Damping steering wheel device and walking device

Abstract

The embodiment of the invention provides a damping steering wheel device and a walking device.The damping steering wheel device comprises a fixing component (1) and a damping component (2), a damping member (2); the first end of the movable part (3) is connected with the fixed part (1) through a first hinge shaft (A), and the second end of the movable part (3) is connected with the fixed part (1) through the damping part (2); the steering wheel (4) is rotatably installed on the side, away from the fixed part (1), of the movable part (3), and the axis of the steering wheel (4) is arranged in the first direction (x); the first hinge shaft (A) is arranged in the first direction (x), the first hinge shaft (A) and the damping component (2) are located on the two sides of the axis of the steering wheel (4) in the second direction (y), and the second direction (y) is perpendicular to the first direction (x).

Description

Technical Field

[0001] The present invention relates to a shock-absorbing steering wheel device and a traveling device. Background Art

[0002] In AGV (Automated Guided Vehicle) and other walking devices, steering wheels are usually set to achieve walking and steering. The shock-absorbing device installed at the bottom of the AGV is currently ineffective. In outdoor working environments, if an uneven road surface is encountered, the steering wheel will be suspended in the air, causing the AGV to lose power or be lifted up, and the adaptability to the road surface is poor. In particular, for safety inspection equipment with steering wheels, its image radiation imaging requires that the safety inspection equipment has a higher adaptability to the road surface, which puts higher requirements on the shock-absorbing ability of the steering wheel of the safety inspection equipment when walking. Summary of the invention

[0003] The present disclosure provides a shock-absorbing steering wheel device and a traveling device, which can improve the adaptability of the traveling device to uneven roads during traveling.

[0004] A first aspect of the present disclosure provides a shock absorbing steering wheel device, comprising:

[0005] Fixed parts;

[0006] Shock absorbing components;

[0007] A movable component, a first end of the movable component is connected to the fixed component via a first hinge shaft, and a second end of the movable component is connected to the fixed component via a shock absorbing component; and

[0008] A steering wheel is rotatably mounted on a side of the movable component away from the fixed component, and the axis of the steering wheel is arranged along a first direction;

[0009] The first hinge shaft is arranged along a first direction, and the first hinge shaft and the shock absorbing component are located on both sides of the steering wheel axis along a second direction, and the second direction is perpendicular to the first direction.

[0010] In some embodiments, the movable component includes a first portion, and the shock absorbing steering wheel device further includes:

[0011] A slewing bearing is installed on a side of the first part away from the fixed component along a third direction, and a rotation axis of the slewing bearing is arranged along the third direction, and the third direction is perpendicular to the first direction and the second direction;

[0012] The steering wheel is connected to a side of the slewing support away from the first part along the third direction.

[0013] In some embodiments, the movable component includes a first portion and a second portion, the first end of the second portion is connected to the first end of the first portion along the second direction and extends downward, the first portion and the second portion form an angle, and the steering wheel is mounted on the first portion;

[0014] The fixing component includes a third part and a fourth part, the first end of the fourth part is connected to the first end of the third part along the second direction and extends downward, the third part and the fourth part form an angle, the third part and the first part are spaced apart along the third direction, the second end of the fourth part is connected to the second end of the second part through a first hinge axis, and the third direction is perpendicular to the first direction and the second direction.

[0015] In some embodiments, the second portion and the fourth portion gradually decrease in distance from their respective first ends to their respective second ends.

[0016] In some embodiments, a first groove is disposed on the fourth portion, and the opening of the first groove faces downward to form two first arms on both sides of the first groove, and the two first arms are respectively located on both sides of the second portion along the first direction.

[0017] In some embodiments, the first articulated shaft and the shock absorbing component are both located outside the steering wheel along the second direction.

[0018] In some embodiments, the shock absorbing steering wheel device includes a plurality of shock absorbing components, and the plurality of shock absorbing components are spaced apart along the first direction.

[0019] In some embodiments, the shock absorbing component is configured to passively deform under the action of the movable component when the steering wheel moves along the uneven terrain.

[0020] In some embodiments, the movable component includes a first portion and a fifth portion, wherein a first end of the fifth portion is connected to a second end of the first portion along a second direction and extends downward;

[0021] The shock absorbing component comprises a spring shock absorber, a first end of the spring shock absorber is connected to the fixing component through a second hinge shaft, and a second end of the spring shock absorber is connected to the second end of the fifth part through a third hinge shaft.

[0022] In some embodiments, the second end of the fifth portion extends to a horizontal plane close to the axis of the steering wheel.

[0023] In some embodiments, the movable component further includes a transition portion connected between the first portion and the fifth portion.

[0024] In some embodiments, a second groove is provided on the fifth portion, the second groove opens downward, the third hinge shaft passes through the second groove along the first direction, and the spring shock absorber is located in the second groove.

[0025] In some embodiments, the movable component includes a first portion, the steering wheel is mounted on the first portion, and the fixed component includes a third portion, the third portion is spaced apart from the first portion along a third direction, and the third direction is perpendicular to the first direction and the second direction;

[0026] The shock absorbing component comprises a rubber shock absorber which is installed between the first part and the third part.

