Clutch mechanism of walking equipment and robot thereof

Abstract

The utility model discloses a clutch mechanism of a walking device and a robot thereof, which are arranged between a walking wheel and a driving part of the walking device, and comprise a transmission kit, two ends of which are respectively sleeved with a wheel shaft of the walking wheel and an output shaft of the driving part, and which can reciprocate along the axis of the transmission kit; the wheel shaft and the transmission suite rotate synchronously; a butt joint assembly is arranged between an output shaft of the driving part and the transmission suite and used for achieving butt joint and butt joint releasing of the output shaft and the transmission suite in the reciprocating motion process of the transmission suite. And the clutch control piece is used for realizing the reciprocating motion of the transmission sleeve piece. According to the utility model, the matched butt joint with the axle of the traveling wheel and the combination and separation with the output shaft of the driver are realized through the designed transmission suite, so that the separation and reunion operation between the driver and the traveling wheel is realized, and the disconnection requirement between the output shaft of the driver and the traveling wheel in emergency can be met.

Description

Technical Field

[0001] The utility model relates to the field of mechanical structures, in particular to a clutch mechanism of a walking device and a robot thereof. Background Art

[0002] Most of the existing robot equipment are large and heavy, and most of them use power-assisted motors to drive them during the transportation process, so that the transport personnel can easily transport the equipment. The power-assisted motor mainly relies on electricity for driving energy. Due to the limitation of the transportation distance, it cannot be powered by a wiring harness plug. Most of them use energy storage modules installed inside the equipment for power supply. However, the power of the energy storage module is limited. In case of emergencies, such as when the built-in energy storage battery is exhausted, the drive motor cannot work. At this time, the output shaft of the drive motor is coupled with the equipment roller. This requires a clutch function to be set between the output shaft of the equipment motor and the roller shaft to meet the disconnection requirements between the motor output shaft and the roller in an emergency. Summary of the invention

[0003] Purpose of the invention: In view of the above-mentioned deficiencies, the utility model provides a clutch mechanism of a walking device and a robot thereof, which can realize the clutch operation between the driving and walking wheels and meet the disconnection requirements between the driving output shaft and the walking wheels in an emergency.

[0004] Technical solution: The utility model provides a clutch mechanism of a walking device, which is arranged between the walking wheel and the driving part of the walking device, and includes:

[0005] The transmission kit has two ends respectively connected with the wheel axle of the travel wheel and the output shaft of the driving part, and can reciprocate along its axis;

[0006] The wheel shaft rotates synchronously with the transmission kit;

[0007] A docking assembly is provided between the output shaft of the driving unit and the transmission kit to achieve docking and undocking between the two during the reciprocating motion of the transmission kit;

[0008] The clutch control member is used to realize the reciprocating motion of the transmission kit.

[0009] Specifically, the docking assembly is a pin groove and an axle pin that cooperate with each other, one of the pin groove and the axle pin is arranged on the transmission kit, and the other is arranged at a corresponding position on the output shaft of the driving part.

[0010] Specifically, the clutch control member includes a pushing component that pushes the transmission kit to slide in a direction close to the wheel axle and an elastic member that resets the transmission kit in a direction close to the driving part.

[0011] More specifically, the pushing assembly includes a driving rod that can swing around a direction perpendicular to the axial direction of the transmission kit and a pushing rod connected to the driving rod through a connecting piece, and a pushing pin for cooperating to push the transmission kit is provided at the end of the pushing rod.

[0012] Furthermore, the connecting member is designed as an L-shaped structure, one end of which is fixedly connected to the driving rod, and the other end is hinged to the end of the pushing rod.

[0013] Furthermore, there are two push rods symmetrically arranged, which are fixedly connected to the driving rod through connecting pieces respectively, and when the driving rod swings, they move in the direction close to the wheel axle, thereby pushing the transmission kit to slide in the direction close to the wheel axle.

