A walking device

Abstract

Embodiments of the present specification provide a walking device, comprising: a fixed wheel, a steering wheel, a frame, a guide assembly and a steering assembly. The steering wheel comprises a first steering wheel and a second steering wheel, and the first steering wheel and the second steering wheel are respectively arranged on both sides of the walking device in the direction of travel. The frame is configured to mount the fixed wheel and the steering wheel. The guide assembly is configured to receive a steering operation. The transmission assembly comprises a first transmission assembly and a second transmission assembly, and the guide assembly and the first steering wheel and the second steering wheel are switchably connected through the first transmission assembly to establish a first transmission connection or through the second transmission assembly to establish a second transmission connection.

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of mechanical steering structure, in particular to a walking device with a steering mechanism. BACKGROUND

[0002] The intelligent mobile device (such as a surgical robot) applied in the medical, industrial, engineering machinery, agricultural machinery, garden machinery and other industries generally needs a walking device to meet the movement requirements of the intelligent mobile device, and the walking device will have a steering mechanism to realize the steering movement of the intelligent mobile device during movement. The general steering mechanism can be divided into mechanical linkage steering mechanism and electric control steering mechanism. Generally, the mechanical linkage steering mechanism is safe and reliable to control, but the mechanical structure is relatively complex and the production cost is high. The electric control steering mechanism can be divided into many kinds, such as four steering wheel steering mechanism, differential control steering mechanism, etc. The control algorithm of the electric control steering mechanism is generally complex, and a long time of control algorithm debugging is needed to achieve a satisfactory control effect.

[0003] Therefore, it is necessary to develop a walking device which is safe and reliable in steering, simple in structure and easy to control. SUMMARY

[0004] The embodiment of the present specification provides a walking device, which comprises a fixed wheel, a steering wheel, a vehicle frame, a guide assembly and a transmission assembly. The steering wheel comprises a first steering wheel and a second steering wheel, and the first steering wheel and the second steering wheel are respectively arranged on both sides of the walking device in the direction of movement. The vehicle frame is configured to mount the fixed wheel and the steering wheel. The guide assembly is configured to receive a steering operation. The transmission assembly comprises a first transmission assembly and a second transmission assembly. The transmission assembly is switchably connected to the first steering wheel and the second steering wheel through the first transmission assembly to establish a first transmission connection, or connected to the first steering wheel and the second steering wheel through the second transmission assembly to establish a second transmission connection.

[0005] In some embodiments, the transmission ratio of the first transmission assembly output to the first steering wheel is greater than the transmission ratio of the first transmission assembly output to the second steering wheel; and the transmission ratio of the second transmission assembly output to the first steering wheel is less than the transmission ratio of the second transmission assembly output to the second steering wheel.

[0006] In some embodiments, the ratio between the transmission ratio of the first transmission assembly output to the first steering wheel and the transmission ratio of the first transmission assembly output to the second steering wheel is in the range of 0.8-0.9.

[0007] In some embodiments, a ratio of a wheel span c between the first steering wheel and the second steering wheel to a wheel base d between the fixed wheel and the steering wheel ranges from 0.75 to 0.8.

[0008] In some embodiments, the guiding assembly comprises a sensing assembly configured to detect a direction of a steering operation; when the sensing assembly detects that the steering operation is steering toward the first steering wheel, the transmission assembly establishes a first transmission connection with the steering wheel; when the sensing assembly detects that the steering operation is steering toward the second steering wheel, the transmission assembly establishes a second transmission connection with the steering wheel.

[0009] In some embodiments, the guiding assembly further comprises a steering handle connected with the transmission assembly through the sensing assembly; the first transmission assembly comprises a first driving pulley, a first driven pulley and a second driven pulley, the first driven pulley and the second driven pulley being respectively in transmission connection with the first driving pulley; the second transmission assembly comprises a second driving pulley, a third driven pulley and a fourth driven pulley, the third driven pulley and the fourth driven pulley being respectively in transmission connection with the second driving pulley; the first driving pulley and the second driving pulley are respectively in transmission connection with the steering handle.