[0027] A second aspect of the present disclosure provides a walking device, comprising:

[0028] Frame; and

[0029] In the shock absorbing steering wheel device of the above embodiment, the fixing component is mounted on the vehicle frame or is used to form the vehicle frame.

[0030] In some embodiments, the traveling device includes four shock-absorbing steering wheel devices, and the four shock-absorbing steering wheel devices are respectively located at four corner areas of the frame.

[0031] In some embodiments, the shock absorbing component is located at an area of ​​the frame close to the outside relative to the steering wheel.

[0032] In some embodiments, the walking device includes a safety inspection device.

[0033] The shock-absorbing steering wheel device of the disclosed embodiment has a shock-absorbing component that absorbs the vibration generated during the movement and keeps the steering wheel in close contact with the road surface at all times. Due to the floatability of the steering wheel and the deformability of the shock-absorbing component, the steering wheel can be prevented from lifting the entire traveling device, and the reaction force of the shock-absorbing component keeps the steering wheel in close contact with the road surface. The ground also provides support force for the steering wheel at all times to ensure sufficient adhesion to the road surface, thereby ensuring that the traveling device does not lose power due to the uneven road surface, and can improve the adaptability of the traveling device to outdoor roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 It is a front view of some embodiments of the shock-absorbing steering wheel device disclosed in the present invention.

[0036] Figure 2 It is a stereoscopic view of some embodiments of the shock-absorbing steering wheel device disclosed in the present invention.

[0037] Figure 3 Schematic diagram of the force status of some embodiments of the shock-absorbing steering wheel device disclosed in the present invention.

[0038] Figure 4 The diagram is a state change diagram of some embodiments of the shock-absorbing steering wheel device disclosed herein when driving on an uneven road surface.

[0039] Figure 5 The figures are front views of some other embodiments of the shock absorbing steering wheel device disclosed in the present invention.

[0040] Figure 6 3D images of some other embodiments of the shock absorbing steering wheel device disclosed herein.

[0041] Description of reference numerals:

[0042] 1. Fixed component; 11. Third part; 12. Fourth part; 13. Adapter;

[0043] 2. Shock absorbing components; 21. Spring shock absorber; 22. Rubber shock absorber;

[0044] 3. movable part; 31. first part; 311. through hole; 32. second part; 321. third groove; 322. third arm; 33. fifth part; 331. second groove; 332. second arm; 34. transition part;

[0045] 4. Steering wheel;

[0046] 5. Travel drive components;

[0047] 6. Articulated seat;

[0048] 7. Slewing bearing;

[0049] 8. Gears;

[0050] 9. Fasteners;

[0051] 10. Steering drive components;

[0052] A, first hinge axis; B, second hinge axis; C, third hinge axis;

[0053] x, first direction; y, second direction; z, third direction. DETAILED DESCRIPTION

[0054] The following detailed description and drawings of the embodiments of the present disclosure are used to illustrate the principles of the present disclosure, but cannot be used to limit the scope of the present disclosure, that is, the present disclosure is not limited to the described embodiments.

[0055] In the description of the embodiments of the present disclosure, the term "plurality" refers to more than two (including two), and similarly, "multiple groups" refers to more than two groups (including two).

[0056] The present disclosure adopts descriptions of directions or positional relationships indicated by “upper”, “lower”, “top”, “bottom”, “front”, “back”, “inside” and “outside”, etc., which are only for the convenience of describing the present disclosure, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the scope of protection of the present disclosure.

[0057] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but is within the tolerance range. "Parallel" is not strictly parallel, but is within the tolerance range. The directional words appearing in the following description are all directions shown in the figures, and are not intended to limit the specific structure of the present disclosure.

[0058] In the description of the present disclosure, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0059] Reference to "embodiments" herein means that the particular features, structures, or characteristics described in conjunction with the embodiments may be included in at least some embodiments of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0060] like Figures 1 to 6 As shown, in some embodiments, the shock absorbing steering wheel device of the present disclosure includes:

[0061] Fixed component 1;

[0062] Shock absorbing component 2;

[0063] A movable component 3, a first end of the movable component 3 is connected to the fixed component 1 through a first hinge axis A, and a second end of the movable component 3 is connected to the fixed component 1 through a shock absorbing component 2; and

[0064] A steering wheel 4 is rotatably mounted on a side of the movable component 3 away from the fixed component 1, and the axis of the steering wheel 4 is arranged along the first direction x;

[0065] The first hinge axis A is arranged along the first direction x, and the first hinge axis A and the shock absorbing component 2 are located on both sides of the axis of the steering wheel 4 along the second direction y, and the second direction y is perpendicular to the first direction x.

[0066] Specifically, when the shock-absorbing steering wheel device is used in a traveling device such as a vehicle, the fixing component 1 may be a frame of the vehicle, or the fixing component 1 may be an additional mounting component connected to the frame.

[0067] The shock absorbing component 2 can be different types of shock absorbers, such as spring shock absorbers, rubber shock absorbers or oil-gas spring shock absorbers, etc. On the basis of these shock absorbers, a damping system can be further set to better absorb vibrations, reduce the shaking and jitter of the walking device, and thus effectively improve the driving stability.