[0014] Furthermore, the pushing assembly is arranged on the chassis of the walking device, the driving rod is rotatably installed above the chassis through a mounting seat, a mounting ear is provided on the mounting seat, a hollow structure with an axial direction perpendicular to the chassis is opened in the mounting ear, and an axial hole perpendicular to the axial direction of the hollow structure therein is opened on the side wall of the mounting ear, the driving rod is penetrated into the hollow structure of the mounting seat, and is rotatably installed in the axial hole on the mounting ear through the rotating shaft thereon, so that the driving rod can swing around the axis of its rotating shaft.

[0015] Furthermore, a photoelectric cover is provided on the driving rod, and a photoelectric sensor is fixedly installed on the lower end surface of the chassis at a position corresponding to the photoelectric cover. The photoelectric cover blocks or leaves the photoelectric sensor as the driving rod moves, thereby forming a clutch signal.

[0016] Furthermore, a rotating buckle is rotatably installed on the upper end of the driving rod, and a limiting rod with a height flush with the driving rod is fixedly installed on the side of the driving rod. The length of the rotating buckle is such that after the driving rod moves into place, it is rotated and buckled onto the limiting rod, thereby limiting the return of the driving rod.

[0017] More specifically, the elastic member is a rebound spring, and a limit block is formed in the radial direction at one end of the transmission kit close to the driving part. One end of the rebound spring abuts against the end face of the mounting seat for mounting the walking wheel, and the other end abuts against the end face of the limit block. When the rebound spring is in a natural state, the output shaft of the driving part is connected to the transmission kit.

[0018] Specifically, it also includes a reducer, which is connected to the driving part, and the two ends of the transmission kit are respectively connected to the wheel axle of the walking wheel and the output shaft of the reducer, and a docking component is provided between the output shaft of the reducer and the transmission kit to realize the docking and undocking of the two during the reciprocating motion of the transmission kit.

[0019] Specifically, a slide groove extending in the axial direction is provided at the mating end of the transmission kit and the wheel axle, and a slide pin which can slide in the slide groove is provided at a corresponding position on the wheel axle.

[0020] The utility model also provides a robot equipped with the above-mentioned clutch mechanism.

[0021] Beneficial effects: The utility model realizes the matching and docking with the axle of the traveling wheel and the connection and separation with the output shaft of the drive through the designed transmission kit, thereby realizing the clutch operation between the drive and the traveling wheel, which can meet the disconnection requirements between the output shaft of the drive and the traveling wheel in an emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is an installation example diagram of the clutch mechanism of the utility model;

[0023] Figure 2 This is an example diagram of the coordination between the clutch mechanism, the roller and the reducer;

[0024] Figure 3 It is a three-dimensional example diagram of the cooperation between the transmission kit, the roller shaft and the output shaft of the reducer;

[0025] Figure 4 is a structural example diagram of a clutch mechanism;

[0026] Figure 5 A three-dimensional example diagram of the clutch mechanism in an engaged state;

[0027] Figure 6 for Figure 5 An example diagram of the engagement structure of the photoelectric sensor and the photoelectric cover on the clutch drive rod;

[0028] Figure 7 A three-dimensional example diagram of a clutch mechanism in a disengaged state;

[0029] Figure 8 for Figure 7 An example diagram of the structure in which the photoelectric sensor on the clutch drive rod is separated from the photoelectric cover;

[0030] Fig. 9 This is an example diagram of the internal coordination of the clutch mechanism in the separated state;

[0031] Fig.10 A partial example diagram of a clutch mechanism in a disengaged state;

[0032] Fig.11 It is a three-dimensional example diagram of the cooperation between the transmission kit, the roller shaft and the output shaft of the reducer in the disengaged state of the clutch mechanism;

[0033] Fig.12 This is an example diagram of the coordination between the clutch drive rod and the clutch limit rod.

