Walking equipment

Abstract

The present invention is applicable to the field of walking equipment and discloses a walking device. The walking device includes a body, a detection component and a moving wheel assembly, wherein the detection component is arranged on the body; the moving wheel assembly is used to support the body and drive the body to move; the moving wheel assembly includes a suspension wheel component, the suspension wheel component includes a first rotating wheel, a second rotating wheel, a suspension rod and a trigger component, the suspension rod includes a rotating part, a first support rod part and a second support rod part, the rotating part can be rotatably connected to the body, the first support rod part is connected between the rotating part and the first rotating wheel, and the second support rod part is connected between the rotating part and the second rotating wheel; the distance from the center of gravity of the suspension wheel component to the first rotating wheel is smaller than the distance from the central axis of the rotating part to the first rotating wheel; the trigger component is arranged on the suspension rod, and the trigger component is used to rotate with the suspension rod when the suspension wheel component leaves the ground and trigger the detection component to generate a trigger signal. The lift-off detection scheme of the present invention has a simple structure and low cost.

Description

Technical Field

[0001] The present invention relates to the field of walking equipment, and in particular to a walking device. Background Art

[0002] Related art provides a walking device, such as a lawn mower, equipped with two front wheels and two rear wheels. The two front wheels are universal wheels, each of which is independently connected to the machine body. Each front wheel is equipped with a corresponding detection component and a trigger component. The detection component and trigger component are used for ground clearance detection to ensure safe operation of the device. When a front wheel is lifted off the ground, the trigger component corresponding to that front wheel triggers the detection component of that front wheel to generate a trigger signal.

[0003] The above-mentioned walking device has the following shortcomings in specific applications: the two front wheels are installed separately and the ground clearance detection is performed separately, the installation structure is complicated, and the cost is high. Summary of the Invention

[0004] The purpose of the present invention is to provide a walking device, which aims to solve the technical problems of complex structure and high cost of the ground detection solution in the related art.

[0005] To achieve the above object, the present invention provides a walking device comprising:

[0006] body;

[0007] a detection component, the detection component being arranged on the fuselage;

[0008] a moving wheel assembly for supporting the body and driving the body to move; the moving wheel assembly includes a suspension wheel component, the suspension wheel component includes a first rotating wheel, a second rotating wheel, a suspension rod, and a trigger component; the suspension rod includes a rotating portion, a first support rod portion, and a second support rod portion; the rotating portion is rotatably connected to the body, the first support rod portion is connected between the rotating portion and the first rotating wheel, and the second support rod portion is connected between the rotating portion and the second rotating wheel;

[0009] The distance between the center of gravity of the suspension wheel member and the first rotating wheel is smaller than the distance between the central axis of the rotating part and the first rotating wheel, so that when the suspension wheel member leaves the ground, the suspension rod can rotate under the action of the gravity of the suspension wheel member with the end where the first rotating wheel is located swinging downward and the end where the second rotating wheel is located swinging upward;

[0010] The trigger component is arranged on the suspension rod, and is used for rotating with the suspension rod when the suspension wheel component leaves the ground and triggering the detection component to generate a trigger signal.

[0011] In one embodiment, the suspension wheel component further includes a counterweight, which is provided on the first support rod portion and / or the first rotating wheel, so that the distance from the center of gravity of the suspension wheel component to the first rotating wheel is smaller than the distance from the central axis of the rotating portion to the first rotating wheel; or

[0012] The sum of the weights of the first rotating wheel and the first supporting rod portion is greater than the sum of the weights of the second rotating wheel and the second supporting rod portion.

[0013] In one embodiment, the suspension wheel component further includes a first bearing and a second bearing, wherein one axial end of the rotating portion is rotatably connected to the fuselage via the first bearing, and the other axial end of the rotating portion is rotatably connected to the fuselage via the second bearing; and / or,

[0014] The trigger component is arranged on the rotating portion and / or the second supporting rod portion.

[0015] As an embodiment, the detection component is centrally located above the rotating portion along the length direction of the suspension rod, and the distance from the trigger component to the first rotating wheel is greater than the distance from the trigger component to the second rotating wheel; and / or,

[0016] The detection component is a Hall element, and the trigger component is a magnet.

[0017] As an embodiment, the walking device further includes a cutting mechanism and a controller, both of which are mounted on the body, and the controller is electrically connected to the cutting mechanism, the moving wheel assembly, and the detection component, respectively, so as to control the operation of the cutting mechanism and the moving wheel assembly, respectively. The cutting mechanism is at least used to cut plants under the control of the controller, and the controller is further used to control the cutting mechanism to stop operating upon receiving the trigger signal; and / or,

[0018] The walking device is a lawn mower or a crop harvester.

[0019] As an embodiment, the first rotating wheel and / or the second rotating wheel is a universal wheel.

[0020] As an embodiment, the suspension wheel component further includes a first connecting frame, a second connecting frame, a third bearing and a fourth bearing;

[0021] The first connecting frame is rotatably connected to the first supporting rod portion via the third bearing, and the first rotating wheel is mounted on the first connecting frame;

[0022] The second connecting frame is rotatably connected to the second support rod portion through the fourth bearing, and the second rotating wheel is installed on the second connecting frame.

[0023] As an embodiment, the suspension wheel component further includes a first electromagnet, a second electromagnet, a first magnetic component and a second magnetic component, the first magnetic component is provided on the first connecting frame, and the second magnetic component is provided on the second connecting frame;

[0024] The first electromagnet is provided at one end of the suspension rod, and is used to attract the first magnetic component when powered so that the first rotating wheel maintains a straight running state;

[0025] The second electromagnet is provided at the other end of the suspension rod, and is used for attracting the second magnetic component when energized so that the second rotating wheel maintains a straight-line running state.

[0026] In one embodiment, the first magnetic component is centered above the first rotor along the axial direction of the first rotor, and the second magnetic component is centered above the second rotor along the axial direction of the second rotor; and / or,

[0027] The first magnetic component is a magnet, and the second magnetic component is a magnet.

[0028] As an embodiment, the central axis of the rotating portion is perpendicular to the central axis of the third bearing; and / or,

[0029] The central axis of the rotating part is arranged horizontally, and the central axes of the third bearing and the fourth bearing are arranged vertically.

[0030] As an embodiment, the walking device further includes an armrest and a locking screw, the armrest being formed with a grip portion, a first rotating connection portion, and an open slot, the open slot being provided between the grip portion and the first rotating connection portion along the length direction of the armrest, the grip portion being used for being gripped by an operator, the armrest being rotatably connected to the fuselage via the first rotating connection portion, the open slot being formed with a first opening which is open downwardly; the locking screw being used to lock the armrest in an unfolded state to the fuselage, and being used to loosen the armrest so that the armrest can be rotated from the unfolded state to a folded state folded on the fuselage under the action of an external force;

[0031] The open slot is used to cooperate with a partial position of the locking screw in the expanded state.

[0032] As an embodiment, the opening slot is an arc-shaped slot with a curvature greater than that of a semicircle; the locking screw is formed with a first locking rod portion for engaging with the opening slot, and the first locking rod portion is cylindrical; and / or,

[0033] The locking screw is a hand-turned screw, which includes a first screw portion, a first locking rod portion and a first hand-turned head portion. The first screw portion and the first hand-turned head portion are respectively arranged at both ends of the first locking rod portion. The first screw portion is used to threadably connect to the fuselage, the first locking rod portion is used to engage with the open slot, and the first hand-turned head portion is used for an operator to hold and rotate to tighten or loosen the locking screw.

[0034] In one embodiment, the walking device further includes a foot support, the foot support being movably connected to the body, and the foot support being used to support the ground together with a portion of the moving wheel assembly when the armrest is in the folded state and the walking device is in the upright state;

[0035] The foot support includes a support rod, an elastic member, a rotating member and a sliding member, one end of the support rod is rotatably connected to the fuselage through the rotating member; the sliding member is slidably connected to the support rod in a manner that it can slide relative to the support rod along the length direction of the support rod, and the sliding member is elastically connected to the rotating member through the elastic member; the fuselage is provided with a first guide sliding portion, and the first guide sliding portion is used to limit the movement trajectory of the sliding member when the support rod rotates relative to the fuselage.

[0036] As an embodiment, the moving wheel assembly further includes at least one driving wheel, the driving wheel including a motor and a tire, the motor being installed in the tire;

[0037] The tire includes a tire body and a tread pattern, the tire body having a radial outer surface, a first axial end surface, and a second axial end surface, the first axial end surface and the second axial end surface being formed at two axial ends of the tire body, respectively, the radial outer surface extending from an outer edge of the first axial end surface to an outer edge of the second axial end surface, the tread pattern being convexly formed on the radial outer surface, the tread pattern including a plurality of protrusions, the plurality of protrusions being spaced apart and distributed along the circumferential direction of the radial outer surface;

[0038] Each of the protrusions extends from the first axial end surface to the second axial end surface;

[0039] In the axial orthographic projection of the tire, the outer edges of the plurality of protrusions are projected to form a full circle.

[0040] As an embodiment, the protrusion includes a first linear extension portion and a second linear extension portion, the first linear extension portion extends along a first linear trajectory from the first axial end surface toward the second axial end surface, and the second linear extension portion extends along a second linear trajectory from the second axial end surface to an end portion of the first linear extension portion away from the first axial end surface, and in an axial orthographic projection of the tire, at least a portion of the first linear extension portion of any one of the protrusions obscures at least a portion of the first linear extension portion of an adjacent one of the protrusions; or,

[0041] The protrusion includes a third straight line extension portion, a fourth straight line extension portion and a transition connection portion, the third straight line extension portion extends from the first axial end face toward the second axial end face along a third straight line trajectory; the fourth straight line extension portion extends from the second axial end face toward the first axial end face along a fourth straight line trajectory; the transition connection portion extends from the end of the third straight line extension portion away from the first axial end face to the end of the fourth straight line extension portion away from the second axial end face; in the axial orthographic projection of the tire, at least a portion of the third straight line extension portion of any one of the protrusions obscures at least a portion of the transition connection portion and / or at least a portion of the fourth straight line extension portion of an adjacent one of the protrusions.