[0068] The steering wheel 4 plays a role in walking and steering during the movement of the walking device. The steering wheel 4 is arranged below the movable component 3 and is rotatable in the horizontal plane relative to the movable component 3. In the third direction z, at least part of the movable component 3 is located between the fixed component 1 and the steering wheel 4. The third direction z is perpendicular to the first direction x and the second direction y. For example, the axis of the steering wheel 4 is arranged along the first direction x in the straight-moving state (i.e., the non-steering state).

[0069] The first end of the movable component 3 is connected to the fixed component 1 through the first hinge axis A, and the second end of the movable component 3 is connected to the fixed component 1 through the shock-absorbing component 2. When the traveling device travels on an uneven road surface, the movable component 3 will swing around the first hinge axis A under the action of the steering wheel 4. At this time, under the action of the shock-absorbing component 2, the position change of the second hinge axis B in the third direction z can be reduced, thereby reducing the fluctuation of the fixed component 1 and making the movement of the traveling device more stable. In addition, there is a gap between the movable component 3 and the fixed component 1, which can prevent the movable component 3 from colliding with the fixed component 1 when swinging around the first hinge axis A, thereby improving the safety of the shock-absorbing steering wheel device.

[0070] The extension directions of the first articulated axis A and the axis of the steering wheel 4 are consistent. For the first articulated axis A and the shock-absorbing component 2 located on both sides of the axis of the steering wheel 4 along the second direction y, the first articulated axis A and the shock-absorbing component 2 may be located on the inner side of the outer edge of the steering wheel 4 in the second direction y; or one of the first articulated axis A and the shock-absorbing component 2 may be located on the inner side of the outer edge of the steering wheel 4, and the other may be located on the outer side of the outer edge of the steering wheel 4; or the first articulated axis A and the shock-absorbing component 2 may be located on the outer side of the outer edge of the steering wheel 4 in the second direction y.

[0071] In the shock-absorbing steering wheel device of this embodiment, the steering wheel 4 is connected to the fixed component 1 through the movable component 3 and the shock-absorbing component 2 in sequence. Due to the deformable effect of the shock-absorbing component 2, the movable component 3 is allowed to swing around the first hinge axis A to adapt to the ups and downs of the steering wheel 4 when it moves on the uneven road surface. When the road surface is convex, the road surface forces the steering wheel 4 to move upward, so that the movable component 3 swings around the first hinge axis A and the second end is lifted, and the compression deformation of the shock-absorbing component 2 increases; when the road surface is concave, the steering wheel 4 moves downward with the road surface, so that the movable component 3 swings around the first hinge axis A and the second end moves downward, and the compression deformation of the shock-absorbing component 2 decreases, but the steering wheel 4 is still close to the road surface under the action of the shock-absorbing component 2. Therefore, when the traveling device travels on the uneven road surface, the movable component 3 will swing around the first hinge axis A under the action of the steering wheel 4. At this time, under the action of the shock-absorbing component 2, the position change of the second hinge axis B in the third direction z can be reduced, thereby reducing the ups and downs of the fixed component 1, making the movement of the traveling device more stable.

[0072] Therefore, when the traveling device moves on an uneven road surface, the shock-absorbing component 2 will absorb the vibration generated during the movement and keep the steering wheel 4 in close contact with the road surface at all times. Due to the floatability of the steering wheel 4 and the deformability of the shock-absorbing component 2, the steering wheel 4 can be prevented from lifting the traveling device as a whole, and the reaction force of the shock-absorbing component 2 keeps the steering wheel 4 in close contact with the road surface. The ground also provides support force to the steering wheel 4 at all times to ensure sufficient adhesion to the road surface, ensuring that the traveling device will not lose power due to uneven road surface, and being able to improve the adaptability of the traveling device to outdoor roads.

[0073] Moreover, since the first hinge axis A and the shock-absorbing component 2 are located on both sides of the axis of the steering wheel 4 along the second direction y, the shock-absorbing component 2 is farther away from the first hinge axis A relative to the steering wheel 4, thereby increasing the force arm between the shock-absorbing component 2 and the first hinge axis A. When a certain shock-absorbing torque is required, the load borne by the shock-absorbing component 2 is smaller, thereby increasing the service life of the shock-absorbing component 2 and reducing the requirements for the shock-absorbing ability of the shock-absorbing component 2. The use of a shock-absorbing component 2 with smaller stiffness can meet the requirements for road adhesion.

[0074] In some embodiments, Figure 1 As shown, the movable component 3 includes a first portion 31, and the shock absorbing steering wheel device also includes:

[0075] The slewing bearing 7 is installed on a side of the first portion 31 away from the fixing component 1 along the third direction z, and the rotation axis of the slewing bearing 7 is arranged along the third direction z, and the third direction z is perpendicular to the first direction x and the second direction y;

[0076] The steering wheel 4 is connected to a side of the slewing bearing 7 away from the first portion 31 along the third direction z.