[0034] 1. Clutch mechanism, 2. Chassis, 3. Roller, 4. Motor, 5. Reducer;

[0035] 11. Mounting seat, 12. Clutch driving rod, 13. Clutch connecting rod, 14. Clutch push rod, 15. Transmission kit, 16. Rebound spring, 17. Connection kit;

[0036] 21. Roller mounting seat, 22. Roller connecting seat; 31. Roller shaft, 32. Roller shaft pin; 51. Reducer output shaft, 52. Reducer shaft pin, 53. Movable groove, 54. Limit flange; 111. Mounting ear, 112. Limit rod; 121. Rotating shaft, 122. Clamp spring, 123. Photoelectric cover, 124. Sensor mounting seat, 125. Photoelectric sensor, 126. Rotating buckle ring; 141. Push pin;

[0037] 151. First pin groove, 152. Second pin groove, 153. Limit block; 171. Slide groove, 172. Mounting flange. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0039] Reference Figure 1 , 2 4. The clutch mechanism of the utility model is installed on the chassis 2 of the walking equipment, and is installed between the wheel axle of the walking wheel and the reducer output shaft 51 of the reducer 5. In the utility model, the walking wheel is the roller 3, and its wheel axle is the roller shaft 31. The roller 3 is taken as an example for description below; the roller shaft 31 of the roller 3 and the reducer output shaft 51 of the reducer 5 are separated and connected by the clutch operation of the clutch mechanism itself; wherein the reducer 5 is fixedly installed below the chassis 2, and its input end is connected with a driving part. In the utility model, the driving part is the motor 4. The motor 4 is taken as an example for description below; specifically, the motor 4 is also fixedly installed below the chassis 2. The roller 3 is rotatably mounted on the chassis 2 via a roller mounting seat 21. Specifically, the roller mounting seat 21 is fixedly mounted at corresponding positions of the chassis 2 (such as the four corners of the chassis 2), and the roller 3 is rotatably mounted in the roller mounting seat 21 via its roller shaft 31, so that the roller 3 can rotate in the roller mounting seat 21 to realize the walking of the chassis 2 and further realize the walking of the walking device.

[0040] Reference Figure 2-4 The clutch mechanism 1 includes a transmission kit 15 arranged between the roller shaft 31 of the roller 3 and the reducer output shaft 51 of the reducer 5, a rebound spring 16 arranged on the outer surface of the transmission kit 15, a clutch push rod 14 cooperating with the transmission kit 15, a clutch drive rod 12 for driving the clutch, and a clutch connecting rod 13 for connecting the clutch push rod 14 and the clutch drive rod 12. One end of the rebound spring 16 abuts against the end surface of the roller mounting seat 21, and the other end abuts against the end of the transmission kit 15.

[0041] The structure of the transmission kit 15 is as follows: Figure 3 As shown, sleeves for sleeves of the roller shaft 31 of the roller 3 and the reducer output shaft 51 of the reducer 5 are respectively provided at its two ends, and pin grooves along the axial direction are provided on the two sleeve side walls of the transmission kit 15, which are respectively recorded as the first pin groove 151 and the second pin groove 152. Roller shaft pins 32 and reducer shaft pins 52 are respectively provided at the positions of the pin grooves corresponding to the respective matching ones on the side walls of the roller shaft 31 and the reducer output shaft 51, and the position of the roller shaft pin 32 on the roller shaft 31 makes it always located in the first pin groove 151 corresponding to the transmission kit 15, thereby making the two ends of the transmission kit 15 respectively cooperate with the corresponding shaft pins on the reducer output shaft 51 and the roller shaft 31 through the pin grooves at both ends to realize the transmission kit 15 and the reducer output shaft 51 and the roller shaft 31. The shafts 31 are mated with each other, the roller shaft 31 rotates synchronously with the transmission kit, and can slide back and forth along the axial direction between the reducer output shaft 51 and the roller shaft 31; in the process of the transmission kit 15 sliding back and forth along the axial direction between the reducer output shaft 51 and the roller shaft 31, the second pin groove 152 of the transmission kit 15 and the reducer shaft pin 52 are docked and undocking. When docking, the reducer output shaft 51 can drive the transmission kit 15 to rotate under the drive of the motor 4, and then drive the roller shaft 31 to rotate, thereby realizing the rolling of the roller 3. When undocking, there is no limit between the reducer output shaft 51 and the transmission kit 15, and the rotation of the reducer output shaft 51 will not drive the rotation of the transmission kit 15, thereby achieving the effect of clutch.