[0010] In some embodiments, the transmission assembly further comprises a transmission connecting member, the first driven pulley and the second driven pulley being in the first transmission connection with and / or disconnected from the first driving pulley through the transmission connecting member, the third driven pulley and the fourth driven pulley being in the second transmission connection with and / or disconnected from the second driving pulley through the transmission connecting member.

[0011] In some embodiments, the sensing assembly comprises a contact sensor and a contact connecting block; the contact sensor comprises a first contact sensor and a second contact sensor; the contact connecting block comprises a first contact connecting block and a second contact connecting block, the first contact connecting block and the second contact connecting block being fixedly connected to the steering handle.

[0012] In some embodiments, the first limiting block and the second limiting block are fixedly arranged on the frame; the first driving pulley is provided with a first matching structure matched with the first contact connecting block, and the first transmission connection is established when the first contact connecting block abuts against the first matching structure; the first transmission connection is disconnected when the first driving pulley completes reverse movement and contacts the first limiting block; the second driving pulley is provided with a second matching structure matched with the second contact connecting block, and the second transmission connection is established when the second contact connecting block abuts against the second matching structure; the second transmission connection is disconnected when the second driving pulley completes reverse movement and contacts the second limiting block.

[0013] In some embodiments, the first transmission assembly and the second transmission assembly are arranged on the upper side and the lower side of the frame respectively.

[0014] The walking device disclosed in the specification realizes mechanical steering through a simple mechanical transmission structure, which ensures the safety and reliability of steering, is simple and easy to realize, is not as complex and heavy as a general connecting rod type mechanical steering mechanism, has low cost, has short debugging time, and does not need complex algorithms like electric control steering. BRIEF DESCRIPTION OF DRAWINGS

[0015] The specification will be further illustrated in the form of exemplary embodiments, which will be described in detail with reference to the drawings. These embodiments are not restrictive, and in these embodiments, the same numbers represent the same structures, in which:

[0016] Figure 1 is a perspective structural schematic view of the walking device shown in some embodiments of the specification;

[0017] Figure 2 is a top view (I) of the walking device shown in some embodiments of the specification;

[0018] Figure 3 is a top view (II) of the walking device shown in some embodiments of the specification;

[0019] Figure 4 is a bottom view of the walking device shown in some embodiments of the specification;

[0020] Figure 5 is Figure 2 and Figure 3 is a linear proportional relationship diagram of the steering angle a and the steering angle b in

[0021] Figure 6 is a steering principle structural schematic view of the walking device shown in some embodiments of the specification;

[0022] Figure 7is a top view of the walking device shown in some embodiments of the present specification when turning to the side of the first steering wheel;

[0023] Figure 8 is a bottom view of the walking device shown in some embodiments of the present specification when turning to the side of the second steering wheel;

[0024] Figure 9 is a partial structural schematic view of the connection between the first guide assembly and the first transmission assembly of the walking device shown in some embodiments of the present specification;

[0025] Figure 10 is a partial structural schematic view of the connection between the second guide assembly and the second transmission assembly of the walking device shown in some embodiments of the present specification;

[0026] Figure: 1, fixed wheel;

[0027] 2, steering wheel; 21, first steering wheel; 22, second steering wheel;

[0028] 3, frame; 32, second limiting block;

[0029] 4, guide assembly; 41, sensing assembly; 411, contact sensor; 411-1, first contact sensor; 411-2, second contact sensor; 412, contact connecting block; 412-1, first contact connecting block; 412-2, second contact connecting block; 42, steering handle;

[0030] 5, transmission assembly; 51, first transmission assembly 511, first drive pulley; 512, first driven pulley; 513, second driven pulley; 52, second transmission assembly; 521, second drive pulley; 522, third driven pulley; 523, fourth driven pulley; 53, transmission connecting piece. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present specification, and for those skilled in the art, without paying creative labor, the present specification can also be applied to other similar scenarios according to these drawings. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structure or operation.