[0077] Specifically, the third direction z is a vertical direction, a slewing bearing 7 and a gear 8 are arranged below the first part 31, and the rotation axis is arranged along the third direction z, the gear 8 is meshed with the slewing bearing 7, and the gear 8 is driven to rotate through the steering drive component 10, so that the slewing bearing 7 drives the steering wheel 4 to achieve steering, and the steering wheel 4 is driven to move through the travel drive component 5, for example, the travel drive component 5 and the steering drive component 10 can be an electric motor or the like.

[0078] This embodiment allows the slewing bearing 7 to rotate relative to the movable component 3. During the steering process of the steering wheel 4, the movable component 3 and the shock-absorbing component 2 will not rotate accordingly, which can prevent the shock-absorbing component 2 from slightly twisting itself as the steering wheel 4 rotates, avoid the shock-absorbing component 2 from bearing unnecessary loads, and thus increase the service life of the shock-absorbing component 2.

[0079] In some embodiments, Figure 1 and Figure 2 As shown, the movable component 3 includes a first portion 31 and a second portion 32, a first end of the second portion 32 is connected to a first end of the first portion 31 along a second direction y and extends downward, the first portion 31 and the second portion 32 form an angle, and the steering wheel 4 is mounted on the first portion 31;

[0080] The fixing component 1 includes a third part 11 and a fourth part 12, the first end of the fourth part 12 is connected to the first end of the third part 11 along the second direction y and extends downward, the third part 11 and the fourth part 12 form an angle, the third part 11 and the first part 31 are spaced apart along the third direction z, the second end of the fourth part 12 is connected to the second end of the second part 32 through the first hinge axis A, and the third direction z is perpendicular to the first direction x and the second direction y.

[0081] For example, the second end of the fourth part 12 is hinged to the second end of the second part 32 through the adapter part 13. Specifically, the adapter part 13 is arranged parallel to the third part 11, one end of the adapter part 13 is connected to the second end, i.e., the bottom end, of the fourth part 12, and the other end of the adapter part 13 extends inward along the second direction y and is provided with a first hinge axis A. This makes it easier to realize the hinge between the fixed part 1 and the movable part 3, and there is enough space between the second part 32 and the fourth part 12 when the movable part 3 swings, so as to prevent interference between the second part 32 and the fourth part 12.

[0082] For example, the third part 11 and the first part 31 may be flat plate structures. The third part 11 and the fourth part 12 may be at a right angle or other angles, and the first part 31 and the second part 32 may be at a right angle or an obtuse angle to facilitate hinge connection. A through hole 311 may be provided on the first part 31 to allow a wire to pass through.

[0083] In this embodiment, the fourth portion 12 in the fixed component 1 is extended downward relative to the third portion 11, thereby lowering the height position of the first hinge axis A. In a plane perpendicular to the first direction x, the movable component 3 can be located in the peripheral area of ​​the steering wheel 4, so that the structure of the shock-absorbing steering wheel device is more compact, and the overall height can be reduced, thereby lowering the center of gravity height of the shock-absorbing steering wheel device, and the swing of the movable component 3 is more stable, thereby optimizing the shock absorption effect.

[0084] In some embodiments, the second end of the fourth portion 12 is directly hinged to the second end of the second portion 32 without providing the adapter 13. In this case, the second end of the fourth portion 12 is provided with a first hinge axis A.

[0085] In some embodiments, Figure 1 and Figure 2 As shown, the distances of the second portion 32 and the fourth portion 12 gradually decrease from their respective first ends to their second ends.

[0086] Specifically, the fourth portion 12 extends downward along the third direction z, the second portion 32 extends obliquely downward, and the included angle between the second portion 32 and the first portion 31 is an obtuse angle.

[0087] The arrangement of this embodiment can prevent the second part 32 from colliding with the fourth part 12 easily when the second end of the movable part 3 swings upward, and can leave more installation space for the components used to drive the steering wheel 4. In addition, it can also optimize the force distribution of the movable part 3 and reduce the stress concentration between the second part 32 and the first part 31 during the swinging process.

[0088] In some embodiments, the fourth portion 12 extends downward along the third direction z, the second portion 32 also extends downward along the third direction z, and the angle between the extension direction of the second portion 32 and the second direction y is a right angle.

[0089] In some embodiments, the fourth portion 12 is provided with a first groove, the first groove being Figure 1 Due to being blocked and not shown in the figure, the first groove opens downward to form two first arms on both sides of the first groove, and the two first arms are respectively located on both sides of the second portion 32 along the first direction x.

[0090] Optionally, a third groove 321 is provided on the second part 32, and the third groove 321 opens downward to form two third arms 322 on both sides of the third groove 321, and each third arm 322 is connected to the first arm on the same side at the bottom end through the first hinge axis A. This structure can reduce the weight of the movable part 3, make its swing more flexible, improve the response speed when buffering by the shock absorbing part 2, and reduce the delay of the shock absorbing and buffering effect.