[0042] In the present invention, a limiting block 153 is formed along the radial direction of one end of the transmission kit 15 close to the output shaft 51 of the reducer, one end of the rebound spring 16 abuts against the end surface of the roller mounting seat 21, and the other end abuts against the end surface of the limiting block 153, and when the rebound spring 16 is in a natural state, the cooperation between the transmission kit 15 and the output shaft 51 of the reducer and the roller shaft 31 is as follows: Figure 3 As shown, the roller shaft pin 32 on the roller shaft 31 and the reducer shaft pin 52 of the reducer output shaft 51 are both located in the corresponding pin grooves on the transmission kit 15, and the roller shaft pin 32 is closer to the first pin groove 151 close to one end of the roller shaft 31 (that is, the transmission kit 15 is located closer to the reducer output shaft 51 at this time), as shown in FIG. Figure 3 shown.

[0043] In the present invention, the transmission kit 15 can also be designed as a hollow structure, and the sizes of the hollow structures at both ends correspond to the sizes of the roller shaft 31 and the reducer output shaft 51 respectively, so as to form a sleeve for matching with the roller shaft 31 and the reducer output shaft 51.

[0044] In the present invention, in order to facilitate installation, the roller connecting seat 22 is fixedly installed on the end surface of the roller mounting seat 21 away from the roller 3, referring to Figure 2 , 4 The roller shaft 31 passes through and extends out of the roller connecting seat 22 , and one end of the aforementioned rebound spring 16 abuts against the end surface of the roller connecting seat 22 , and the other end abuts against the end surface of the limit block 153 .

[0045] Reference Figure 1 , 2 , 4, 5, the clutch drive rod 12 is rotatably mounted on the chassis 2 through the mounting seat 11. Specifically, the mounting seat 11 is fixedly mounted on the chassis 2, and a mounting ear 111 is provided on the mounting seat 11. A hollow structure with an axial direction perpendicular to the chassis 2 is provided in the mounting ear 11, and an axial hole perpendicular to the axial direction of the hollow structure is provided on the side wall of the mounting ear 111. The clutch drive rod 12 is penetrated in the hollow structure of the mounting seat 11, and is rotatably mounted in the axial hole on the mounting ear 111 through the rotating shaft 121 in the middle thereof, so that the clutch drive rod 12 can rotate around its rotating shaft 121. The axis swings; a clutch connecting rod 13 is fixedly installed at the lower end of the clutch driving rod 12. Specifically, the clutch connecting rod 13 is a U-shaped structure, which is sleeved outside the reducer 5, and its two ends are respectively hinged to the clutch pushing rod 14, and the end of the clutch pushing rod 14 is just located between the end face of the limit block 153 of the transmission kit 15 and the end face of the reducer 5; a pushing pin 141 extends on the inner side of the clutch pushing rod 14 along the axial direction perpendicular to the roller shaft 31, and when the clutch driving rod 12 is in its initial position, the pushing pin 141 abuts against the end face of the limit block 153 of the transmission kit 15.

[0046] In the utility model, two symmetrical clutch push rods 14 are provided for operational stability, but the utility model is not limited thereto. If better stability is not considered, only one of the clutch push rods 14 can be retained, and the clutch connecting rod 13 can be designed as an L-shaped structure, one end of which is hinged to the clutch push rod 14, and the other end is fixedly connected to the clutch drive rod 12.