[0042] The walking device provided by the present invention is rotatably connected to the machine body via the rotating portion of the suspension rod, and the first and second rotating wheels are respectively connected via the first and second supporting rod portions of the suspension rod, so that the first and second rotating wheels and the suspension rod can be installed on the machine body as an integral suspension wheel component, thereby simplifying the installation structure of the two rotating wheels and reducing costs. In addition, the present invention provides a detection component on the machine body and a trigger component on the suspension rod, and sets the distance from the center of gravity of the suspension wheel component to the first rotating wheel to be less than the distance from the center axis of the rotating portion to the first rotating wheel. In this way, in a specific application, when the suspension wheel component is lifted off the ground, the suspension rod rotates under the action of the gravity of the suspension wheel component with the first rotating wheel swinging downward and the second rotating wheel portion swinging upward. The trigger component rotates with the suspension rod and triggers the detection component to generate a trigger signal, thereby realizing a lift-off detection scheme for the first and second rotating wheels using a single detection component and a single trigger component, which has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0044] Figure 1 This is a schematic diagram of the three-dimensional assembly of the fuselage, the moving wheel assembly, and the detection component provided in the first embodiment of the present invention;

[0045] Figure 2 yes Figure 1 A partial enlarged schematic diagram of point A in the middle;

[0046] Figure 3 yes Figure 1 A partial enlarged schematic diagram of point B in the middle;

[0047] Figure 4 1 is an exploded schematic diagram of a suspension wheel component provided in Example 1 of the present invention;

[0048] Figure 5 This is a three-dimensional schematic diagram of the walking device provided in the first embodiment of the present invention, with the armrests in the extended state and the footrests in the stowed position;

[0049] Figure 6 yes Figure 5 A partial enlarged schematic diagram of point C in the middle;

[0050] Figure 7 This is a three-dimensional schematic diagram of the walking device provided in the first embodiment of the present invention, with the armrests in a folded state and the footrests in a supporting position;

[0051] Figure 8 This is a schematic diagram of a walking device provided in an upright position according to the first embodiment of the present invention;

[0052] Figure 9 1 is a schematic structural diagram of an armrest provided in Embodiment 1 of the present invention;

[0053] Figure 10 yes Figure 9 A partial enlarged schematic diagram of point D in the middle;

[0054] Figure 11 This is a schematic structural diagram of a locking screw provided in the first embodiment of the present invention;

[0055] Figure 12 This is a schematic structural diagram of a mounting plate provided in Embodiment 1 of the present invention;

[0056] Figure 13 This is a schematic diagram of the assembly of the foot support provided in the first embodiment of the present invention;

[0057] Figure 14 is an exploded schematic diagram of the foot support provided in the first embodiment of the present invention;

[0058] Figure 15 This is a schematic structural diagram of the connecting socket provided in the first embodiment of the present invention;

[0059] Figure 16is a three-dimensional schematic diagram of a driving wheel tire provided in Example 1 of the present invention;

[0060] Figure 17 yes Figure 16 Schematic diagram of the main view plane;

[0061] Figure 18 yes Figure 16 A top-down plan view of

[0062] Figure 19 is a three-dimensional schematic diagram of a driving wheel tire provided in the second embodiment of the present invention;

[0063] Figure 20 yes Figure 19 Schematic diagram of the main view plane;

[0064] Figure 21 yes Figure 19 Schematic top view of the plan.

[0065] Description of the accompanying drawings: 10, walking device; 100, fuselage; 110, main bracket; 111, top support rod; 112, back support rod; 120, mounting plate; 121, connecting hole; 122, second rotating connecting portion; 130, connecting seat; 131, first plate body; 1311, first guide sliding curved surface; 1312, first axial hole; 132, second plate body; 1321, second guide sliding curved surface; 1322, second axial hole; 133, third plate body; 1301, first limiting groove; 1302, second limiting groove; 200, moving wheel assembly; 210, suspension wheel component; 211, first rotating wheel; 212, second rotating wheel; 213, suspension rod; 2131, rotating portion; 2132, first support rod; 2133, second support rod; 2134, first connecting sleeve; 2135, second connecting sleeve; 214, trigger component; 215, first bearing; 216, second bearing; 217, first connecting frame; 2171, first connecting shaft; 218, second connecting frame; 2181, second connecting shaft; 219, third bearing; 201, fourth bearing; 202, first electromagnet; 203, second electromagnet; 204, first magnetic component; 205, second magnetic component; 206, counterweight; 220, drive wheel; 221, tire; 221 1. Tire body; 2201. Radial outer surface; 2202. First axial end face; 2203. Second axial end face; 2212. Tread pattern; 2204. Protrusion; 2205. First linear extension; 2206. Second linear extension; 2207. Third linear extension; 2208. Fourth linear extension; 2209. Transition connection; 2213. Mounting hole; 2214. Vibration-damping hole; 2215. Separation groove; 222. Motor; 300. Detection component; 400. Cutting mechanism; 500. Controller; 600. Handrail; 610. Grip; 620. First rotating connection; 630. Opening slot ;631, first opening; 640, open slide; 641, second opening; 700, locking screw; 710, first locking rod; 720, first screw rod; 730, first hand-turn head; 800, rotating connector; 900, foot support; 910, support rod; 911, third axis hole; 912, second guide slide; 920, elastic member; 930, rotating member; 931, first through-shaft; 932, first locking boss; 933, second locking boss; 940, sliding member; 941, second through-shaft; 942, third locking boss; 943, fourth locking boss; 950, foot pad. DETAILED DESCRIPTION

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0067] Example 1:

[0068] like Figure 1 and Figure 5 As shown, the walking device 10 provided in the first embodiment of the present invention includes a body 100 and a moving wheel assembly 200 . The moving wheel assembly 200 is connected to the body 100 to support the body 100 and drive the body 100 to move.

[0069] Reference Figure 1 、 Figure 2 and Figure 5 As shown, as an embodiment, the walking device 10 further includes a detection component 300, which is provided on the body 100 and is used to detect whether the moving wheel assembly 200 has lifted off the ground. If the moving wheel assembly 200 has lifted off the ground, it means that the walking device 10 has lifted off the ground. In a specific application, if the walking device 10 has lifted off the ground, the detection component 300 generates a trigger signal (the trigger signal is a signal generated by the detection component 300 when the walking device 10 has lifted off the ground), and the walking device 10 automatically takes corresponding processing measures (such as controlling at least part of the mechanism to stop working or controlling the power to be turned off) according to the trigger signal, thereby ensuring the safety of the use of the walking device 10.

[0070] Reference Figure 1 、 Figure 2 and Figure 5 As shown, as an embodiment, the moving wheel assembly 200 is provided with a trigger component 214, which is used to trigger the detection component 300 to generate a trigger signal when the moving wheel assembly 200 is off the ground. The setting of the trigger component 214 is mainly used to better trigger the detection component 300 to generate a trigger signal when the moving wheel assembly 200 is off the ground. When the walking device 10 is walking or working normally on the ground, the trigger component 214 is located in a non-trigger position that does not trigger the detection component 300 to generate a trigger signal; when the moving wheel assembly 200 is off the ground, the trigger component 214 will move to a trigger position that triggers the detection component 300 to generate a trigger signal.

[0071] Reference Figure 1 、 Figure 4 and Figure 5As shown, as an embodiment, the moving wheel assembly 200 includes a suspension wheel component 210, the suspension wheel component 210 includes a first rotating wheel 211, a second rotating wheel 212, a suspension rod 213 and a trigger component 214, the first rotating wheel 211 and the second rotating wheel 212 are respectively installed at opposite ends of the suspension rod 213, the suspension rod 213 is connected to the fuselage 100, the trigger component 214 is provided on the suspension rod 213, and the trigger component 214 is used to trigger the detection component 300 to generate a trigger signal when the suspension wheel component 210 leaves the ground. In a specific application, the first rotating wheel 211, the second rotating wheel 212, the hanging rod 213 and the trigger component 214 can be assembled to form an integral suspension wheel component 210, and then the suspension wheel component 210 can be installed on the fuselage 100 at one time. In this way, only a structure for installing with the hanging rod 213 needs to be provided on the fuselage 100, and there is no need to separately provide structures for installing with the first rotating wheel 211, the second rotating wheel 212 and the trigger component 214 on the fuselage 100, which is conducive to simplifying the installation structure of the first rotating wheel 211, the second rotating wheel 212 and the trigger component 214; in addition, the first rotating wheel 211, the second rotating wheel 212, the hanging rod 213 and the trigger component 214 are installed on the fuselage 100 as a whole suspension wheel component 210, which is conducive to improving the installation efficiency of the first rotating wheel 211, the second rotating wheel 212 and the trigger component 214 on the fuselage 100; and it is conducive to making the walking device 10 adaptable to various terrains and keeping the posture of the walking device 10 flat.

[0072] In one embodiment, the suspension rod 213 is rotatably connected to the body 100. That is, after being mounted on the body 100, the suspension rod 213 can rotate relative to the body 100 in response to an external force. The trigger component 214 is configured to rotate with the suspension rod 213 when the suspension wheel member 210 leaves the ground, triggering the detection component 300 to generate a trigger signal. In this embodiment, the trigger component 214 is moved from a non-trigger position to a trigger position through rotation, resulting in a simple structure and ease of implementation.

[0073] Reference Figure 1 、 Figure 4 and Figure 5As shown, as one embodiment, the suspension rod 213 includes a rotating portion 2131, a first support rod 2132, and a second support rod 2133. The rotating portion 2131 is rotatably connected to the fuselage 100. The first support rod 2132 is connected between the rotating portion 2131 and the first rotating wheel 211, and the second support rod 2133 is connected between the rotating portion 2131 and the second rotating wheel 212. The first support rod 2132 and the second support rod 2133 are respectively disposed on opposite sides of the rotating portion 2131. The rotating portion 2131 is primarily used to achieve rotatable connection between the suspension rod 213 and the fuselage 100, thereby providing a support fulcrum and a rotation center point for mounting the suspension wheel member 210 on the fuselage 100. The first support rod 2132 is primarily used to connect the suspension rod 213 to the first rotating wheel 211, and the second support rod 2133 is primarily used to connect the suspension rod 213 to the second rotating wheel 212. The rotating portion 2131 , the first supporting rod portion 2132 and the second supporting rod portion 2133 may be formed by splicing separately formed structures, or may be an integrally formed structure.