[0091] In this embodiment, a first groove is set in the middle area of ​​the fourth part 12 along the first direction x, so that the two first arms are respectively located on the outside of the second part 32 along the first direction x. The width of the fourth part 12 along the first direction x can be increased to support the movable part 3 from the outside, which can provide a more stable supporting force, make the swing of the movable part 3 more stable, and optimize the shock absorption performance.

[0092] In some embodiments, Figure 1 As shown, the first articulated axis A and the shock absorbing component 2 are both located outside the steering wheel 4 along the second direction y.

[0093] This embodiment can increase the distance between the first hinge axis A and the shock absorbing component 2, and the two ends of the movable component 3 are further away from the steering wheel 4 during the swinging process, thereby preventing interference and improving working reliability. In addition, the shock absorbing component 2 has a larger force arm relative to the first hinge axis A. When a certain shock absorbing torque is required, the load borne by the shock absorbing component 2 is smaller, thereby increasing the service life of the shock absorbing component 2 and further reducing the requirements for the shock absorbing capacity of the shock absorbing component 2. The use of a shock absorbing component 2 with a smaller stiffness can meet the requirements for the road surface adhesion force.

[0094] In some embodiments, the shock absorbing steering wheel device includes a plurality of shock absorbing components 2, and the plurality of shock absorbing components 2 are arranged at intervals along the first direction x. For example, two, three or more shock absorbing components 2 may be provided.

[0095] This embodiment provides a plurality of shock absorbing components 2. If the same shock absorbing components 2 are used, a larger shock absorbing force can be achieved. If the same shock absorbing force is to be achieved, the load borne by each shock absorbing component 2 can be reduced, thereby increasing the service life of the shock absorbing component 2. Moreover, the plurality of shock absorbing components 2 can provide a more stable supporting force for the movable component 3 in the first direction x, and the movable component 3 is not prone to deflection during the swinging process.

[0096] In some embodiments, the shock absorbing component 2 is configured to be passively deformed under the action of the movable component 3 when the steering wheel 4 moves along the uneven ground.

[0097] In this embodiment, when the steering wheel 4 travels on an uneven road surface, the shock absorbing component 2 can produce a corresponding deformation amount along with the height position of the steering wheel 4. When the road surface is convex, the road surface forces the steering wheel 4 to move upward, causing the movable component 3 to swing around the first hinge axis A and the second end to lift, and the shock absorbing component 2 to be compressed and deformed; when the road surface is concave, the steering wheel 4 moves downward along with the road surface, causing the movable component 3 to swing around the first hinge axis A and the second end to move downward, and the compression deformation amount of the shock absorbing component 2 is reduced, but the steering wheel 4 is still close to the road surface under the action of the shock absorbing component 2. Therefore, the deformation amount of the shock absorbing component 2 is relatively adapted to the travel condition of the steering wheel 4, ensuring that the steering wheel 4 has sufficient adhesion to the road surface, the walking device will not lose power due to the uneven road surface, and there is no need to set up additional detection components to obtain the road surface conditions in advance.

[0098] Optionally, a detection component may be provided to obtain the road surface condition, so as to actively control the deformation of the shock absorbing component 2 according to the road surface condition, so as to adapt the steering wheel 4 to the road surface condition. This method can reduce the hysteresis of the deformation of the shock absorbing component 2, and can timely adjust the adaptability of the steering wheel 4 to the road surface according to the road surface condition. For example, the shock absorbing component 2 is an oil-gas spring shock absorber.

[0099] In some embodiments, Figure 1 and Figure 2 As shown, the movable component 3 includes a first portion 31 and a fifth portion 33, and a first end of the fifth portion 33 is connected to a second end of the first portion 31 along a second direction y and extends downward;

[0100] The shock absorbing component 2 includes a spring shock absorber 21 , a first end of the spring shock absorber 21 is connected to the fixing component 1 via a second hinge axis B, and a second end of the spring shock absorber 21 is connected to a second end of the fifth portion 33 via a third hinge axis C.

[0101] Specifically, the first part 31 can be a plate-like structure and extend in a horizontal plane, the fifth part 33 extends downward, the third part 11 of the fixed component 1 is a plate-like structure and extends in a horizontal plane, both ends of the third part 11 along the second direction y exceed the first part 31, and a hinge seat 6 is provided at one end of the bottom surface of the third part 11 close to the spring shock absorber 21. The spring shock absorber 21 can extend vertically or with an inclined angle. The first end of the spring shock absorber 21 is connected to the hinge seat 6 through a second hinge shaft B, and the second end is connected to the second end of the fifth part 33 through a third hinge shaft C.

[0102] This embodiment uses a spring shock absorber 21, which has good elasticity and buffering performance. It can quickly undergo elastic deformation when subjected to external force, effectively buffering vibration. The spring shock absorber 21 has a low natural frequency and can effectively isolate low-frequency vibrations. It has a simple structure and is easy to maintain. Since the spring shock absorber 21 is relatively long, by providing a fifth portion 33 extending downward at the end of the first portion 31, it is convenient to install the spring shock absorber 21 below the first portion 31, reduce the overall height of the shock-absorbing steering wheel device, make the structure more compact, and also reduce the center of gravity height of the shock-absorbing steering wheel device. The swing of the movable component 3 is more stable, and the shock absorption effect is optimized.