[0047] Reference Figure 6 , 8A photoelectric cover 123 is also fixedly provided on the clutch drive rod 12, and a photoelectric sensor 125 is fixedly installed at a position corresponding to the photoelectric cover 123 on the lower end surface of the chassis 2. The photoelectric cover 123 will block or leave the photoelectric sensor 125 as the clutch drive rod 12 moves, thereby forming a clutch signal; in the present invention, a clamping spring 122 is also fixedly provided on the upper part of the clutch drive rod 12, and the photoelectric cover 123 is fixed on the clamping spring 122; specifically, a sensor mounting seat 124 is fixedly installed at a position corresponding to the photoelectric cover 123 on the lower end surface of the chassis 2, and the photoelectric sensor 125 is fixedly installed on the sensor mounting seat 124.

[0048] A rotating buckle ring 126 is also rotatably mounted on the upper end of the clutch drive rod 12. Fig.12 As shown, a limit rod 112 is fixedly installed on the mounting seat 11 on the side of the clutch drive rod 12. The height of the limit rod 112 is flush with the clutch drive rod 12. The length of the rotating buckle 126 is such that after the clutch drive rod 12 moves into place, it can be rotated and buckled onto the limit rod 112, thereby limiting the return of the clutch drive rod 12.

[0049] Reference Figure 7 A connecting kit 17 is also sleeved outside the clutch mechanism 15 and the rebound spring 16. A mounting flange 172 is provided at one end of the connecting kit 17 close to the reducer 5. The connecting kit 17 is fixedly installed by cooperating with the limiting flange 54 of the reducer 5 through its mounting flange 172. A sliding groove 171 is provided at a position corresponding to the pushing pin 141 at the end of the clutch pushing rod 14 on the side of the connecting kit 17. The length of the sliding groove 171 is greater than or equal to T, wherein T represents the distance that the pushing pin 141 pushes the transmission kit 15 to slide so that its second pin groove 152 just leaves the reducer shaft pin 52.

[0050] In the utility model, the clutch connecting rod 13 is arranged between the limiting flange 54 and the reducer 5 body. In order to further limit the clutch driving rod 12, the cross-sectional size of the limiting flange 54 is larger than the external cross-sectional size of the reducer 5 to limit the movable range of the clutch connecting rod 13; further, a movable groove 53 with a cross-sectional size smaller than the cross-sectional size of the limiting flange 54 can be opened on the outer wall of the reducer 5 for sleeve-mounting the clutch connecting rod 13, and the clutch connecting rod 13 is sleeved on the outer side of the reducer 5 part corresponding to the movable groove 51.

[0051] In a specific embodiment of the utility model, a pin groove can be opened at a corresponding position on the roller shaft 31, and a matching pin matching the pin groove is set at a corresponding position of the sleeve of the mating end of the transmission kit 15 and the roller shaft 31, so as to achieve the matching docking of the two.

[0052] In a specific embodiment of the utility model, a pin groove can be opened at a corresponding position on the reducer output shaft 51, and a matching pin matching the pin groove is set at a corresponding position of the sleeve of the mating end of the transmission kit 15 and the reducer output shaft 51, so as to achieve the matching docking between the two.

[0053] The working principle of the utility model is as follows:

[0054] When the motor 4 drives the roller 3 normally through the reducer 5, the clutch mechanism of the utility model is in the engaged state. Figure 2 , 4 , 5, and 6, the clutch drive rod 12 is located at its initial position, the photoelectric cover 123 on its upper portion covers the photoelectric sensor 125, and the elastic force of the rebound spring 16 supports the transmission kit 15, as shown in FIG. Figure 2 , 4 As shown, the second pin groove 152 of the transmission kit 15 is mated with the reducer shaft pin 52, as shown in FIG. Figure 3 As shown, at this time, the motor 4 drives the reducer 5 to rotate, the reducer output shaft 51 of the reducer 5 drives the transmission kit 15 to rotate, the transmission kit 15 drives the roller shaft 31 to rotate, and the roller shaft 31 drives the roller 3 to rotate.