[0074] In one embodiment, the distance between the center of gravity of the suspension wheel member 210 and the first rotating wheel 211 is smaller than the distance between the central axis of the rotating portion 2131 and the first rotating wheel 211. This allows the suspension rod 213 to rotate under the weight of the suspension wheel member 210 when the suspension wheel member 210 is off the ground, with the end at the first rotating wheel 211 swinging downward and the end at the second rotating wheel 212 swinging upward. The central axis of the rotating portion 2131 serves as the fulcrum of the suspension wheel member 210, i.e., the central axis of the rotation of the suspension rod 213 relative to the body 100. This embodiment utilizes the principle of leverage to ensure that the distance between the center of gravity of the suspension wheel member 210 and the first rotating wheel 211 is shorter than the distance between the central axis of the rotating portion 2131 and the first rotating wheel 211. Consequently, when the suspension wheel member 210 lifts off the ground, the side with the first rotating wheel 211 is heavier than the side with the second rotating wheel 212, and therefore the side with the first rotating wheel 211 swings downward. After the suspension rod 213 swings through a predetermined angle, the trigger component 214 moves to a trigger position that triggers the detection component 300 to generate a trigger signal, thereby detecting the suspension wheel member 210 lifting off the ground. This embodiment utilizes a single detection component 300 and a single trigger component 214 to detect the liftoff of the first rotating wheel 211 and the second rotating wheel 212, resulting in a simple structure, low cost, and ease of implementation.

[0075] In one embodiment, the detection component 300 is a Hall effect element, and the trigger component 214 is a magnet. A Hall effect element is a magnetic sensor based on the Hall effect. In this embodiment, the use of a Hall effect element in the detection component 300 has the following advantages: a robust structure, compact size, light weight, long life, easy installation, low power consumption, high frequency, vibration resistance, and resistance to contamination or corrosion from dust, oil, moisture, and salt spray.

[0076] As an embodiment, the first rotating wheel 211 is mounted on the end of the first supporting rod 2132 away from the rotating portion 2131 , and the second rotating wheel 212 is mounted on the end of the second supporting rod 2133 away from the rotating portion 2131 .

[0077] Reference Figure 1 and Figure 4 As shown, as one embodiment, the suspension wheel assembly 210 further includes a first bearing 215 and a second bearing 216. One axial end of the rotating portion 2131 is rotatably connected to the body 100 via the first bearing 215, while the other axial end of the rotating portion 2131 is rotatably connected to the body 100 via the second bearing 216. The first rotating wheel 211 and the second rotating wheel 212 are respectively disposed on radially opposite sides of the rotating portion 2131. In this embodiment, both axial ends of the rotating portion 2131 are supported on the body 100 via bearings, which helps ensure the secure and reliable installation of the suspension wheel assembly 210 and the stable rotation of the suspension wheel assembly 210.

[0078] As an embodiment, the central axis of the rotating part 2131 is collinear with the central axis of the first bearing 215 and the central axis of the second bearing 216 , that is, the central axis of the rotating part 2131 is on the same straight line with the central axis of the first bearing 215 and the central axis of the second bearing 216 .

[0079] As an embodiment, the central axis of the rotating portion 2131 is substantially horizontal. Here, the central axis of the rotating portion 2131 is substantially horizontal, including: the central axis of the rotating portion 2131 is horizontal, and the central axis of the rotating portion 2131 is arranged at an angle of ±10° with the horizontal line.

[0080] As an embodiment, the central axis of the rotating portion 2131 is horizontally arranged. The central axis of the first bearing 215 and the central axis of the second bearing 216 are also horizontally arranged, that is, the suspension rod 213 is rotatably connected to the fuselage 100 in a manner in which the central axis of rotation is horizontally arranged.

[0081] In one embodiment, the length of the first support rod 2132 is equal to the length of the second support rod 2133, and the rotating portion 2131 is centrally located along the length of the suspension rod 213. The distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 is shorter than the distance from the center of gravity of the suspension wheel member 210 to the second rotating wheel 212. Specifically, the length of the suspension rod 213 is defined as the distance from the end of the first support rod 2132 away from the rotating portion 2131 to the end of the second support rod 2133 away from the rotating portion 2131. In this embodiment, by arranging the rotating part 2131 in the center and biasing the center of gravity of the suspension wheel component 210 toward the first rotating wheel 211, the following effect can be achieved: the distance from the center of gravity of the suspension wheel component 210 to the first rotating wheel 211 is smaller than the distance from the center axis of the rotating part 2131 to the first rotating wheel 211, so that when the suspension wheel component 210 leaves the ground, the suspension rod 213 can rotate under the action of the gravity of the suspension wheel component 210 with a tendency of swinging downward at the end where the first rotating wheel 211 is located and swinging upward at the end where the second rotating wheel 212 is located.

[0082] Reference Figure 1 and Figure 4 As shown, as an embodiment, the suspension wheel member 210 further includes a counterweight 206, which is disposed on the first support rod 2132 and / or the first rotating wheel 211 so that the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 is less than the distance from the central axis of the rotating portion 2131 to the first rotating wheel 211. When the suspension wheel member 210 is lifted off the ground, the first support rod 2132, the first rotating wheel 211, and the counterweight 206 swing downward, while the second support rod 2133 and the second rotating wheel 212 swing upward. In this embodiment, by disposing the counterweight 206, the weight of the suspension wheel member 210 is unequal on both sides of the rotation center, thereby achieving the effect of making the distance from the center of gravity of the suspension wheel member 210 to the first rotating wheel 211 less than the distance from the central axis of the rotating portion 2131 to the first rotating wheel 211. This implementation is simple and easy to implement.

[0083] Of course, in specific applications, the method for achieving that the distance from the center of gravity of the suspension wheel component 210 to the first rotating wheel 211 is smaller than the distance from the central axis of the rotating part 2131 to the first rotating wheel 211 is not limited to the above-mentioned method of setting the counterweight 206. For example, the distance from the center of gravity of the suspension wheel component 210 to the first rotating wheel 211 can also be made smaller than the distance from the central axis of the rotating part 2131 to the first rotating wheel 211 through the following alternative implementation scheme: the sum of the weight of the first rotating wheel 211 and the first support rod portion 2132 is greater than the sum of the weight of the second rotating wheel 212 and the second support rod portion 2133. The specific implementation method can be to design the length of the first support rod portion 2132 to be larger than the length of the second support rod, or to design the weight of the first support rod to be larger than the weight of the second support rod, or to design the weight of the first rotating wheel 211 to be larger than the weight of the second rotating wheel 212.

[0084] As an embodiment, the first support rod portion 2132 and the second support rod portion 2133 are hollow tubular structures, which helps to reduce the weight of the suspension wheel component 210.

[0085] As an embodiment, the counterweight 206 is disposed within the first support rod 2132. This has a simple structure, is easy to implement, and helps ensure the aesthetics of the suspension wheel member 210. Of course, in specific applications, the arrangement of the counterweight 206 is not limited to this. For example, as an alternative embodiment, the counterweight 206 can also be disposed outside the first support rod 2132, or the counterweight 206 can also be disposed on the first rotating wheel 211.

[0086] As an embodiment, the first support rod portion 2132 and the second support rod portion 2133 are integrally formed, and the rotating portion 2131 is welded to the center of the length direction of the integrally formed structure. Of course, in specific applications, the design of the first support rod portion 2132, the second support rod portion 2133, and the rotating portion 2131 is not limited to this.

[0087] In one embodiment, the detection component 300 is centrally located above the suspension rod 213 along its length, that is, the detection component 300 is located directly above the centerline of the suspension rod 213. The trigger component 214 is located farther from the first rotating wheel 211 than from the second rotating wheel 212, that is, the trigger component 214 is located on the side of the suspension rod 213 that is offset from the second rotating wheel 212. In this embodiment, the detection component 300 is centrally located, and the trigger component 214 is offset from the second rotating wheel 212. This ensures that: when both the first rotating wheel 211 and the second rotating wheel 212 are on the ground, the trigger component 214 is not directly below the detection component 300, and the trigger component 214 does not trigger the detection component 300 to generate a trigger signal. When both the first rotating wheel 211 and the second rotating wheel 212 are off the ground, the suspension rod 213 rotates, and the trigger component 214 can rotate with the suspension rod 213 to directly below the detection component 300, at which point the trigger component 214 triggers the detection component 300 to generate a trigger signal.

[0088] As an embodiment, the trigger component 214 is provided on the rotating portion 2131 and / or the second support rod portion 2133, that is, the trigger component 214 can be installed on the rotating portion 2131, or can also be installed on the second support rod portion 2133, or can also be connected to the rotating portion 2131 and the second support rod portion 2133 at the same time, as long as the trigger component 214 is ensured to be biased toward the side where the second rotating wheel 212 is located.

[0089] Reference Figure 1 、 Figure 2 and Figure 4 As shown, as an embodiment, the trigger component 214 is mounted on the rotating portion 2131 , and the trigger component 214 is located on the outer wall of the rotating portion 2131 in a region biased toward the second rotating wheel 212 .

[0090] As an embodiment, the installation position of the trigger component 214 meets the following requirements: when the suspension wheel component 210 is off the ground and the suspension rod 213 is deflected by a preset angle under the action of gravity, the trigger component 214 moves to the trigger position and triggers the detection component 300 to generate a trigger signal. The preset angle is 10°. In this embodiment, the preset angle is set to 10° so that the suspension rod 213 can be detected as off the ground by a relatively small rotation angle, which is beneficial to ensuring the safety of the walking device 10; and it is also beneficial to prevent the occurrence of adverse situations such as misjudgment due to small angle deflections caused by bumps and vibrations. Of course, in specific applications, the preset angle is not limited to this. The preset angle can be greater than 10° or less than 10°, for example, it can be 8°, 9°, 11°, 12°, 13°, 14°, or 15°, etc.

[0091] As an embodiment, the trigger component 214 is mounted on the first base, and the first base is mounted on the rotating portion 2131 by screws. Of course, in specific applications, the mounting method of the trigger component 214 is not limited to this.

[0092] As an embodiment, the detection component 300 is mounted on the second base, and the second base is mounted on the body 100 by screws. Of course, in specific applications, the installation method of the detection component 300 is not limited to this.

[0093] As an embodiment, both the first rotating wheel 211 and the second rotating wheel 212 are universal wheels, that is, both the first rotating wheel 211 and the second rotating wheel 212 are wheels that can rotate 360 ​​degrees horizontally. Of course, in specific applications, at least one of the first rotating wheel 211 and the second rotating wheel 212 may not necessarily be a universal wheel.

[0094] Reference Figure 1 、 Figure 3 and Figure 4 As shown, as an embodiment, the suspension wheel component 210 further includes a first connecting frame 217, a second connecting frame 218, a third bearing 219, and a fourth bearing 201; the first connecting frame 217 is rotatably connected to the first support rod portion 2132 via the third bearing 219, and the first rotating wheel 211 is mounted on the first connecting frame 217; the second connecting frame 218 is rotatably connected to the second support rod portion 2133 via the fourth bearing 201, and the second rotating wheel 212 is mounted on the second connecting frame 218. In this embodiment, the first connecting frame 217 and the third bearing 219 are primarily configured to enable the first rotating wheel 211 to rotate 360° horizontally, while the second connecting frame 218 and the fourth bearing 201 are primarily configured to enable the first rotating wheel 211 to rotate 360° horizontally.