[0103] In some embodiments, Figure 4 As shown, the second end of the fifth portion 33 extends to a horizontal plane close to the axis of the steering wheel 4 .

[0104] For example, the second end of the fifth portion 33 may extend to above or below the horizontal plane where the axis of the steering wheel 4 is located, or may be located exactly at the horizontal plane where the axis of the steering wheel 4 is located.

[0105] When the steering wheel 4 travels on an uneven road surface, the movable component 3 swings around the first hinge axis A, thereby generating a horizontal offset ΔY at the second end of the movable component 3 in the second direction y, causing the shock absorbing component 2 to deflect in the second direction y, and driving the fixed component 1 to shake in the second direction y. In this embodiment, the second end of the fifth part 33 is extended to a horizontal plane close to the axis of the steering wheel 4, which can reduce the horizontal offset ΔY of the second end of the movable component 3, reduce the deflection of the shock absorbing component 2 in the second direction y and the shaking of the fixed component 1 in the second direction y, increase the service life of the shock absorbing component 2, and reduce the adverse effects on the running device. When the second end of the fifth part 33 is exactly located in the horizontal plane where the axis of the steering wheel 4 is located, the horizontal offset ΔY is minimum.

[0106] For example, if the walking device is a security inspection device, reducing the shaking amount of the fixing component 1 in the second direction y can improve the clarity and accuracy of the imaging during the scanning inspection and prevent the security inspection device from shifting forward and backward and affecting the imaging quality.

[0107] In some embodiments, the movable component 3 may further include a transition portion 34, and the transition portion 34 is connected between the first portion 31 and the fifth portion 33. For example, the transition portion 34 may be an inclined plate or an arc-shaped plate.

[0108] This embodiment provides a transition portion 34 between the first portion 31 and the fifth portion 33, thereby improving the overall stress condition of the movable component 3, reducing the problem of local stress concentration during the swinging of the movable component 3, and preventing collision with the third portion 11 of the fixed component 1, thereby improving shock absorption reliability.

[0109] In some embodiments, Figure 2 As shown, a second groove 331 is provided on the fifth portion 33 , the second groove 331 opens downward, the third hinge axis C passes through the second groove 331 along the first direction x, and the spring damper 21 is located in the second groove 331 .

[0110] Specifically, two second arms 332 are formed on both sides of the second groove 331 along the first direction x, and the third hinge axis C passes through the two second arms 332 .

[0111] This embodiment can utilize the internal space of the fifth portion 33 to install the spring shock absorber 21, making the structure more compact. When the movable component 3 swings around the first hinge axis A, the spring shock absorber 21 directly applies a force to the second end of the movable component 3, and the force is within the movable component 3, which can make the swing of the movable component 3 more stable and reduce the lateral load of the spring shock absorber 21.

[0112] Figure 3 Indicated Figure 1 and Figure 2The working principle of the steering wheel shock absorbing device shown in the figure is that the steering wheel 4 bears the road support force F N The fixed component 1 applies a force F0 to the first end of the movable component 3, and the spring shock absorber 21 applies a spring force F to the second end of the movable component 3. S , road support force F N and the spring force F S Along the second direction y, they are located on both sides of the axis of the steering wheel 4 and are both located on the outside of the steering wheel 4. Due to the spring force F S The distance from the first hinge axis A is relatively far, so when the steering wheel 4 needs to obtain a certain supporting force, the actual elastic force required by the spring shock absorber 21 is greater than the spring force F S Smaller, can improve the service life of spring shock absorber 21. However, the floating amount is just the opposite. When the steering wheel 4 needs to obtain a certain floating amount, the compression amount of spring shock absorber 21 needs to be larger than the floating amount of the steering wheel 4.

[0113] In some embodiments, Figure 5 and Figure 6 As shown, the movable component 3 includes a first part 31, the steering wheel 4 is installed on the first part 31, the fixed component 1 includes a third part 11, the third part 11 and the first part 31 are arranged with spacing along the third direction z, and the third direction z is perpendicular to the first direction x and the second direction y; the shock-absorbing component 2 includes a rubber shock absorber 22, and the rubber shock absorber 22 is installed between the first part 31 and the third part 11.

[0114] Specifically, the rubber shock absorber 22 may include a fixed portion and a movable portion, the fixed portion may be connected to the third portion 11, and the movable portion may be detachably mounted on the first portion 31 through a fastener 9. For example, a plurality of rubber shock absorbers 22 are provided, and a plurality of rubber shock absorbers 22 are arranged at intervals along the first direction x. When the steering wheel 4 is traveling on an undulating road surface, when the steering wheel 4 is in a raised position, the second end of the movable component 3 is swung up under the action of the steering wheel 4, thereby increasing the compression of the rubber shock absorber 22; when the steering wheel 4 is in a recessed position, the second end of the movable component 3 is swung down under the action of the steering wheel 4, thereby reducing the compression of the rubber shock absorber 22.