[0032] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0033] As used in the specification and claims, the words "including" and "comprising" are to be interpreted broadly to encompass the terms "including", "including but not limited to", and "comprising", as well as other like phrases as used in the specification and claims. As used in the specification and claims, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. As used in the specification and claims, the term "and / or" includes all combinations of one or more of the associated listed items. As used in the specification and claims, the term "or" means "and / or" unless the context clearly indicates otherwise. As used in the specification and claims, the term "about" means ±10% of the value of the term with or without a specific value modifier preceding the term.

[0034] A walking device is provided in the specification, which can be mainly applied in the medical, industrial, engineering machinery, agricultural machinery, garden machinery and other industries. Generally, the walking device is required to meet the movement requirements of intelligent mobile equipment, and the walking device is provided with a steering mechanism to realize the steering movement of the intelligent mobile equipment.

[0035] The specification discloses a walking device, which realizes mechanical steering through a simple mechanical transmission structure, ensures the safety and reliability of steering, has a simple structure and is easy to realize, is not as complex and heavy as a general connecting rod type mechanical steering mechanism, has low cost, short debugging time, and does not require complex algorithms like electric control steering.

[0036] Referring to Figure 1 Some embodiments of the specification provide a walking device, which includes a fixed wheel 1, a steering wheel 2, a vehicle frame 3, a guide assembly 4 and a transmission assembly 5. The vehicle frame 3 can serve as a chassis of the walking device, and the fixed wheel 1 and the steering wheel 2 are installed on the vehicle frame 3 to realize the basic traveling function of the walking device.

[0037] The steering wheel 2 includes a first steering wheel 21 and a second steering wheel 22, and the first steering wheel 21 and the second steering wheel 22 are respectively arranged on the two sides of the traveling direction of the walking device and are respectively steeringly connected to the vehicle frame 3 (it can be understood that the rotating shafts of the first steering wheel 21 and the second steering wheel 22 are rotatably connected to the vehicle frame 3) to realize the steering function of the walking device. It can be understood that the first steering wheel 21 and the second steering wheel 22 need to rotate in the same direction (for example, simultaneously rotate to the left or simultaneously rotate to the right), and the steering angle of the steering wheel located on the inner side of the turning angle is smaller than the steering angle of the steering wheel located on the outer side of the turning angle when the first steering wheel 21 and the second steering wheel 22 are steered, so as to ensure the stable steering of the walking device.

[0038] In some embodiments, as Figure 1As shown, the walking device is a four-wheel structure, two fixed wheels 1 are connected to the frame 3, and the two fixed wheels 1 and the two steering wheels 2 are symmetrically connected to the two sides of the frame 3 respectively, forming a rectangular distribution, so as to ensure the stability of the walking device. In some embodiments, the fixed wheel 1 can be a driven wheel, and the walking device of this embodiment relies on two steering wheels 2 to realize walking and steering. In some embodiments, the fixed wheel 1 can also be driven by a motor to assist, which can act as a power-assisted driving wheel to realize driving assistance when the walking device is walking.

[0039] In some embodiments, the fixed wheel 1 is the front wheel of the walking device, and the two steering wheels 2 are the rear wheels of the walking device. The left steering and right steering mentioned in this specification are based on this embodiment, such as Figure 1 As shown, the first steering wheel 21 and the second steering wheel 22 are simultaneously steered to one side of the first steering wheel 21, which can be understood as a right steering operation. The first steering wheel 21 and the second steering wheel 22 are simultaneously steered to one side of the second steering wheel 22 (not shown), which can be understood as a left steering operation.

[0040] The guide assembly 4 is configured to receive the steering operation, and the guide assembly 4 is connected with the transmission assembly 5. The specific structure and working principle are described below.