[0095] As an embodiment, the central axis of the third bearing 219 is parallel to the central axis of the fourth bearing 201 .

[0096] In one embodiment, the central axis of the third bearing 219 and the central axis of the fourth bearing 201 are arranged vertically. This allows the first rotating wheel 211 and the second rotating wheel 212 to achieve 360° horizontal rotation. Of course, in specific applications, the central axis of the third bearing 219 and the central axis of the fourth bearing 201 can be slightly offset from the vertical by a small angle, for example, within a range of 10°.

[0097] As an embodiment, the central axis of the rotating portion 2131 is perpendicular to the central axis of the third bearing 219 .

[0098] Reference Figure 1 、 Figure 3 、 Figure 4 and Figure 5As shown, as an embodiment, the suspension wheel assembly 210 further includes a first electromagnet 202, a second electromagnet 203, a first magnetic component 204, and a second magnetic component 205. The first magnetic component 204 is disposed on a first connecting frame 217, and the second magnetic component 205 is disposed on a second connecting frame 218. The first electromagnet 202 is disposed at one end of a suspension rod 213 and is configured to attract the first magnetic component 204 when energized to maintain the first rotating wheel 211 in a straight-line motion. The second electromagnet 203 is disposed at the other end of the suspension rod 213 and is configured to attract the second magnetic component 205 when energized to maintain the second rotating wheel 212 in a straight-line motion. Both the first rotating wheel 211 and the second rotating wheel 212 are universal wheels. In a specific application, when the walking device 10 needs to travel in a straight line, the walking device 10 needs the universal wheels to maintain a stable direction. If no measures are taken to position the universal wheels, in actual situations, the universal wheels will be affected by various obstacles on the ground, causing the universal wheels to shake or deviate in direction, affecting the passability or stability of the walking device 10. In this embodiment, through the cooperation of electromagnets and magnetic components (including the cooperation of the first electromagnet 202 and the first magnetic component 204, and the cooperation of the second electromagnet 203 and the second magnetic component 205), when it is necessary to control the walking device 10 to travel in a straight line, the electromagnetic damping is increased by energizing the electromagnets, thereby assisting the universal wheels in maintaining a straight line direction, thereby fully ensuring the reliability of the walking device 10 in traveling in a straight line.

[0099] In one embodiment, the first magnetic component 204 is a magnet, and the second magnetic component 205 is a magnet. This helps to better ensure the attraction force of the first electromagnet 202 on the first magnetic component 204 when energized, and the attraction force of the second electromagnet 203 on the second magnetic component 205 when energized. Of course, in specific applications, as an alternative embodiment, the first magnetic component 204 and / or the second magnetic component 205 can be made of magnetic metal.

[0100] As an embodiment, the first magnetic component 204 is centered above the first rotating wheel 211 along the axial direction of the first rotating wheel 211, and the second magnetic component 205 is centered above the second rotating wheel 212 along the axial direction of the second rotating wheel 212. In this embodiment, the first magnetic component 204 is centered directly above the first rotating wheel 211, and the second magnetic component 205 is centered directly above the second rotating wheel 212. This facilitates the adjustment of the installation positions of the first electromagnet 202, the second electromagnet 203, the first magnetic component 204, and the second magnetic component 205, and facilitates better ensuring that: when the first electromagnet 202 is energized, it attracts the first magnetic component 204 to keep the first rotating wheel 211 in a straight-line running state, and when the second electromagnet 203 is energized, it attracts the second magnetic component 205 to keep the second rotating wheel 212 in a straight-line running state.

[0101] Reference Figure 1 、 Figure 3 and Figure 4 As shown, as an embodiment, a first connecting sleeve 2134 is provided at the end of the first support rod 2132 away from the rotating portion 2131, a first connecting shaft 2171 is protrudingly provided on the top of the first connecting frame 217, and the first connecting shaft 2171 is rotatably connected to the first connecting sleeve 2134 via a third bearing 219. A second connecting sleeve 2135 is provided at the end of the second support rod 2133 away from the rotating portion 2131, and a second connecting shaft 2181 is protrudingly provided on the top of the second connecting frame 218, and the second connecting shaft 2181 is rotatably connected to the second connecting sleeve 2135 via a fourth bearing 201.

[0102] Reference Figure 1 、 Figure 2 and Figure 5 As shown, as an embodiment, the walking device 10 further includes a cutting mechanism 400 and a controller 500. The cutting mechanism 400 and the controller 500 are both mounted on the body 100. The controller 500 is electrically connected to the cutting mechanism 400, the moving wheel assembly 200, and the detection component 300, respectively, to control the operation of the cutting mechanism 400 and the moving wheel assembly 200, respectively. The cutting mechanism 400 is at least used to cut plants under the control of the controller 500. The detection component 300 is used to feedback a detection signal to the controller 500. The controller 500 is also used to control the cutting mechanism 400 to stop operating upon receiving a trigger signal. In this embodiment, when it is detected that the moving wheel assembly 200 is off the ground, the cutting mechanism 400 is controlled to stop operating, which can help ensure the safety of the walking device 10.

[0103] As an embodiment, the first electromagnet 202 and the second electromagnet 203 are also electrically connected to the controller 500. In a specific application, when it is necessary to control the walking device 10 to travel in a straight line, the controller 500 controls the first electromagnet 202 and the second electromagnet 203 to assist the universal wheel in maintaining a straight line, thereby fully ensuring the reliability of the walking device 10 in traveling in a straight line.

[0104] As an embodiment, the walking device 10 also includes a battery, which is used to power the controller 500, the cutting mechanism 400, the moving wheel assembly 200, the detection component 300, the first electromagnet 202 and the second electromagnet 203, so that the walking device 10 is suitable for long-term operation in the field.

[0105] In one embodiment, the walking device 10 is a lawn mower. The cutting mechanism 400 is at least configured to mow grass under the control of the controller 500. Of course, in specific applications, the walking device 10 described above is not limited to lawn mowers. That is, the above-described lift-off detection scheme is not limited to lawn mowers and can also be applied to other walking devices 10 requiring lift-off detection. For example, in an alternative embodiment, the walking device 10 is a crop harvester, and the cutting mechanism 400 is at least configured to harvest crops under the control of the controller 500.

[0106] Reference Figure 1 、 Figure 5 and Figure 7 As shown, as an embodiment, the moving wheel assembly 200 further includes at least one driving wheel 220 , and the driving wheel 220 is used to provide driving force for the traveling device 10 to move.

[0107] Reference Figure 1 As shown, as one embodiment, drive wheel 220 includes a tire 221 and a motor 222. Motor 222 is mounted inside tire 221, resulting in a compact structure. Motor 222 is used to drive wheel 220 and tire 221 to rotate. Of course, in specific applications, the arrangement of drive wheel 220 is not limited to this. For example, as an alternative embodiment, motor 222 can also be located outside tire 221 and connected to tire 221 via a shaft structure.

[0108] As an embodiment, the controller 500 can drive the walking device 10 to perform at least one of the following actions: forward, backward, and turning by controlling the motor 222 to operate.

[0109] Reference Figure 1 、 Figure 16 and Figure 17 As shown, as an embodiment, tire 221 includes a tire body 2211 and a tread 2212. Tire body 2211 is the main structure of tire body 2211. Tread 2212 is formed on the outer surface of tire body 2211 to increase the anti-slip ability of tire 221. Motor 222 is installed in tire body 2211.

[0110] Reference Figure 16 、 Figure 17 and Figure 18As shown, as one embodiment, a tire body 2211 has a radially outer surface 2201, a first axial end surface 2202, and a second axial end surface 2203. The first axial end surface 2202 and the second axial end surface 2203 are formed at the axial ends of the tire body 2211, respectively. The radially outer surface 2201 extends from the outer edge of the first axial end surface 2202 to the outer edge of the second axial end surface 2203. The tread pattern 2212 is formed protrudingly on the radially outer surface 2201. The radially outer surface 2201 is the radially outermost surface of the tire body 2211. The radial direction of the tire body 2211 is the direction in which the diameter of the tire body 2211 extends. The first axial end surface 2202 and the second axial end surface 2203 are disposed opposite each other. The first axial end surface 2202 and the second axial end surface 2203 are the two axially outermost end surfaces of the tire body 2211.

[0111] Reference Figure 16 、 Figure 17 and Figure 18 As shown, as an embodiment, the tread pattern 2212 includes a plurality of protrusions 2204, which are spaced apart along the circumference of the radial outer surface 2201. Each protrusion 2204 is protruding from the radial outer surface 2201 of the tire body 2211.

[0112] Reference Figure 1 、 Figure 16 and Figure 17 As shown, as an embodiment, in the axial orthographic projection of the tire 221, the outer edges of the plurality of protrusions 2204 are projected to form a full circle, that is, in the axial orthographic projection of the tire 221, the outer edges of the plurality of protrusions 2204 are projected to form a circumferentially closed figure. The axial orthographic projection of the tire 221 refers to a two-dimensional projection figure obtained by axially projecting the tire 221. In this embodiment, when the tire 221 is viewed from one axial side, the outer edge of the tread 2212 is a full circle. This allows the tread 2212 to always maintain contact with the ground when the tire 221 is moving on the ground, thereby effectively improving the grip of the tire 221, thereby improving the anti-skid effect of the tire 221, and fully ensuring the grip and stability of the drive wheel 220.

[0113] As an embodiment, in the axial orthographic projection of the tire 221, any two adjacent protrusions 2204 at least partially overlap, thereby ensuring that: in the axial orthographic projection of the tire 221, the outer edges of multiple protrusions 2204 are projected into a full circle, and the tread 2212 will not be discontinuous in the circumferential direction.

[0114] Reference Figure 16 、 Figure 17 and Figure 18As shown, as an embodiment, each protrusion 2204 extends from the first axial end face 2202 to the second axial end face 2203. In this way, the limited area of ​​the radial outer surface 2201 can be utilized to increase the contact area between the protrusion 2204 and the ground as much as possible, thereby improving the anti-slip effect of the tire 221.