[0115] This embodiment is provided with a rubber shock absorber 22, which has a large rigidity and can achieve a large elastic shock absorption while occupying a small height space in the third direction z. Therefore, it can be directly installed between the first part 31 and the third part 11, which can simplify the structure of the movable part 3, and the rubber shock absorber 22 has a good damping effect, which can effectively block and absorb the noise generated by vibration. Moreover, the shape of the rubber shock absorber 22 can be designed according to actual needs to adapt to the installation space and force characteristics of different shock-absorbing steering wheel devices, or different shock absorption requirements can be met by adjusting the hardness of the rubber.

[0116] Secondly, the present disclosure provides a walking device, comprising:

[0117] Frame; and

[0118] In the shock absorbing steering wheel device of the above embodiment, the fixing component 1 is mounted on the vehicle frame or is used to form the vehicle frame.

[0119] For example, the shock-absorbing steering wheel device is installed under the frame. If the fixing component 1 is installed on the frame, the shock-absorbing steering wheel device can be designed as an independent structure. For frames with different structures, only the structure of the fixing component 1 needs to be changed to be applicable to different frames, thereby improving the versatility of the shock-absorbing steering wheel device for different running devices. In addition, the fixing component 1 can also be a part of the frame structure.

[0120] When the traveling device of this embodiment moves on an uneven road surface, the shock-absorbing component 2 will absorb the vibration generated during the movement and keep the steering wheel 4 in close contact with the road surface at all times. Due to the floatability of the steering wheel 4 and the deformability of the shock-absorbing component 2, the steering wheel 4 can be prevented from driving the entire frame to be lifted up, and the reaction force of the shock-absorbing component 2 keeps the steering wheel 4 in close contact with the road surface. The ground also provides support force for the steering wheel 4 at all times to ensure sufficient adhesion to the road surface, ensuring that the traveling device does not lose power due to uneven road surfaces, which can improve the adaptability of the traveling device to outdoor roads, and especially can improve the walking reliability and safety under heavy load conditions.

[0121] Moreover, since the first hinge axis A and the shock-absorbing component 2 are located on both sides of the axis of the steering wheel 4 along the second direction y, the shock-absorbing component 2 is farther away from the first hinge axis A relative to the steering wheel 4, thereby increasing the force arm between the shock-absorbing component 2 and the first hinge axis A. When a certain shock-absorbing torque is required, the load borne by the shock-absorbing component 2 is smaller, thereby increasing the service life of the shock-absorbing component 2 and reducing the requirements for the shock-absorbing ability of the shock-absorbing component 2. The use of a shock-absorbing component 2 with smaller stiffness can meet the requirements for road adhesion.

[0122] In some embodiments, the running device may include four shock-absorbing steering wheel devices, which are respectively located at four corner areas of the frame.

[0123] In this embodiment, a shock-absorbing component 2 is correspondingly provided for each steering wheel 4, so that each steering wheel 4 can timely buffer the vibration when traveling on an uneven road surface, and always keep close to the road surface, thereby preventing any steering wheel 4 from driving the entire frame to be lifted up, and the reaction force of the shock-absorbing component 2 keeps each steering wheel 4 close to the road surface, and the ground also provides support force for each steering wheel 4 at all times to ensure that it has sufficient adhesion to the road surface, ensuring that the walking device does not lose power due to uneven road surface, which can improve the adaptability of the walking device to outdoor roads and solve the problem of multiple steering wheels 4 landing together.

[0124] In some embodiments, the shock absorbing component 2 is located in a region close to the outside of the frame relative to the steering wheel 4. This structure allows for convenient maintenance or replacement of the shock absorbing component 2.

[0125] In some embodiments, the traveling device includes a safety inspection device. Such a shock-absorbing steering wheel device can be applicable to a self-propelled safety inspection device, or a safety inspection device mounted on a vehicle chassis.

[0126] When the safety inspection equipment is moving on an uneven road surface, the shock-absorbing component 2 will absorb the vibration generated during the movement and keep the steering wheel 4 in close contact with the road surface at all times to prevent the steering wheel 4 from lifting the entire safety inspection equipment. The reaction force of the shock-absorbing component 2 keeps the steering wheel 4 in close contact with the road surface, and the ground also provides support for the steering wheel 4 at all times to ensure sufficient adhesion to the road surface. Although the safety inspection equipment is relatively high, it can also improve driving stability and ensure that the safety inspection equipment will not lose power due to uneven road conditions.

[0127] Moreover, if the object to be inspected needs to be scanned and inspected through the movement of the security inspection device, its movement stability can be improved, the degree of turbulence can be reduced, and the image formed during the scanning inspection can be more accurate and clear, thereby improving the accuracy and reliability of the security inspection. Therefore, this type of security inspection device can improve its adaptability to outdoor roads.

[0128] Although the present disclosure has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present disclosure. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present disclosure is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A shock absorbing steering wheel device, characterized in that: include: Fixing component (1); Shock absorbing component (2); A movable component (3), wherein a first end of the movable component (3) is connected to the fixed component (1) via a first hinge shaft (A), and a second end of the movable component (3) is connected to the fixed component (1) via the shock absorbing component (2); and a steering wheel (4) rotatably mounted on a side of the movable component (3) away from the fixed component (1), and an axis of the steering wheel (4) is arranged along a first direction (x); The first articulated axis (A) is arranged along the first direction (x), and the first articulated axis (A) and the shock absorbing component (2) are located on both sides of the axis of the steering wheel (4) along a second direction (y), and the second direction (y) is perpendicular to the first direction (x).

