8 to 14In an example of the present application, the chute 131 comprises a first helical groove 1311 and a second helical groove 1312 with opposite rotation directions, one end of the first helical groove 1311 and the second helical groove 1312 intersect, the other end of the first helical groove 1311 and the second helical groove 1312 extend to the side away from the walking wheel respectively, the first helical groove 1311 and the second helical groove 1312 are approximately "herringbone" symmetrically arranged, and the rotation angles are ±X° respectively, the transmission shaft 210 drives the driving member 110 and the rolling body 113 to rotate, and the angle of rotation of the locking member 130 relative to the driving member 110 is X° in the positive direction and X° in the reverse direction, and it should be noted that the specific value of X can be set according to design needs. The axial extension distances of the first helical groove 1311 and the second helical groove 1312 are the same and the maximum values are M, so as to realize the locking of the locking member 130 and the walking wheel at the same axial position, and it should be noted that the specific value of M can also be set according to design needs. Among them, when the rolling body 113 reaches the intersection of the first helical groove 1311 and the second helical groove 1312, the locking member 130 is in the third position, and the walking wheel can rotate freely; when the rolling body 113 reaches one end of the first helical groove 1311 away from the intersection, the locking member 130 is in the first position, and the positive driving is realized; when the rolling body 113 reaches one end of the second helical groove 1312 away from the intersection, the locking member 130 is in the second position, and the reverse driving is realized.

[0044] Please refer to Figures 8 to 14 , considering that one chute 131 can realize the driving of the rolling body 113 to the locking member 130, the number of chutes 131 in the present application can be at least one, but considering the uniformity of stress, preferably, in an example of the present application, the chutes 131 are two and are uniformly arranged on the inner wall of the locking member 130 along the circumference 411, and the number of rolling bodies 113 corresponds to the number of chutes 131 and is uniformly arranged on the driving member 110 at positions corresponding to the chutes 131 along the circumference 411.

[0045] In the present application, the rolling body 113 can also be other rotary body structures, as long as it matches the rotation direction of the helical groove, rolls in the helical groove to drive the locking member 130 to move along the axial direction of the transmission shaft 210, and preferably, please refer to Figures 2 to 7 In an example of the present application, the rolling body 113 is a ball, such as a steel ball, and the driving member 110 is provided with a groove 112 matched with the ball, the groove 112 is a spherical groove, and the radius of the spherical surface matches the radius of the ball, part of the ball is contained in the groove 112, and the other part is exposed outside the groove 112, the ball rolls in the groove 112, and the part exposed outside the groove 112 drives the chute 131 on the locking member 130 to move.

[0046] Please refer to Figures 2 to 3In the present application, the driving can be directly realized by the locking member 130 cooperating with the walking wheel. For example, in an example of the present application, the walking wheel is rotatably installed on the vehicle body, and a clutch plug structure is arranged between the locking member 130 and the walking wheel. The clutch plug structure comprises a plurality of first plug teeth 132 arranged on the locking member 130 and a plurality of second plug teeth 152 arranged on the walking wheel. The locking member 130 is switched between the third position and the first position (or the second position) under the action of the driving member 110. When the locking member 130 is in the locking position, the plurality of first plug teeth 132 and the plurality of second plug teeth 152 are plugged to drive the walking wheel to rotate. When the locking member 130 is in the third position, the plurality of first plug teeth 132 and the plurality of second plug teeth 152 are separated.

[0047] Please refer to Figures 2 to 7 Although the driving can be directly realized by the locking member 130 cooperating with the walking wheel, preferably, in an example of the present application, the walking wheel driving structure 100 further comprises a power output member 150. The power output member 150 is installed on the transmission shaft 210 on the side of the locking member 130 facing the walking wheel and can rotate relative to the transmission shaft 210. One side of the power output member 150 abuts against the end surface 117 on the driving member 110, and the other side is fixed in the axial direction through the gasket 160 and the shaft stop ring 170. A clutch plug structure is arranged between the power output member 150 and the locking member 130, and a driving connection structure is arranged between the power output member 150 and the walking wheel. The clutch plug structure comprises a plurality of first plug teeth 132 arranged on the locking member 130 and a plurality of second plug teeth 152 arranged on the power output member 150. When the locking member 130 is in the locking position, the plurality of first plug teeth 132 and the plurality of second plug teeth 152 are plugged to drive the walking wheel to rotate. When the locking member 130 is in the third position, the plurality of first plug teeth 132 and the plurality of second plug teeth 152 are separated.