[0041] The transmission assembly 5 includes a first transmission assembly 51 and a second transmission assembly 52. The transmission assembly 5 can switchably establish a first transmission connection with the first steering wheel 21 and the second steering wheel 22 through the first transmission assembly 51, or establish a second transmission connection with the first steering wheel 21 and the second steering wheel 22 through the second transmission assembly 52. In the embodiment of the present specification, the first transmission connection refers to the transmission connection between the first transmission assembly 51 and the first steering wheel 21 and the second steering wheel 22, which realizes the left steering operation; the second transmission connection refers to the transmission connection between the second transmission assembly 52 and the first steering wheel 21 and the second steering wheel 22, which realizes the right steering operation. It can be understood that, as Figure 2 、 Figure 3 As shown, when the first steering wheel 21 and the second steering wheel 22 are steered under the control of the guide assembly 4, the axes of the first steering wheel 21 and the second steering wheel 22 intersect at a point with the fixed wheel 1 at any steering angle, so as to ensure the horizontal stability of the walking device during steering, and prevent the walking device from falling during steering.

[0042] In some embodiments, the first transmission assembly 51 and the second transmission assembly 52 are respectively arranged on the upper and lower sides of the frame 3. As shown, Figure 1 The first transmission assembly 51 is arranged on the upper side of the frame 3 and is used to drive the walking device to steer left, and the second transmission assembly 52 is arranged on the lower side of the frame 3 and is used to drive the walking device to steer right.

[0043] AsFigure 2 As shown in FIG. 2, the walking device turns right, the steering angle of the second steering wheel 22 is a1, the steering angle of the first steering wheel 21 is b1, and a1>b1; as shown in FIG. 3, the walking device turns left, the steering angle of the second steering wheel 22 is a2, the steering angle of the first steering wheel 21 is b2, and a2>b2. Figure 3 As shown in FIG. 2, the walking device turns right, the steering angle of the second steering wheel 22 is a1, the steering angle of the first steering wheel 21 is b1, and a1>b1; as shown in FIG. 3, the walking device turns left, the steering angle of the second steering wheel 22 is a2, the steering angle of the first steering wheel 21 is b2, and a2>b2. In some embodiments, the walking device turns left (not shown), the steering angle of the second steering wheel 22 is c1, the steering angle of the first steering wheel 21 is d1, and c1<d1. In order to satisfy the condition that the first steering wheel 21 and the second steering wheel 22 of the walking device intersect with the axis of the fixed wheel 1 at a point at any steering angle. In some embodiments, when the walking device turns left, the transmission ratio of the first transmission assembly 51 output to the first steering wheel 21 is greater than the transmission ratio of the first transmission assembly 51 output to the second steering wheel 22, that is, the walking device turns to the side of the second steering wheel 22; when the walking device turns right, the transmission ratio of the second transmission assembly 52 output to the first steering wheel 21 is less than the transmission ratio of the second transmission assembly 52 output to the second steering wheel 22, that is, the walking device turns to the side of the first steering wheel 21.

[0044] In some embodiments, the ratio between the transmission ratio of the first transmission assembly 51 output to the first steering wheel 21 and the transmission ratio of the first transmission assembly 51 output to the second steering wheel 22 is in the range of 0.8-0.9.

[0045] In some embodiments, referring to FIG. 4, the ratio between the wheel span c between the first steering wheel 21 and the second steering wheel 22 and the wheel axis distance d between the fixed wheel 1 and the steering wheel 2 is in the range of 0.75-0.8. In this embodiment, the frame 3 is rectangular in shape, and the width is less than the length, which is conducive to the steering operation of the walking device. Figure 4

[0046] Figure 5 is a linear proportional relationship simulation diagram of the steering angle a and the steering angle b when the walking device turns right. In some embodiments, when the ratio of the wheel axis distance d between the fixed wheel 1 and the steering wheel 2 and the wheel span c between the first steering wheel 21 and the second steering wheel 22 is a certain proportion (for example, c / d=0.75-0.8), the steering angle a and the steering angle b are in a substantially linear proportional relationship (for example, b≈0.9a).