[0055] When the motor 4 is required to be disconnected from the roller 3, Figure 7 As shown in FIG. 1 , the clutch drive rod 12 is pushed so that the photoelectric cover 123 no longer covers the photoelectric sensor 125. Figure 8 As shown, in order to identify the clutch mechanism is currently processing the separation state; as Fig.12 As shown, the rotating buckle 126 is rotated and buckled on the limit rod 112 to ensure that the clutch mechanism 1 remains in a separated state. Figure 7 , 9 As shown in Figures 10, the clutch driving rod 12 drives the clutch connecting rod 13 to swing together, and the clutch connecting rod 13 drives the clutch pushing rod 14 to move. Since the pushing pin 141 at the end of the clutch pushing rod 14 is located at the slide grooves 171 on both sides of the connecting kit 17, the pushing pin 141 at the end of the clutch pushing rod 14 can only slide along the slide groove 171 under the drive of the clutch connecting rod 13, so that the pushing pin 141 pushes the transmission kit 15 to overcome the elastic force of the rebound spring 16 and move toward the roller shaft 31 during the sliding process, and compresses the rebound spring 16. Fig. 9 , 10 As shown, after moving to the right position, the second pin groove 152 of the transmission kit 15 is separated from the reducer shaft pin 52. At this time, the roller shaft pin 32 is located in the first pin groove 151 of the transmission kit 15, away from the end of the roller shaft 31, as shown in FIG. Fig.11 As shown, in this state, there is no motion constraint relationship between the reducer output shaft 51 and the roller shaft 31, and the whole is in a disconnected state. Regardless of whether the motor 4 moves or not, the roller 3 will not be driven to rotate.

[0056] When the clutch mechanism 1 is required to return from the disengaged state to the engaged state, Fig. 9 The rotating buckle ring 126 shown in the figure releases the limit between the clutch drive rod 12 and the limit rod 112. At this time, the rebound spring 16 pushes the transmission kit 15 to move under the thrust generated by overcoming the spring compression force, and the limit block 153 of the transmission kit 15 pushes the push pin 141 at the end of the clutch push rod 14 to reset. At the same time, during the rotation of the motor, the reducer shaft pin 52 falls into the second pin groove 152 in the transmission kit 15, and it can be achieved by rotating at most one circle, thereby realizing the matching and docking between the reducer output shaft 51 and the transmission kit 15, as shown in FIG. Figure 3 As shown, the motion constraint between the reducer output shaft 51 and the roller shaft 31 is completed, thereby restoring the engagement state.

[0057] In a specific embodiment of the utility model, a plurality of corresponding reducer shaft pins 52 can be arranged on the circumference of corresponding positions on the reducer output shaft 51, and a plurality of corresponding second pin grooves 152 can be opened along the circumference of the sleeve at the mating end of the transmission kit 15 and the reducer output shaft 51, so as to reduce the maximum rotation angle required for the reducer pin shaft 52 on the reducer output shaft 51 to cooperate with the second pin groove 152.

[0058] Furthermore, a plurality of pin grooves may be provided circumferentially at corresponding positions on the reducer output shaft 51 , and a plurality of mating pins mating with the pin grooves may be provided circumferentially at corresponding positions of the sleeve openings of the mating mating ends of the transmission kit 15 and the reducer output shaft 51 .

[0059] In other embodiments of the present invention, the clutch mechanism of the present invention can be set in a device that does not include a reducer. Specifically, the clutch mechanism of the present invention can be installed between the roller shaft 31 of the roller 3 and the output shaft of the motor, and the roller shaft 31 of the roller 3 and the output shaft of the motor can be separated and engaged through its own clutch operation. Then, correspondingly, the relevant structures of the aforementioned reducer 5 can be set on the motor accordingly, such as the reducer output shaft 51 corresponds to the motor output shaft, the reducer shaft pin 52 corresponds to the motor pin on the motor output shaft, the limit flange 54 corresponds to the flange set on the motor body, and the movable groove 53 corresponds to the movable groove opened on the outer wall of the motor body.