2. The shock absorbing steering wheel device according to claim 1, characterized in that: The movable component (3) comprises a first part (31), and the shock absorbing steering wheel device further comprises: a slewing bearing (7) mounted on a side of the first part (31) away from the fixed component (1) along a third direction (z), and a rotation axis of the slewing bearing (7) is arranged along the third direction (z), and the third direction (z) is perpendicular to the first direction (x) and the second direction (y); Wherein, the steering wheel (4) is connected to a side of the slewing bearing (7) away from the first part (31) along the third direction (z).

3. The shock absorbing steering wheel device according to claim 1, characterized in that: The movable component (3) comprises a first part (31) and a second part (32), the first end of the second part (32) is connected to the first end of the first part (31) along the second direction (y) and extends downward, the first part (31) and the second part (32) form an angle, and the steering wheel (4) is mounted on the first part (31); The fixing component (1) comprises a third part (11) and a fourth part (12), the first end of the fourth part (12) being connected to the first end of the third part (11) along the second direction (y) and extending downward, the third part (11) and the fourth part (12) forming an angle, the third part (11) and the first part (31) being arranged at intervals along the third direction (z), the second end of the fourth part (12) being connected to the second end of the second part (32) via the first hinge axis (A), and the third direction (z) being perpendicular to the first direction (x) and the second direction (y).

4. The shock absorbing steering wheel device according to claim 3, characterized in that: The distances between the second portion (32) and the fourth portion (12) gradually decrease from their respective first ends to their second ends.

5. The shock absorbing steering wheel device according to claim 3, characterized in that: The fourth portion (12) is provided with a first groove, the first groove opening facing downwards, so as to form two first arms on both sides of the first groove, the two first arms being respectively located on both sides of the second portion (32) along the first direction (x).

6. The shock absorbing steering wheel device according to any one of claims 1 to 5, characterized in that: The first articulated shaft (A) and the shock absorbing component (2) are both located outside the steering wheel (4) along the second direction (y).

7. The shock absorbing steering wheel device according to any one of claims 1 to 5, characterized in that: It comprises a plurality of the shock absorbing components (2), wherein the plurality of the shock absorbing components (2) are arranged at intervals along the first direction (x).

8. The shock absorbing steering wheel device according to any one of claims 1 to 5, characterized in that: The shock absorbing component (2) is configured to be passively deformed under the action of the movable component (3) when the steering wheel (4) moves along an uneven ground.

9. The shock absorbing steering wheel device according to claim 8, characterized in that: The movable component (3) comprises a first portion (31) and a fifth portion (33), wherein a first end of the fifth portion (33) is connected to a second end of the first portion (31) along the second direction (y) and extends downward; The shock absorbing component (2) comprises a spring shock absorber (21), wherein a first end of the spring shock absorber (21) is connected to the fixed component (1) via a second hinge shaft (B), and a second end of the spring shock absorber (21) is connected to a second end of the fifth part (33) via a third hinge shaft (C).

10. The shock absorbing steering wheel device according to claim 9, characterized in that: The second end of the fifth portion (33) extends to a horizontal plane close to the axis of the steering wheel (4).

11. The shock absorbing steering wheel device according to claim 9, characterized in that: The movable component (3) further comprises a transition portion (34), wherein the transition portion (34) is connected between the first portion (31) and the fifth portion (33).

12. The shock absorbing steering wheel device according to claim 9, characterized in that: The fifth part (33) is provided with a second groove (331), the second groove (331) opening is downward, the third hinge axis (C) passes through the second groove (331) along the first direction (x), and the spring damper (21) is located in the second groove (331).

13. The shock absorbing steering wheel device according to claim 8, characterized in that: The movable component (3) comprises a first portion (31), the steering wheel (4) is mounted on the first portion (31), the fixed component (1) comprises a third portion (11), the third portion (11) and the first portion (31) are arranged at intervals along a third direction (z), and the third direction (z) is perpendicular to the first direction (x) and the second direction (y); The shock absorbing component (2) comprises a rubber shock absorber (22), and the rubber shock absorber (22) is installed between the first part (31) and the third part (11).

14. A walking device, characterized in that: include: Frame; and In the shock absorbing steering wheel device according to any one of claims 1 to 13, the fixing component (1) is mounted on the vehicle frame or is used to form the vehicle frame.

15. The walking device according to claim 14, characterized in that: It comprises four shock-absorbing steering wheel devices, which are respectively located at four corner areas of the frame.

16. The walking device according to claim 14, characterized in that: The shock absorbing component (2) is located in a region of the vehicle frame close to the outside relative to the steering wheel (4).

17. The walking device according to any one of claims 14 to 16, characterized in that: The walking device includes safety inspection equipment.

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