[0047] In some embodiments, the guide assembly 4 includes a sensing assembly 41 configured to detect the direction of the steering operation; when the sensing assembly 41 detects that the steering operation is steering to the first steering wheel 21 (i.e., steering to the right), the transmission assembly 5 establishes a first transmission connection with the steering wheel 2; when the sensing assembly 41 detects that the steering operation is steering to the second steering wheel 22 (i.e., steering to the left), the transmission assembly 5 establishes a second transmission connection with the steering wheel 2. ​

[0048] In some embodiments, the guiding assembly 5 further comprises a steering handle 42, which can be a handle facilitating the user to steer the control, as shown in Figure 1 、 Figure 6 The lower end of the steering handle 42 is fixedly connected with a vertical rod, and the height of the vertical rod is designed to facilitate the user to stand and push the walking device. In some embodiments, the vertical rod can also be designed to be adjustable in height, facilitating the control of users of different heights. The lower end of the vertical rod is connected with the transmission assembly 5. Specifically, the lower end of the vertical rod is connected with the transmission assembly 5 through the sensing assembly 41. Since the transmission assembly 5 comprises a first transmission assembly 51 and a second transmission assembly 52, correspondingly, the sensing assembly 41 comprises a first sensing assembly 41-1 and a second sensing assembly 41-2, the first sensing assembly 41-1 is configured to detect the steering of the walking device to the first steering wheel 21 to establish a first transmission connection, and the second sensing assembly 41-2 is configured to detect the steering of the walking device to the second steering wheel 22 to establish a second transmission connection.

[0049] In some embodiments, as shown in Figure 6 The first transmission assembly 51 comprises a first driving pulley 511, a first driven pulley 512 and a second driven pulley 513, and the first driven pulley 512 and the second driven pulley 513 are respectively in transmission connection with the first driving pulley 511; the second transmission assembly 52 comprises a second driving pulley 521, a third driven pulley 522 and a fourth driven pulley 523, and the third driven pulley 522 and the fourth driven pulley 523 are respectively in transmission connection with the second driving pulley 521.

[0050] In some embodiments, the first driving pulley 511 and the second driving pulley 521 are respectively in transmission connection with the steering handle 42. In some embodiments, the steering handle 42 establishes transmission connection with the first driving pulley 511 and the second driving pulley 521 through the first sensing assembly 41-1 and the second sensing assembly 41-2 respectively.

[0051] In some embodiments, between the first driving pulley 511 and the first driven pulley 512 and the second driven pulley 513, and between the second driving pulley 521 and the third driven pulley 522 and the fourth driven pulley 523, a flexible transmission structure can be used to achieve transmission connection, for example, a belt transmission or a wire transmission can be used, when the first driving pulley 511 rotates around its own axis, it can drive the first driven pulley 512 and the second driven pulley 513 to rotate around their own axes.

[0052] In some embodiments, the transmission assembly 5 further includes a transmission connector 53. Specifically, each driven pulley is provided with a transmission connector 53. The first driven pulley 512 and the second driven pulley 513 establish a first transmission connection and / or disconnect the first transmission connection with the first driving pulley 511 through their respective corresponding transmission connectors 53. The third driven pulley 522 and the fourth driven pulley 523 establish a second transmission connection and / or disconnect the second transmission connection with the second driving pulley 521 through their respective corresponding transmission connectors 53.

[0053] In some embodiments, the transmission connection 53 may be an electromagnetic clutch, which establishes and disconnects the transmission connection by switching the electromagnetic clutch on and off. For example, an electromagnetic clutch is provided between the first driven pulley 512 and the first steering wheel 21, an electromagnetic clutch is provided between the third driven pulley 522 and the first steering wheel 21, an electromagnetic clutch is provided between the second driven pulley 513 and the second steering wheel 22, and an electromagnetic clutch is provided between the fourth driven pulley 523 and the second steering wheel 22. In some embodiments, the transmission connection 53 may also be other types of clutches, which are not limited in this specification.