[0115] Reference Figure 16 、 Figure 17 and Figure 18 As shown, as an embodiment, each protrusion 2204 has the same shape, and a separation groove 2215 is formed between any two adjacent protrusions 2204. The same shape of each protrusion 2204 facilitates a simple structure of the tread 2212 and eases manufacturing and molding. The formation of the separation groove 2215 can separate two adjacent protrusions 2204 so that no two adjacent protrusions 2204 have a contact relationship, thereby ensuring the anti-slip capability of the tread 2212. Although the separation groove 2215 can physically separate adjacent protrusions 2204, by optimizing the design of the extended shapes of the protrusions 2204 and the separation groove 2215, it is still possible to ensure that two adjacent protrusions 2204 overlap in the axial orthographic projection of the tire 221.

[0116] Reference Figure 16 、 Figure 17 and Figure 18 As shown, in this embodiment, the protrusion 2204 includes a first linear extension 2205 and a second linear extension 2206. The first linear extension 2205 extends along a first linear trajectory from the first axial end face 2202 toward the second axial end face 2203. The second linear extension 2206 extends along a second linear trajectory from the second axial end face 2203 to the end of the first linear extension 2205 distal from the first axial end face 2202. This ensures that each protrusion 2204 extends continuously from one axial end of the tire body 2211 to the other axial end of the tire body 2211 without interruption. In the axial orthographic projection of the tire 221, at least a portion of the first linear extension 2205 of any protrusion 2204 obscures at least a portion of the first linear extension 2205 of an adjacent protrusion 2204. This allows the outer edges of the multiple protrusions 2204 to form a continuous circle in the axial orthographic projection of the tire 221. The first linear extension portion 2205 and the second linear extension portion 2206 are both linear protrusion structures. In this embodiment, the protrusion 2204 is formed by connecting two segments of linear protrusion structures, which has a regular and simple shape and is easy to manufacture.

[0117] In one embodiment, at least one of the first linear trajectory and the second linear trajectory is skewed with respect to the central axis MN of the tire body 2211. This helps ensure that, in the axial orthographic projection of the tire 221, at least a portion of the first linear extension 2205 of any protrusion 2204 obscures at least a portion of the first linear extension 2205 of an adjacent protrusion 2204. Specifically, skewed lines refer to two lines that are neither parallel nor intersecting.

[0118] As an embodiment, the first linear track and the second linear track are both skew lines with the central axis MN of the tire body 2211 .

[0119] Reference Figure 16 、 Figure 17 and Figure 18 As shown, as an embodiment, the first linear extension portion 2205 and the second linear extension portion 2206 of a same protrusion 2204 are connected to form a V-shaped structure. The first angle E formed by the first linear extension portion 2205 and the second linear extension portion 2206 is an acute angle. This helps ensure that, in the axial orthographic projection of the tire 221, at least a portion of the first linear extension portion 2205 of any protrusion 2204 obscures at least a portion of the first linear extension portion 2205 of an adjacent protrusion 2204. Of course, in specific applications, the shape of the first angle E formed by the first linear extension portion 2205 and the second linear extension portion 2206 is not limited to this. For example, as an alternative embodiment, the first angle E formed by the first linear extension portion 2205 and the second linear extension portion 2206 is a right angle; or, as another alternative embodiment, the first angle E formed by the first linear extension portion 2205 and the second linear extension portion 2206 is an obtuse angle.

[0120] Reference Figure 1 、 Figure 16 and Figure 17 As shown, as an embodiment, the tire body 2211 is further formed with a mounting hole 2213 , which is formed at the radial center of the tire body 2211 for mounting the motor 222 .

[0121] Reference Figure 1 、 Figure 16 and Figure 17As shown, as an embodiment, the tire body 2211 further includes vibration-damping holes 2214, which are radially disposed between the mounting hole 2213 and the tread 2212 of the tire body 2211. The design of the vibration-damping holes 2214 can improve the deformation-absorbing capacity of the tire 221, thereby facilitating the improvement of the vibration-damping capacity of the tire 221. In this embodiment, the tire 221 is optimized so that the tread 2212 of the tire 221 forms a complete circle when viewed from the side, thereby ensuring the stability and grip of the drive wheel 220. Furthermore, by partially hollowing out the tire body 2211 to form the vibration-damping holes 2214, the deformation-absorbing and vibration-damping capacity of the tire 221 can be improved.

[0122] As an embodiment, the first rotating wheel 211 and the second rotating wheel 212 are front wheels, and the driving wheel 220 is a rear wheel, that is, the first rotating wheel 211 and the second rotating wheel 212 are located in front of the driving wheel 220 along the moving direction of the walking device 10.

[0123] In one embodiment, the mobile wheel assembly 200 includes a first rotating wheel 211, a second rotating wheel 212, and two driving wheels 220. One driving wheel 220 is located behind the first rotating wheel 211, and the other driving wheel 220 is located behind the second rotating wheel 212. That is, the walking device 10 includes two front wheels and two rear wheels. Of course, in specific applications, the number of wheels included in the mobile wheel assembly 200 and the wheel distribution method are not limited to this.

[0124] Reference Figure 5 As shown, as an embodiment, the walking device 10 further includes an armrest 600. One end of the armrest 600 is connected to the body 100, and the other end is for an operator to hold. The operator can use the armrest 600 to perform at least one of the following operations on the walking device 10: push the walking device 10 to move, pull the walking device 10 to move, adjust the movement direction of the walking device 10, and control the operation of the walking device 10.

[0125] Reference Figure 5 and Figure 6 As shown, as one embodiment, the armrest 600 is foldably connected to the body 100. That is, the armrest 600 can be folded onto the body 100 when not in use. This helps reduce the space occupied by the armrest 600 when not in use. In this embodiment, the armrest 600 has an unfolded state and a folded state. In the unfolded state, the armrest 600 is tilted away from the body 100 toward the upper rear of the body 100. In the folded state, the armrest 600 folds and overlaps the body 100.

[0126] Reference Figure 5 and Figure 9As shown, as an embodiment, the armrest 600 is formed with a grip portion 610 and a first rotating connection portion 620. The grip portion 610 is used for the operator to grip, and the armrest 600 is rotatably connected to the fuselage 100 via the first rotating connection portion 620. The grip portion 610 and the first rotating connection portion 620 are respectively arranged near the ends of the armrest 600 along the length direction of the armrest 600. The length direction of the armrest 600 specifically refers to the direction in which the armrest 600 extends the longest when deployed.

[0127] Reference Figure 5 、 Figure 7 and Figure 9 As shown, as an embodiment, the walking device 10 further includes a locking screw 700. The locking screw 700 is used to lock the armrest 600 in the deployed state to the body 100, and is used to loosen the armrest 600 so that the armrest 600 can rotate from the deployed state to the folded state folded onto the body 100 under the action of an external force. When the armrest 600 is deployed for use, the locking screw 700 can be used to lock the armrest 600 so that the armrest 600 cannot rotate relative to the body 100 in this state. When the armrest 600 is not in use and needs to be folded and stored, the locking screw 700 can be loosened so that the armrest 600 can rotate relative to the body 100 in this state, thereby allowing the armrest 600 to be folded onto the body 100 under the action of an external force. The present invention realizes a foldable connection between the armrest 600 and the fuselage 100 through the first rotating connection part 620 and the locking screw 700 on the armrest 600, so that the connection structure between the armrest 600 and the fuselage 100 becomes very simple; and in specific applications, by loosening the locking screw 700 and then applying force to rotate the armrest 600, the armrest 600 can be folded onto the fuselage 100, thereby making the folding operation of the armrest 600 very simple and convenient.

[0128] Reference Figure 5 、 Figure 9 and Figure 10 As shown, as an embodiment, the armrest 600 is further formed with an open slot 630, which is used to partially engage with the locking screw 700 when in the deployed state. The open slot 630 is a slot that is partially open in the circumferential direction, that is, the open slot 630 is not a circumferentially closed slot. In this embodiment, when the armrest 600 is deployed for use, the open slot 630 on the armrest 600 engages with the locking screw 700, which helps ensure the stable and reliable connection between the armrest 600 and the body 100 when deployed, thereby improving the safety and reliability of the walking device 10.

[0129] Reference Figure 5 、 Figure 9 and Figure 10As shown, as an embodiment, the opening slot 630 is formed with a first opening 631 that is open downward. The provision of the first opening 631 can ensure that the armrest 600 can be smoothly separated from the locking screw 700 during the process of rotating from the deployed state to the folded state, and can ensure that the armrest 600 can be smoothly engaged with the locking screw 700 during the process of rotating from the folded state to the deployed state.

[0130] As an embodiment, the opening slot 630 is arranged between the grip portion 610 and the first rotating connection portion 620 along the length direction of the armrest 600, and the distance from the opening slot 630 to the grip portion 610 is smaller than the distance from the first rotating connection portion 620 to the grip portion 610. In this way, the locking connection point between the armrest 600 and the fuselage 100 is located on the side of the rotating connection point between the armrest 600 and the fuselage 100 facing the grip portion 610, thereby facilitating better rotation and folding of the armrest 600 on the fuselage 100.

[0131] Reference Figure 9 、 Figure 10 and Figure 11 As shown, as an embodiment, the opening slot 630 is an arc-shaped slot with a radian greater than a semicircular arc; the locking screw 700 is formed with a first locking rod portion 710 for engaging with the opening slot 630, and the first locking rod portion 710 is cylindrical. The semicircular arc is π radians. In this embodiment, the opening slot 630 and the first locking rod portion 710 are engaged through smooth arc surfaces, which facilitates smooth separation or engagement of the opening slot 630 and the first locking rod portion 710 during rotation of the armrest 600. In addition, by configuring the opening slot 630 as an arc-shaped slot with a radian greater than a semicircular arc, the armrest 600 cannot rotate relative to the first locking rod portion 710 when the first locking rod portion 710 engages with the opening slot 630, thereby ensuring the reliability of the engagement between the opening slot 630 and the first locking rod portion 710.

[0132] In one embodiment, the locking screw 700 is a thumb screw. A thumb screw, also known as a hand screw, is a screw that can be manually turned to loosen or tighten the armrest without the need for a screwdriver, wrench, or other tool. In this embodiment, the locking screw 700 is a thumb screw. This allows the operator to fold the armrest 600 by simply loosening the locking screw 700 and then rotating the armrest 600 without the need for any tools, greatly facilitating the folding of the armrest 600.