[0048] In the present application, the driving structure can be any suitable form for driving the walking wheel to rotate through the power output member 150, such as a plurality of gear sets, belt transmission, chain transmission and the like. However, considering the transmission efficiency, please refer to Figure 2 、 Figure 3 and Figure 14 In an example of the present application, the driving structure comprises a gear assembly. The gear assembly comprises a driving gear 154 arranged on the power output member 150 and a driven gear 302 arranged on the walking wheel 301. The driving gear 154 and the driven gear 302 are engaged to drive the walking wheel 301 to rotate. The driven gear 302 is externally provided with a walking wheel cover (not shown) for protecting the driving gear 154 and the driven gear 302. When the power input of the transmission shaft 210 is removed or the input torque of the transmission shaft 210 is less than the resistance torque of the walking wheel, the first plug teeth 132 and the second plug teeth 152 are separated under the action of the elastic member.

[0049] Although the conversion between the third position and the first position or the second position of the locking member 130 can be realized by the forward and reverse rotation of the driving device 200 in the present application, the unlocking and releasing of the walking wheel can be realized, for example, in the process of forward rotation, when the locking member 130 is in the first position of the forward locking position, the rolling body 113 reversely drives the locking member 130 to move to the third position by reversing the driving device 200, and in the process of reverse rotation, when the locking member 130 is in the second position of the reverse locking position, the rolling body 113 forwardly drives the locking member 130 to move to the third position by rotating the driving device 200. However, the process needs to be completed by the reverse rotation of the driving motor, but considering the need for automatic reset, preferably, please refer to Figures 2 to 7 In an example of the present application, the walking wheel driving structure 100 further comprises an elastic member, which is installed between the locking member 130 and the walking wheel, and stores energy in the process of moving the locking member 130 from the third position to the first position or the second position, so as to restore the deformation and reset the locking member 130 to the third position when the power input of the transmission shaft 210 is removed or the input torque of the transmission shaft 210 is smaller than the resistance torque of the walking wheel.

[0050] Please refer to Figures 2 to 7In an example of the present application, the locking member 130 drives the walking wheel through the power output member 150, the driving member 110 is arranged on the transmission shaft 210, and the elastic member includes the first reset elastic body 120 and the second reset elastic body 140; the first reset elastic body 120 is arranged between the locking member 130 and the driving member 110, and accumulates circumferential reset energy when the locking member 130 rotates relative to the driving member 110; the first reset elastic body 120 includes a torsion spring, the side of the driving member 110 facing the locking member 130 is provided with a cylindrical torsion spring mounting section 116 and a first torsion spring insertion slot 115, the outer diameter of the torsion spring mounting section 116 matches the inner diameter of the torsion spring, the locking member 130 is provided with a first through hole 134, the first through hole 134 is sleeved outside the driving member 110, the torsion spring and the transmission shaft 210, and can rotate relative to the driving member 110, the torsion spring and the transmission shaft 210, the inner side surface 151 of the first through hole 134 is provided with a second torsion spring insertion slot 135, the torsion spring is sleeved on the torsion spring mounting section 116, the first end 121 is inserted into the first torsion spring insertion slot 115, and the second end 122 is inserted into the second torsion spring insertion slot 135. The second reset elastic body 140 is arranged between the power output member 150 and the locking member 130, and accumulates axial reset energy when the locking member 130 moves to the power output member 150 side. The second reset elastic body 140 can be any suitable structure that pushes the locking member 130 to move axially when recovering elastic deformation, such as a bent spring leaf, an elastic pad with a certain elasticity, etc. In this embodiment, the second reset elastic body 140 is a spring, the power output member 150 and the locking member 130 are respectively provided with spring mounting slots, one end of the spring abuts against the spring mounting slot 153 on the power output member 150, and the other end of the spring abuts against the spring mounting slot 133 on the locking member. The transmission shaft 210 is provided with a corresponding spring mounting section 114, the outer diameter of the spring mounting section 114 is smaller than the inner diameter of the spring, and the spring is sleeved on the spring mounting section 114.

[0051] In another example of the present application, the locking member 130 directly cooperates with the walking wheel to realize driving, and the second reset elastic body 140 is arranged between the walking wheel and the locking member 130, and accumulates axial reset energy when the locking member 130 moves to the walking wheel side. The second reset elastic body 140 can be any suitable structure that pushes the locking member 130 to move axially when recovering elastic deformation, such as a bent spring leaf, an elastic pad with a certain elasticity, etc. In this embodiment, the second reset elastic body 140 is a spring, the walking wheel and the locking member 130 are respectively provided with spring mounting slots, one end of the spring abuts against the spring mounting slot on the walking wheel, and the other end of the spring abuts against the spring mounting slot 133 on the locking member.