[0054] like Figure 8 As shown, when the first sensor assembly 41-1 detects that the walking device is turning toward the first steering wheel 21, the first driven pulley 512 and the second driven pulley 513 establish a first transmission connection with the first steering wheel 21 and the second steering wheel 22 respectively under the magnetic attraction of their corresponding electromagnetic clutches. In this specification, the term "corresponding" means that one driven pulley corresponds to one electromagnetic clutch, forming a one-to-one correspondence structure, so that the connection and disconnection between the corresponding driven pulley and the steering wheel 2 are achieved by turning the electromagnetic clutch on and off. Since the wheel diameter ratio of the first driven pulley 512 to the second driven pulley 513 is 0.8 to 0.9, the requirement that the axes of the two steering wheels 2 and the fixed wheel 1 converge at one point during the right turn can be met.

[0055] like Figure 7 As shown, when the second sensor assembly 41-2 detects that the walking device is turning toward the second steering wheel 22, the third driven pulley 522 and the fourth driven pulley 523, under the magnetic attraction of their respective electromagnetic clutches, establish a second transmission connection with the first steering wheel 21 and the second steering wheel 22, respectively. Because the wheel diameter ratio of the fourth driven pulley 523 to the third driven pulley 522 is 0.8 to 0.9, the requirement that the axes of the two steering wheels 2 and the fixed wheel 1 converge at a point during left steering is met.

[0056] In some embodiments, the transmission connection member 53 may also be other mechanical structures such as a ratchet, as long as it can achieve the establishment and disconnection of the first transmission connection and the second transmission connection, which is not limited here.

[0057] In some embodiments, as shown in FIG. 4A, the sensing assembly 41 can include a contact sensor 411 and a contact connecting block 412. The contact connecting block 412 includes a first contact connecting block 412-1 and a second contact connecting block 412-2, both of which are fixedly connected to the steering armrest 42, specifically, to the vertical rod of the steering armrest 42, and the heights of the two correspond to the first driving pulley 511 and the second driving pulley 521, respectively. Figure 9 Figure 10 The contact connecting block 412 includes a first contact connecting block 412-1 and a second contact connecting block 412-2, both of which are fixedly connected to the steering armrest 42, specifically, to the vertical rod of the steering armrest 42, and the heights of the two correspond to the first driving pulley 511 and the second driving pulley 521, respectively.

[0058] The contact sensor includes a first contact sensor 411-1 and a second contact sensor 411-2. The first contact sensor 411-1 can be fixedly connected to the first contact connecting block 412-1 or the first driving pulley 511. The first contact sensor 411-1 is used to detect whether the first contact connecting block 412-1 is in contact with the first driving pulley 511, and the first driving pulley 511 is provided with a first matching structure matched with the first contact connecting block 412-1. When the first contact sensor 411-1 detects that the first contact connecting block 412-1 abuts against the first matching structure, the corresponding electromagnetic clutch on the first driven pulley 512 and the second driven pulley 513 is triggered to generate magnetic attraction to establish the first transmission connection. The second contact sensor 411-2 can be fixedly connected to the second contact connecting block 412-2 or the second driving pulley 521. The second contact sensor 411-2 is used to detect whether the second contact connecting block 412-2 is in contact with the second driving pulley 521, and the second driving pulley 521 is provided with a second matching structure matched with the second contact connecting block 412-2. When the second contact sensor 411-2 detects that the second contact connecting block 412-2 abuts against the second matching structure, the corresponding electromagnetic clutch on the third driven pulley 522 and the fourth driven pulley 523 is triggered to generate magnetic attraction to establish the second transmission connection.