[0133] Reference Figure 5 、 Figure 7 and Figure 11As shown, as an embodiment, the locking screw 700 also includes a first screw portion 720 and a first hand-turned head 730. The first screw portion 720 and the first hand-turned head 730 are respectively arranged at both ends of the first positioning rod portion 710. The first screw portion 720 is used to threadedly connect to the fuselage 100, and the first hand-turned head 730 is used for the operator to hold and rotate to tighten or loosen the locking screw 700.

[0134] As an embodiment, the first hand-turning head 730 is a nut with a plum blossom-shaped outer wall or a nut with knurling formed on the outer wall, so as to facilitate the operator to hold and turn it.

[0135] As an embodiment, the outer diameter of the first locking rod portion 710 is larger than the outer diameter of the first screw portion 720 and smaller than the outer diameter of the first hand-turning head portion 730. Since the first locking rod portion 710 is used to engage with the open slot 630, the outer diameter of the first locking rod portion 710 is set to be larger than the outer diameter of the first screw portion 720. In this way, in a specific application, when the folding armrest 600 needs to be rotated, the first locking rod portion 710 only needs to be screwed out of the open slot 630, that is, the first screw portion 720 is screwed into the open slot 630, so that the armrest 600 can be rotated without unscrewing the locking screw 700 from the body 100. This helps improve the folding efficiency of the armrest 600 and prevents the locking screw 700 from being lost.

[0136] Reference Figure 5 、 Figure 11 and Figure 12 As shown, as an embodiment, a connection hole 121 is formed on the body 100 , and the connection hole 121 is a threaded hole for threaded connection with the first screw portion 720 .

[0137] Reference Figure 5 、 Figure 10 and Figure 11 As shown, as an embodiment, an open chute 640 is further formed on the armrest 600. The open chute 640 is formed with a second opening 641 that is open downwardly. The open chute 640 is used to allow the first screw portion 720 to pass through. The provision of the open chute 640 can be used to avoid the screwing in and out of the first screw portion 720. The provision of the second opening 641 can ensure that the open chute 640 can be smoothly separated from the first screw portion 720 during the process of rotating the armrest 600 from the deployed state to the folded state, and ensure that the open chute 640 can be smoothly stuck outside the first screw portion 720 during the process of rotating the armrest 600 from the folded state to the deployed state.

[0138] As an embodiment, the first rotating connection portion 620 is an optical through hole formed on the armrest 600; the body 100 is formed with a second rotating connection portion 122; the walking device 10 further includes a rotating connection member 800, which is rotatably connected to the first rotating connection portion 620 and is fastened to the second rotating connection portion 122. In this embodiment, an independent rotating connection member 800 is used to rotationally connect the armrest 600 and the body 100, which helps to simplify the structure of the armrest 600 and the body 100. Of course, in specific applications, as an alternative embodiment, the rotatable connection between the body 100 and the armrest 600 can also be directly achieved through the matching structure on the body 100 and the armrest 600. For example, one of the armrest 600 and the body 100 is provided with a protruding shaft and the other is provided with a through hole that matches the protruding shaft, and then the protruding shaft is locked in place by a fastener.

[0139] In one embodiment, the rotating connector 800 is a thumb screw, and the second rotating connector portion 122 is a threaded hole formed on the body 100. In this embodiment, both the rotating connector 800 and the locking screw 700 are thumb screws, allowing the armrest 600 to be installed and removed from the body 100 by hand, without the need for any auxiliary tools. Of course, in specific applications, the configuration of the rotating connector 800 is not limited to this; for example, a pin or a combination of a shaft and a bearing may also be used.

[0140] As an embodiment, the rotating connector 800 is a component with the same structure as the locking screw 700. The connection method between the rotating connector 800 and the fuselage 100 can refer to the connection method between the locking screw 700 and the fuselage 100, which will not be described in detail here.

[0141] Reference Figure 5 、 Figure 7 、 Figure 11 and Figure 12 As shown, as an embodiment, the body 100 includes a main bracket 110 and a mounting plate 120, which is fixed to the main bracket 110 by welding and / or screw connection. The mounting plate 120 is formed with a first threaded hole (i.e., connection hole 121) for threaded connection with the first screw portion 720 and a second threaded hole (i.e., second rotation connection portion 122) for rotating the connector 800. Of course, in specific applications, the first threaded hole for threaded connection with the first screw portion 720 and the second threaded hole for rotating the connector 800 can also be directly formed on the main bracket 110, that is, the main bracket 110 and the mounting plate 120 can be an integrally formed structure.

[0142] Reference Figure 5 and Figure 7As shown, as an embodiment, the main support 110 includes a top support rod 111, and the mounting plate 120 is fixed to the top of the top support rod 111. When the armrest 600 is in the folded state, the extension rod is substantially parallel to the top support rod 111.

[0143] As an embodiment, the body 100 further includes a shell (not shown), and the main bracket 110 is accommodated in the shell.

[0144] Reference Figure 5 、 Figure 6 and Figure 8 As shown, as an embodiment, the walking device 10 further includes a foot support 900, which can be movably connected to the fuselage 100, and the foot support 900 is used to support the ground together with part of the moving wheel assembly 200 when the armrest 600 is in a folded state and the walking device 10 is in an upright state. Specifically, the foot support 900 is used to support the ground together with the rear wheel (the driving wheel 220 in this embodiment) when the armrest 600 is in a folded state and the walking device 10 is in an upright state. The foot support 900 is mainly used to assist the walking device 10 in being folded and standing on the ground when not in use or when being cleaned or repaired, thereby helping to reduce the space occupied by the walking device 10 for storage. In specific applications, when the walking device 10 needs to be folded and stored, the armrest 600 is folded onto the fuselage 10, and then the walking device 10 is erected, and the foot support 900 is unfolded and supported on the ground. In this embodiment, after the walking device 10 is erected, it is supported on the ground together with the rear wheels by the foot supports 900, which helps to ensure the stability of the walking device 10 when it is erected.

[0145] As an embodiment, the kickstand 900 may be movably connected to a portion of the fuselage 100 near the rear wheel.

[0146] In one embodiment, the foot support 900 is rotatably connected to the body 100. Under the action of an external force, the foot support 900 can be rotated between a stowed position and a support position. In the stowed position, the foot support 900 is retracted against the body 100. In the support position, the foot support 900 is extended relative to the body 100. At this point, when the walking device 10 is upright, the foot support 900 can be supported on the ground. In this embodiment, the foot support 900 is rotated to switch between the stowed and support positions, facilitating operation.

[0147] Reference Figure 5 、 Figure 6 、 Figure 13 and Figure 14As shown, as an embodiment, the kickstand 900 includes a support rod 910, an elastic member 920, a rotating member 930, and a sliding member 940. One end of the support rod 910 is rotatably connected to the body 100 via the rotating member 930. The sliding member 940 is slidably connected to the support rod 910 so as to be able to slide relative to the support rod 910 along the length of the support rod 910. The sliding member 940 is elastically connected to the rotating member 930 via the elastic member 920. The body 100 is provided with a first guide portion, which is used to limit the movement trajectory of the sliding member 940 when the support rod 910 rotates relative to the body 100. When the support rod 910 rotates under the action of an external force, the sliding member 940 always maintains contact with the first guide portion due to the elastic force of the elastic member 920, thereby ensuring smooth and reliable support rotation.

[0148] As an embodiment, the support rod 910 is a hollow tube, which has the characteristics of simple structure, light weight and low cost. Of course, in specific applications, the structure of the support rod 910 is not limited to this.

[0149] As an embodiment, the elastic member 920 is a tension spring, one end of the tension spring is connected to the rotating member 930 , and the other end is connected to the sliding member 940 .

[0150] As an embodiment, the elastic member 920 is disposed in the support rod 910 , which is beneficial to improving the compactness of the structure of the foot support 900 and improving the aesthetics of the foot support 900 .

[0151] Reference Figure 5 、 Figure 13 and Figure 14 As shown, as an embodiment, the support rod 910 is formed with a second guide portion 912, which is a guide groove, and the sliding member 940 is slidably inserted into the groove so as to be able to slide along the length direction of the support rod 910. The dimension of the guide groove extending along the length direction of the support rod 910 is greater than the radial dimension of the portion of the sliding member 940 inserted into the guide groove, so as to ensure that the portion of the sliding member 940 inserted into the guide groove can slide along the guide groove, thereby allowing the foot support 900 to overcome the elastic force of the elastic member 920 under the action of an external force to rotate.

[0152] Reference Figure 5 、 Figure 6 and Figure 15 As shown, as an embodiment, a connecting seat 130 is provided on the fuselage 100 , the support rod 910 is rotatably connected to the connecting seat 130 through a rotating member 930 , and the first guide sliding portion is formed on the connecting seat 130 .

[0153] As an embodiment, the connecting seat 130 is connected to the rear side of the main bracket 110 .

[0154] Reference Figure 5 、 Figure 6 and Figure 7 As shown, as an embodiment, the main support 110 includes a back support rod 112, and the connecting seat 130 is fixed to the rear side of the back support rod 112. When the foot support 900 is in the storage state, the support rod 910 is against the back support rod 112.

[0155] Reference Figure 5 、 Figure 6 and Figure 15 As shown, as an embodiment, the connecting seat 130 includes a first plate body 131 and a second plate body 132, and the first plate body 131 and the second plate body 132 are spaced apart. The rotating member 930 can rotatably connect the first plate body 131 and the second plate body 132, and the axial ends of the rotating member 930 are respectively clamped on the outside of the first plate body 131 and the second plate body 132. One end of the support rod 910 is connected to the portion of the rotating member 930 located between the first plate body 131 and the second plate body 132. The first guide portion includes a first guide surface 1311 formed on the first plate body 131 and a second guide surface 1321 formed on the second plate body 132. The axial ends of the sliding member 940 are respectively clamped on the outside of the first plate body 131 and the second plate body 132. The first guide surface 1311 is formed on the rear side of the first plate body 131, that is, the first guide surface 1311 is formed on the surface of the first plate body 131 away from the front wheel. A second guide surface 1321 is formed on the rear side of the second plate 132, that is, on the surface of the second plate 132 facing away from the front wheel. The spacing between the first plate 131 and the second plate 132 allows for rotational clearance of the support rod 910. In this embodiment, the first and second plates 131, 132 support and position the foot support 900, while the first and second guide surfaces 1311, 1321 define the rotational trajectory of the foot support 900. This results in a simple and easily implemented structure.