[0052] The working principle of the walking wheel driving structure 100 is as follows: the positive rotation torque is transmitted to the transmission shaft 210, when the transmission shaft 210 rotates with the driving member 110 and the ball, the force generated by the first spiral groove in the "person" spiral groove of the ball driving locking member 130, when the generated force T2 and F1 are greater than the torsional force of the torsional spring and the elastic force of the spring respectively, the locking member 130 rotates around the axis Z and moves along the axis Z, when the distance between the locking member 130 and the power output member 150 is moved from N1 to N2, the first plug-in tooth 132 of the locking member 130 and the second plug-in tooth 152 of the power output member 150 are engaged, the transmission shaft 210 drives the power output member 150 to rotate synchronously, and the positive driving of the equipment is realized. When the input torque of the transmission shaft 210 is equal to zero or the input torque and the axial force of the transmission shaft 210 are less than the force of the torsional spring and the spring restoring deformation, at this time, the "person" shaped sliding groove 131 of the locking member 130 reversely extrudes the ball under the action of the torsional force of the torsional spring and the elastic force of the spring, the locking member 130 generates the opposite motion to that when the driving motor drives, that is, the locking member 130 rotates in the opposite direction around the axis Z and moves in the opposite direction along the axis Z, the distance between the locking member 130 and the power output member 150 is moved from N2 to N1, the first plug-in tooth 132 of the locking member 130 and the second plug-in tooth 152 of the power output member 150 are disengaged, the power output member 150 is disengaged from the transmission shaft 210, and the walking wheel can rotate freely relative to the driving device 200.

[0053] The locking member in the walking wheel driving structure has a first position, a second position and a third position, which can not only realize bidirectional driving, but also make the walking wheel rotate freely relative to the driving device when the locking member is in the third position, so as to meet the needs of users to unlock and disengage the walking wheel from the driving shaft. The present application effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance.

[0054] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A walking wheel drive structure characterized by, The application relates to a walking wheel driving structure of a walking wheel driving device. The walking wheel driving structure comprises a driving shaft connected with a driving device; a locking member installed on the driving shaft and having a first position, a second position and a third position; wherein the driving device drives the locking member to switch among the first position, the second position and the third position; when the locking member is in the first position, the driving device drives the walking wheel to rotate forward; when the locking member is in the second position, the driving device drives the walking wheel to rotate reversely; when the locking member is in the third position, the walking wheel is free to rotate relative to the driving shaft. The driving shaft is provided with a driving member, the driving member is provided with a rolling body, the locking member is provided with a sliding groove, and the driving shaft drives the locking member to switch among the first position, the second position and the third position through rolling of the rolling body in the sliding groove during rotation; the sliding groove comprises first and second spiral grooves with opposite rotation directions, and one end of the first and second spiral grooves intersects, and the other end of the first and second spiral grooves extends to the side away from the walking wheel respectively. When the rolling body reaches the intersection of the first and second spiral grooves, the locking member is in the third position; when the rolling body reaches one end of the first spiral groove away from the intersection, the locking member is in the first position; when the rolling body reaches one end of the second spiral groove away from the intersection, the locking member is in the second position. The sliding grooves are even in number and are arranged on the inner wall of the locking member in a circumferential distribution mode, and the number of the rolling bodies corresponds to the number of the sliding grooves and the rolling bodies are arranged on the driving member in a circumferential distribution mode. The driving member is arranged separately from the driving shaft, the driving member is sleeved on the driving shaft and rotates with the driving shaft.

2. The walking wheel drive structure according to claim 1, characterized by The rolling body is a ball, the driving member is provided with a groove matched with the ball, the ball is partially contained in the groove, and the part of the groove exposed is rolled along the sliding groove.

3. The walking wheel drive structure according to claim 1, characterized by The locking member is provided with a first plug-in driving structure, the first plug-in driving structure drives a second plug-in driving structure arranged on the walking wheel to rotate the walking wheel.

4. The walking wheel drive structure according to claim 3, characterized by The walking wheel driving structure further comprises a power output member installed on the driving shaft on the side of the locking member facing the walking wheel and rotatable relative to the driving shaft, a clutch plug-in structure is arranged between the power output member and the locking member, and a driving connection structure is arranged between the power output member and the walking wheel.

5. The walking wheel drive structure according to claim 1, wherein The clutch plug-in structure comprises a plurality of first plug-in teeth arranged on the locking member and a plurality of second plug-in teeth arranged on the power output member, and the plurality of first plug-in teeth and the plurality of second plug-in teeth are plugged in when the locking member is in a locking position.

6. The walking wheel drive structure according to claim 1, wherein The driving connection structure comprises a gear driving device.

7. The walking wheel drive structure according to claim 6, wherein ​ 8. The walking wheel drive structure according to claim 7, wherein ​

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