[0059] In some embodiments, the first contact connecting block 412-1 and the second contact connecting block 412-2 can be magnets, and the corresponding first driving pulley 511 and the second driving pulley 521 can be provided with electromagnets. When the first contact connecting block 412-1 and the second contact connecting block 412-2 on the vertical rod of the steering armrest 42 are in contact with the first matching structure on the corresponding first driving pulley 511 and the matching structure on the second driving pulley 521, they will be attracted under the action of magnetic force. The continuous rotation of the steering armrest 42 drives the first driving pulley 511 or the second driving pulley 521 to rotate to realize the steering operation of the walking device. In some embodiments, the first contact connecting block 412-1 and the first matching structure can also be in abutment in the form of buckles, spherical buckles, etc. ​

[0060] In some embodiments, as shown in Figure 10 Specifically, the first limiting block and the second limiting block 32 can be fixedly connected to the upper and lower sides of the frame 3. When the first driving pulley 511 completes the left turning operation and resets in reverse motion, the first limiting block can block the corresponding first driving pulley 511 and disconnect the contact and / or connection between the first contact connecting block 412-1 and the first driving pulley 511, and implement the switching preparation. When the second driving pulley 521 completes the right turning operation and resets in reverse motion, the second limiting block 32 can block the corresponding second driving pulley 521 and disconnect the contact and / or connection between the second contact connecting block 412-2 and the second driving pulley 521, and implement the switching preparation.

[0061] When the first contact connecting block 412-1 contacts the first contact sensor 411-1, the first driven pulley 512 and the second driven pulley 513 establish a first transmission connection with the first steering wheel 21 and the second steering wheel 22 through the corresponding transmission connecting piece 53 (for example, a magnetic attraction clutch). When the left turning operation of the first driving pulley 511 is completed and contacts the first limiting block in reverse motion, the first transmission connection is disconnected (i.e., the corresponding magnetic attraction clutch is disconnected), to prepare for the next turning operation.

[0062] When the second contact connecting block 412-2 contacts the second contact sensor 411-2, the third driven pulley 522 and the fourth driven pulley 523 establish a second transmission connection with the first steering wheel 21 and the second steering wheel 22 through the corresponding transmission connecting piece 53 (for example, a magnetic attraction clutch). When the right turning operation of the second driving pulley 521 is completed and contacts the second limiting block 32 in reverse motion, the second transmission connection is disconnected (i.e., the corresponding magnetic attraction clutch is disconnected), to prepare for the next turning operation.

[0063] The beneficial effects that the embodiments of the present specification can bring include but are not limited to: (1) the walking device switches the left turning operation and the right turning operation by switching two sets of transmission assemblies, which is simple in structure and easy to implement; (2) the mechanical steering is realized through a simple flexible transmission structure, which ensures the safety and reliability of the steering, unlike the general connecting rod type mechanical steering mechanism which is complex and heavy; (3) the production of the walking device is low in cost and short in debugging time, unlike the electric control steering which needs complex algorithms.

[0064] It should be noted that different embodiments can produce different beneficial effects, and in different embodiments, the beneficial effects that can be produced can be any one or a combination of the above, or any other beneficial effects that can be obtained.

[0065] Having now described the basic concept of the application, and having demonstrated by the detailed description herein its illustrative embodiments, it is to be understood that other and further modifications apart from those already described are possible without departing from the scope of the application. Such modifications are not to be regarded as a departure from the spirit and scope of the application, and all such modifications as are within the spirit and scope of the application are to be imputed to the application. Accordingly, the scope of the application is to be construed in breadth and scope in light of the recitations before it.

[0066] Moreover, the use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another. Furthermore, the use of the terms a, an, etc. do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item. Finally, the use of the term or is meant to encompass both a and b and vice versa, rather than a sole or exclusive or. Thus, the scope of the present application should be determined by the above description and the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0067] Similarly, it is to be noticed that the term coupled, when used in the present specification, is not intended to to convey an indirect or secondary connection between two elements. Rather, the term coupled is meant to connote a direct connection between two elements, although the two elements can be connected through one or more intermediary elements.