[0156] Reference Figure 5 、 Figure 6 and Figure 15 As shown, as an embodiment, the connecting base 130 further includes a third plate 133, which is connected between the top of the first plate 131 and the top of the second plate 132. The third plate 133 can be used to limit the upper limit of the rotation and expansion of the support rod 910. The third plate 133 can also connect the first plate 131 and the second plate 132 into an integral body, thereby facilitating the installation of the connecting base 130 on the main bracket 110 as a single component, facilitating the assembly of the connecting base 130 and the main bracket 110.

[0157] Reference Figure 5 、 Figure 6 and Figure 14As shown, as an embodiment, the rotating member 930 includes a first penetrating shaft portion 931, a first locking boss portion 932, and a second locking boss portion 933. The first penetrating shaft portion 931 sequentially penetrates the first plate 131, the support rod 910, and the second plate 132. The first locking boss portion 932 is protruded from one end of the first penetrating shaft portion 931 and abuts against the surface of the first plate 131 facing away from the second plate 132. The second locking boss portion 933 is protruded from the other end of the first penetrating shaft portion 931 and abuts against the surface of the second plate 132 facing away from the first plate 131. The first penetrating shaft portion 931 penetrates the first and second plates 131, 132, thereby enabling the first and second plates 131, 132 to radially limit the rotating member 930. The first locking boss 932 abuts against the surface of the first plate 131 facing away from the second plate 132, enabling the first plate 131 to limit the axial position of one end of the rotating member 930. The second locking boss 933 abuts against the surface of the second plate 132 facing away from the first plate 131, enabling the second plate 132 to limit the axial position of the other end of the rotating member 930. The first penetrating shaft 931 penetrates the support rod 910 to connect the support rod 910 to the rotating member 930.

[0158] Reference Figure 6 、 Figure 14 and Figure 15 As shown, as an embodiment, the first plate 131 is formed with a first axial hole 1312, the second plate 132 is formed with a second axial hole 1322, the support rod 910 is formed with a third axial hole 911, and the first penetrating shaft portion 931 is sequentially penetrated through the first axial hole 1312, the third axial hole 911, and the second axial hole 1322. The outer diameter of the first locking boss portion 932 is larger than the diameter of the first axial hole 1312, and the outer diameter of the second locking boss portion 933 is larger than the outer diameter of the second axial hole 1322.

[0159] As an embodiment, rotating member 930 includes a first pin and a second pin. The first pin includes a first locking boss 932 and a first shaft portion, and the second pin includes a second locking boss 933 and a second shaft portion. One end of the first shaft portion is plugged into and mated with one end of the second shaft portion to form a first through-shaft portion 931. The first locking boss 932 protrudes from the other end of the first shaft portion, and the second locking boss 933 protrudes from the other end of the second shaft portion. In this embodiment, rotating member 930 is designed to be formed by connecting two pins, which facilitates assembly and disassembly of rotating member 930 with connection base 130, support rod 910, and elastic member 920.

[0160] Reference Figure 6 、 Figure 14 and Figure 15As shown, as an embodiment, the sliding member 940 includes a second penetrating shaft portion 941, a third latching boss portion 942, and a fourth latching boss portion 943. The second penetrating shaft portion 941 can be slidably penetrated and connected to the support rod 910, and the second penetrating shaft portion 941 abuts the first guide sliding curved surface 1311 and the second guide sliding curved surface 1321 respectively. The third latching boss portion 942 is protruded from one end of the second penetrating shaft portion 941 and abuts the surface of the first plate 131 facing away from the second plate 132. The fourth latching boss portion 943 is protruded from the other end of the second penetrating shaft portion 941 and abuts the surface of the second plate 132 facing away from the first plate 131. The second penetrating shaft portion 941 can be slidably penetrated by the support rod 910, thereby realizing a slidable connection between the sliding member 940 and the support rod 910. The second through-shaft portion 941 abuts the first guide curved surface 1311 and the second guide curved surface 1321, respectively, enabling the first and second plates 131, 132 to guide and limit the motion trajectory of the sliding member 940. The third locking boss portion 942 abuts the surface of the first plate 131 facing away from the second plate 132, enabling the first plate 131 to limit the axial position of the sliding member 940 at one end. The fourth locking boss portion 943 abuts the surface of the second plate 132 facing away from the first plate 131, enabling the second plate 132 to limit the axial position of the sliding member 940 at the other end.

[0161] As an embodiment, one end of the elastic member 920 is sleeved outside the first penetrating shaft portion 931 or hooked and connected to the first penetrating shaft portion 931 , and the other end is sleeved outside the second penetrating shaft portion 941 or hooked and connected to the second penetrating shaft portion 941 .

[0162] As an embodiment, the sliding member 940 includes a third pin and a fourth pin. The connection method of the third pin and the fourth pin can refer to the connection method of the first pin and the second pin, which will not be described in detail here.

[0163] Reference Figure 6 、 Figure 8 、 Figure 14 and Figure 15As shown, as an embodiment, the top end of the first guide portion is formed with a first limiting groove 1301 for engaging the sliding member 940 when the footrest 900 is deployed in the support position, and the bottom end of the first guide portion is formed with a second limiting groove 1302 for engaging the sliding member 940 when the footrest 900 is folded in the storage position. When the footrest 900 is folded in the storage position, the sliding member 940 is engaged in the second limiting groove 1302 under the action of the elastic member 920; when the footrest 900 is deployed in the support position, the sliding member 940 is engaged in the first limiting groove 1301 under the action of the elastic member 920. When the sliding member 940 is stuck in the second limiting groove 1302 or the first limiting groove 1301, the operator rotates the support rod 910. When the force applied by the operator when rotating the support rod 910 can overcome the elastic force of the elastic part 920 on the sliding member 940, the sliding member 940 can slide out of the second limiting groove 1302 or the first limiting groove 1301, and the support rod 910 can be rotated.

[0164] As an embodiment, the first limiting groove 1301 includes a first groove formed at the top of the first guide sliding surface 1311 and a second groove formed at the top of the second guide sliding surface 1321. The second limiting groove 1302 includes a third groove formed at the bottom of the first guide sliding surface 1311 and a fourth groove formed at the bottom of the second guide sliding surface 1321.

[0165] Reference Figure 6 、 Figure 8 and Figure 14 As shown, as an embodiment, foot support 900 includes a foot pad 950, which is provided at the end of support rod 910 away from rotating member 930. The provision of foot pad 950, on the one hand, helps to increase the contact area between foot support 900 and the ground, thereby helping to prevent the undesirable phenomenon of excessive force on localized deformation of foot support 900, and on the other hand, helps to prevent foot support 900 from scratching the ground.

[0166] As an implementation method, the working principle of the walking device 10 provided in this embodiment includes the following:

[0167] (1) The two front wheels (i.e., the first rotating wheel 211 and the second rotating wheel 212) are suspended by the suspension rod 213 to form a suspension wheel component 210 of the front axle suspension, so that the walking device 10 can adapt to various terrains and keep the posture of the walking device 10 flat.

[0168] (2) When the front of the walking device 10 is lifted, the left and right weights of the suspension wheel assembly 210 suspended on the front axle are unbalanced, so the suspension rod 213 starts to rotate around the central axis. After rotating 10°, the magnet faces the Hall element. The Hall element senses the magnetic force and sends a high level to the controller 500, thereby realizing the detection of lifting off the ground.

[0169] (3) When the walking device 10 needs to travel in a straight line, the first electromagnet 202 and the second electromagnet 203 are energized to increase electromagnetic damping, thereby assisting the universal wheel serving as the front wheel to maintain the straight line.

[0170] (4) The tread 2212 of the tire 221 of the driving wheel 220 is a complete circle when viewed from the side, thereby ensuring the stability and grip of the tire 221. In addition, by partially hollowing out the tire body 2211 to form the vibration-damping holes 2214, the deformation buffering and vibration-damping capabilities of the tire 221 can be improved.

[0171] (5) When the walking device 10 needs to be cleaned, maintained or stored, the armrest 600 can be folded onto the body 100, and the walking device 10 can be stood up and placed on the ground, thereby helping to reduce the space occupied by the walking device 10.

[0172] Example 2:

[0173] Reference Figure 5 、 Figure 16 and Figures 19 to 21 As shown, the walking device 10 provided in this embodiment is different from that in the first embodiment mainly in that the shapes of the protrusions 2204 forming the tread pattern 2212 are different.

[0174] As an embodiment, in this embodiment, the protrusion 2204 includes a third linear extension portion 2207, a fourth linear extension portion 2208, and a transition portion 2209. The third linear extension portion 2207 extends along a third linear trajectory from the first axial end face 2202 toward the second axial end face 2203, while the fourth linear extension portion 2208 extends along a fourth linear trajectory from the second axial end face 2203 toward the first axial end face 2202. In other words, both the third linear extension portion 2207 and the fourth linear extension portion 2208 are linear protrusions with regular, simple shapes. The transition portion 2209 extends from the end of the third linear extension portion 2207 away from the first axial end face 2202 to the end of the fourth linear extension portion 2208 away from the second axial end face 2203. This ensures that each protrusion 2204 extends continuously from one axial end of the tire body 2211 to the other axial end of the tire body 2211 without interruption. In the axial orthographic projection of the tire 221, at least a portion of the third straight extension 2207 of any protrusion 2204 blocks at least a portion of the transition connection portion 2209 and / or at least a portion of the fourth straight extension 2208 of an adjacent protrusion 2204. In this way, in the axial orthographic projection of the tire 221, the outer edges of multiple protrusions 2204 are projected into a full circle.

[0175] As an embodiment, the transition connection portion 2209 extends along a fifth straight line trajectory from the end of the third straight extension portion 2207 away from the first axial end face 2202 to the end of the fourth straight extension portion 2208 away from the second axial end face 2203. The third straight extension portion 2207, the fourth straight extension portion 2208 and the transition connection portion 2209 are all linear protrusion structures, that is, the protrusion 2204 is formed by connecting three segments of linear protrusion structures, and the shape is regular, simple, and easy to manufacture. Of course, in specific applications, the extension shape of the transition connection portion 2209 is not limited to this. For example, as an alternative embodiment, the transition connection portion 2209 extends along an arc-shaped trajectory from the end of the third straight extension portion 2207 away from the first axial end face 2202 to the end of the fourth straight extension portion 2208 away from the second axial end face 2203, that is, the transition connection portion 2209 is an arc-shaped protrusion structure; or, as another alternative embodiment, the transition connection portion 2209 is a curved zigzag trajectory from the third straight extension portion 2207. The straight extension portion 2207 extends from the end of the first axial end face 2202 to the end of the fourth straight extension portion 2208 away from the second axial end face 2203, that is, the transition connection portion 2209 is formed by connecting at least two straight-line protruding structures; or, as another alternative embodiment, the transition connection portion 2209 extends along an irregular trajectory from the end of the third straight extension portion 2207 away from the first axial end face 2202 to the end of the fourth straight extension portion 2208 away from the second axial end face 2203.