[0068] Each patent, patent application, publication, document, article, book, specification, and other material cited in this specification is hereby incorporated by reference in its entirety for all purposes to the same extent as if each individual publication, document, article, book, specification or other material were specifically and individually indicated to be incorporated by reference in its entirety for its cited purposes. Except as otherwise indicated herein, all patents, patent applications, publications, documents, articles, books, specifications, and other materials cited in this specification are incorporated herein by reference in their entireties for all purposes. To the extent that any meaning or definition of a term in this specification conflicts with any meaning or definition of the same term in a document incorporated by reference, the meaning or definition assigned to that term in this specification shall control. In addition, the bibliographic data

[0069] Finally, the embodiments described herein are intended to be merely illustrative of the principles of this application. Numerous modifications may be made by one skilled in the art without departing from the spirit and scope of the application. Accordingly, the embodiments described herein are not to be considered as limiting the scope of the application.

Claims

1. A walking device, characterized in that: include: fixed wheels; Steering wheels, the steering wheels include a first steering wheel and a second steering wheel, the first steering wheel and the second steering wheel are respectively arranged on both sides of the traveling direction of the walking device; The frame is configured to mount fixed wheels and steering wheels; a first limit block and a second limit block are fixedly provided on the frame; A guide assembly configured to receive a steering operation; the guide assembly includes a sensing assembly and a steering armrest, the sensing assembly configured to detect the direction of the steering operation; the sensing assembly includes a contact sensor and a contact connection block; the contact sensor includes a first contact sensor and a second contact sensor; the contact connection block includes a first contact connection block and a second contact connection block, the first contact connection block and the second contact connection block being fixedly connected to the steering armrest; A transmission assembly, the transmission assembly includes a first transmission assembly and a second transmission assembly; The transmission assembly can switchably establish a first transmission connection with the first steering wheel and the second steering wheel through the first transmission assembly, or establish a second transmission connection with the first steering wheel and the second steering wheel through the second transmission assembly; When the sensing component detects that the steering operation is to turn toward the first steering wheel, the transmission component establishes a first transmission connection with the steering wheel; when the sensing component detects that the steering operation is to turn toward the second steering wheel, the transmission component establishes a second transmission connection with the steering wheel; The steering armrest is connected to the transmission assembly through a sensor assembly; the first transmission assembly includes a first driving pulley, a first driven pulley, and a second driven pulley, and the first driven pulley and the second driven pulley are respectively connected to the first driving pulley; the second transmission assembly includes a second driving pulley, a third driven pulley, and a fourth driven pulley, and the third driven pulley and the fourth driven pulley are respectively connected to the second driving pulley; the first driving pulley and the second driving pulley are respectively connected to the steering armrest; The first driving pulley is provided with a first matching structure that matches with the first contact connection block, and a first transmission connection is established when the first contact connection block abuts against the first matching structure; when the steering operation of the first driving pulley completes the reverse movement and contacts the first limit block, the first transmission connection is disconnected; the second driving pulley is provided with a second matching structure that matches with the second contact connection block, and a second transmission connection is established when the second contact connection block abuts against the second matching structure; when the steering operation of the second driving pulley completes the reverse movement and contacts the second limit block, the second transmission connection is disconnected.

2. The walking device according to claim 1, characterized in that The transmission ratio output by the first transmission assembly to the first steering wheel is greater than the transmission ratio output by the first transmission assembly to the second steering wheel; the transmission ratio output by the second transmission assembly to the first steering wheel is less than the transmission ratio output by the second transmission assembly to the second steering wheel.

3. The walking device according to claim 1, characterized in that The transmission assembly also includes a transmission connecting member, through which the first driven pulley and the second driven pulley establish a first transmission connection and / or disconnect the first transmission connection with the first driving pulley, and the third driven pulley and the fourth driven pulley establish a second transmission connection and / or disconnect the second transmission connection with the second driving pulley through the transmission connecting member.

4. The walking device according to claim 1, characterized in that The first transmission assembly and the second transmission assembly are respectively arranged on the upper and lower sides of the frame.

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