[0176] As an embodiment, the third straight line track and the fourth straight line track are parallel to each other, that is, the third straight line extension portion 2207 and the fourth straight line extension portion 2208 are parallel to each other. This is conducive to further improving the regularity of the shape of the tread 2212, is easy to manufacture, and is conducive to improving the aesthetics of the tread 2212.

[0177] As an embodiment, at least one of the third straight line trajectory and the fourth straight line trajectory is parallel to the central axis MN of the tire body 2211, that is, at least one of the third straight line extension portion 2207 and the fourth straight line extension portion 2208 is parallel to the central axis MN of the tire body 2211. This helps to reduce the manufacturing difficulty of the tread 2212.

[0178] As an embodiment, the third straight line trajectory and the fourth straight line trajectory are both parallel to the central axis MN of the tire body 2211, that is, the third straight line extension portion 2207 and the fourth straight line extension portion 2208 are both parallel to the central axis MN of the tire body 2211. This is conducive to improving the regularity of the shape of the tread 2212 and reducing the difficulty of manufacturing the tread 2212.

[0179] In one embodiment, the second angle F formed between the transition portion 2209 and the third linear extension 2207 is an obtuse angle, and the third angle G formed between the transition portion 2209 and the fourth linear extension 2208 is an obtuse angle. Of course, in specific applications, the angles formed between the transition portion 2209 and the third and fourth linear extensions 2207, 2208 are not limited to these. For example, in an alternative embodiment, the second angle F formed between the transition portion 2209 and the third linear extension 2207 is a right angle, and the third angle G formed between the transition portion 2209 and the fourth linear extension 2208 is a right angle. Alternatively, in another alternative embodiment, the protrusion 2204 is Z-shaped, the second angle F formed between the transition portion 2209 and the third linear extension 2207 is an acute angle, and the third angle G formed between the transition portion 2209 and the fourth linear extension 2208 is an acute angle.

[0180] Except for the above differences, other parts of the walking device 10 provided in this embodiment can refer to the first embodiment and will not be described in detail here.

[0181] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A walking device, characterized in that: include: body; a detection component, the detection component being arranged on the fuselage; a moving wheel assembly for supporting the body and driving the body to move; the moving wheel assembly includes a suspension wheel component, the suspension wheel component includes a first rotating wheel, a second rotating wheel, a suspension rod, and a trigger component; the suspension rod includes a rotating portion, a first support rod portion, and a second support rod portion; the rotating portion is rotatably connected to the body, the first support rod portion is connected between the rotating portion and the first rotating wheel, and the second support rod portion is connected between the rotating portion and the second rotating wheel; The distance between the center of gravity of the suspension wheel member and the first rotating wheel is smaller than the distance between the central axis of the rotating part and the first rotating wheel, so that when the suspension wheel member leaves the ground, the suspension rod can rotate under the action of the gravity of the suspension wheel member with the end where the first rotating wheel is located swinging downward and the end where the second rotating wheel is located swinging upward; The trigger component is arranged on the suspension rod, and is used for rotating with the suspension rod when the suspension wheel component leaves the ground and triggering the detection component to generate a trigger signal.

2. The walking device according to claim 1, wherein: The suspension wheel component further includes a counterweight, which is provided on the first support rod and / or the first rotating wheel, so that the distance from the center of gravity of the suspension wheel component to the first rotating wheel is smaller than the distance from the central axis of the rotating part to the first rotating wheel; or The sum of the weights of the first rotating wheel and the first supporting rod portion is greater than the sum of the weights of the second rotating wheel and the second supporting rod portion.

3. The walking device according to claim 1, wherein: The suspension wheel component further includes a first bearing and a second bearing, wherein one axial end of the rotating portion is rotatably connected to the fuselage via the first bearing, and the other axial end of the rotating portion is rotatably connected to the fuselage via the second bearing; and / or, The trigger component is arranged on the rotating portion and / or the second supporting rod portion.

4. The walking device according to any one of claims 1 to 3, characterized in that: The detection component is centrally located above the rotating portion along the length direction of the suspension rod, and the distance between the trigger component and the first rotating wheel is greater than the distance between the trigger component and the second rotating wheel; and / or, The detection component is a Hall element, and the trigger component is a magnet.

5. The walking device according to claim 1, wherein: The walking device further includes a cutting mechanism and a controller, both of which are mounted on the body. The controller is electrically connected to the cutting mechanism, the moving wheel assembly, and the detection component, respectively, so as to control the operation of the cutting mechanism and the moving wheel assembly, respectively. The cutting mechanism is at least used to cut plants under the control of the controller, and the controller is further used to control the cutting mechanism to stop operating upon receiving the trigger signal; and / or, The walking device is a lawn mower or a crop harvester.

6. The walking device according to any one of claims 1 to 3 or 5, characterized in that: The first rotating wheel and / or the second rotating wheel are universal wheels.

7. The walking device according to claim 6, characterized in that: The suspension wheel component further includes a first connecting frame, a second connecting frame, a third bearing and a fourth bearing; The first connecting frame is rotatably connected to the first supporting rod portion via the third bearing, and the first rotating wheel is mounted on the first connecting frame; The second connecting frame is rotatably connected to the second support rod portion through the fourth bearing, and the second rotating wheel is installed on the second connecting frame.

8. The walking device according to claim 7, wherein: The suspension wheel component further includes a first electromagnet, a second electromagnet, a first magnetic component and a second magnetic component, wherein the first magnetic component is arranged on the first connecting frame, and the second magnetic component is arranged on the second connecting frame; The first electromagnet is provided at one end of the suspension rod, and is used to attract the first magnetic component when powered so that the first rotating wheel maintains a straight running state; The second electromagnet is provided at the other end of the suspension rod, and is used for attracting the second magnetic component when energized so that the second rotating wheel maintains a straight-line running state.

9. The walking device according to claim 7, wherein: The first magnetic component is centrally disposed above the first rotor along the axial direction of the first rotor, and the second magnetic component is centrally disposed above the second rotor along the axial direction of the second rotor; and / or, The first magnetic component is a magnet, and the second magnetic component is a magnet.

10. The walking device according to claim 7, wherein: The central axis of the rotating part is perpendicular to the central axis of the third bearing; and / or, The central axis of the rotating part is arranged horizontally, and the central axes of the third bearing and the fourth bearing are arranged vertically.

11. The walking device according to any one of claims 1 to 3 or 5, characterized in that: The walking device further includes an armrest and a locking screw, wherein the armrest is formed with a grip portion, a first rotating connection portion, and an open slot, wherein the open slot is provided between the grip portion and the first rotating connection portion along the length direction of the armrest, the grip portion is used for an operator to grip, the armrest is rotatably connected to the body via the first rotating connection portion, and the open slot is formed with a first opening that is open downwardly; The locking screw is used to lock the armrest in the unfolded state to the fuselage, and is used to loosen the armrest so that the armrest can rotate from the unfolded state to the folded state folded on the fuselage under the action of an external force; The open slot is used to cooperate with a partial position of the locking screw in the expanded state.

12. The walking device according to claim 11, wherein: The opening slot is an arc-shaped slot with an arc greater than a semicircular arc; the locking screw is formed with a first locking rod portion for locking with the opening slot, and the first locking rod portion is cylindrical; and / or, The locking screw is a hand-turned screw, which includes a first screw portion, a first locking rod portion and a first hand-turned head portion. The first screw portion and the first hand-turned head portion are respectively arranged at both ends of the first locking rod portion. The first screw portion is used to threadably connect to the fuselage, the first locking rod portion is used to engage with the open slot, and the first hand-turned head portion is used for an operator to hold and rotate to tighten or loosen the locking screw.

13. The walking device according to claim 11, wherein: The walking device further includes a foot support, which is movably connected to the body, and is used to support the ground together with a portion of the moving wheel assembly when the armrest is in the folded state and the walking device is in the upright state; The foot support includes a support rod, an elastic member, a rotating member and a sliding member, one end of the support rod is rotatably connected to the fuselage through the rotating member; the sliding member is slidably connected to the support rod in a manner that it can slide relative to the support rod along the length direction of the support rod, and the sliding member is elastically connected to the rotating member through the elastic member; the fuselage is provided with a first guide sliding portion, and the first guide sliding portion is used to limit the movement trajectory of the sliding member when the support rod rotates relative to the fuselage.

14. The walking device according to any one of claims 1 to 3 or 5, characterized in that: The moving wheel assembly further comprises at least one driving wheel, the driving wheel comprising a motor and a tire, the motor being mounted in the tire; The tire includes a tire body and a tread pattern, the tire body having a radial outer surface, a first axial end surface, and a second axial end surface, the first axial end surface and the second axial end surface being formed at two axial ends of the tire body, respectively, the radial outer surface extending from an outer edge of the first axial end surface to an outer edge of the second axial end surface, the tread pattern being convexly formed on the radial outer surface, the tread pattern including a plurality of protrusions, the plurality of protrusions being spaced apart and distributed along the circumferential direction of the radial outer surface; Each of the protrusions extends from the first axial end surface to the second axial end surface; In the axial orthographic projection of the tire, the outer edges of the plurality of protrusions are projected to form a full circle.

15. The walking device according to claim 14, characterized in that: The protrusion includes a first linear extension portion and a second linear extension portion, the first linear extension portion extends from the first axial end surface toward the second axial end surface along a first linear trajectory, and the second linear extension portion extends from the second axial end surface along a second linear trajectory to an end portion of the first linear extension portion away from the first axial end surface, and in an axial orthographic projection of the tire, at least a portion of the first linear extension portion of any one of the protrusions obscures at least a portion of the first linear extension portion of an adjacent one of the protrusions; or The protrusion includes a third straight extension portion, a fourth straight extension portion and a transition connection portion, wherein the third straight extension portion extends from the first axial end surface toward the second axial end surface along a third straight trajectory; The fourth straight line extension portion extends from the second axial end face toward the first axial end face along a fourth straight line trajectory; the transition connection portion extends from the end of the third straight line extension portion away from the first axial end face to the end of the fourth straight line extension portion away from the second axial end face; in the axial orthographic projection of the tire, at least a portion of the third straight line extension portion of any one of the protrusions obscures at least a portion of the transition connection portion and / or at least a portion of the fourth straight line extension portion of an adjacent one of the protrusions.

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