[0060] The utility model realizes the matching docking with the wheel axle of the traveling wheel and the connection and separation with the output shaft of the drive through the designed transmission kit, thereby realizing the clutch operation between the driving and the traveling wheel, which can meet the disconnection requirements between the output shaft of the drive and the traveling wheel in an emergency. And through the design of the driving rod, the operation is simple, and the stability of the disconnection between the motor output shaft and the roller is realized through the matching between the rotating buckle ring and the limit rod.

[0061] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, the technical scheme of the present invention can be subjected to various equivalent transformations (such as quantity, shape, position, etc.), and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A clutch mechanism of a walking device, arranged between a walking wheel and a driving part of the walking device, characterized in that: include: The transmission kit has two ends which are respectively sleeved with the wheel axle of the traveling wheel and the output shaft of the driving part and can reciprocate along its axis; The wheel shaft rotates synchronously with the transmission kit; A docking assembly is provided between the output shaft of the driving unit and the transmission kit to achieve docking and undocking of the two during the reciprocating motion of the transmission kit; The clutch control member is used to realize the reciprocating motion of the transmission kit.

2. The clutch mechanism of the walking equipment according to claim 1, characterized in that: The docking assembly is a pin groove and an axle pin that cooperate with each other. One of the pin groove and the axle pin is arranged on the transmission kit, and the other is arranged at a corresponding position on the output shaft of the driving part.

3. The clutch mechanism of the walking equipment according to claim 1, characterized in that: The clutch control member comprises a pushing component for pushing the transmission kit to slide in a direction close to the wheel shaft and an elastic member for resetting the transmission kit in a direction close to the driving part.

4. The clutch mechanism of the walking equipment according to claim 3, characterized in that: The pushing assembly includes a driving rod that can swing around a direction perpendicular to the axial direction of the transmission kit and a pushing rod connected to the driving rod through a connecting piece. A pushing pin for cooperating to push the transmission kit is provided at the end of the pushing rod.

5. The clutch mechanism of the walking equipment according to claim 4, characterized in that: The connecting piece is designed as an L-shaped structure, one end of which is fixedly connected to the driving rod, and the other end is hinged to the end of the pushing rod.

6. The clutch mechanism of the walking equipment according to claim 4, characterized in that: There are two push rods, which are symmetrically arranged and fixedly connected to the driving rods through connecting pieces. When the driving rods swing, they move toward the direction close to the wheel axle, thereby pushing the transmission kit to slide toward the direction close to the wheel axle.

7. The clutch mechanism of the walking equipment according to claim 4, characterized in that: The pushing assembly is arranged on the chassis of the walking device, the driving rod is rotatably mounted above the chassis through a mounting seat, a mounting ear is provided on the mounting seat, a hollow structure with an axial direction perpendicular to the chassis is opened in the mounting ear, an axial hole perpendicular to the axial direction of the hollow structure is opened on the side wall of the mounting ear, the driving rod is penetrated in the hollow structure of the mounting seat, and is rotatably mounted in the axial hole on the mounting ear through the rotating shaft thereon, so that the driving rod can swing around the axis of its rotating shaft.

8. The clutch mechanism of the walking equipment according to claim 7, characterized in that: A photoelectric cover is also provided on the driving rod, and a photoelectric sensor is fixedly installed on the lower end surface of the chassis at a position corresponding to the photoelectric cover. The photoelectric cover blocks or leaves the photoelectric sensor as the driving rod moves, thereby forming a clutch signal.

9. The clutch mechanism of the walking equipment according to claim 4, characterized in that: A rotating buckle is rotatably installed on the upper end of the driving rod, and a limiting rod with a height flush with the driving rod is fixedly installed on the side of the driving rod. The length of the rotating buckle is such that after the driving rod moves into place, it is rotated and buckled onto the limiting rod, thereby limiting the return of the driving rod.

10. The clutch mechanism of the walking equipment according to claim 3, characterized in that: The elastic member is a rebound spring, and a limiting block is formed along the radial direction at one end of the transmission kit close to the driving part. One end of the rebound spring abuts against the end surface of the mounting seat for mounting the walking wheel, and the other end abuts against the end surface of the limiting block. When the rebound spring is in a natural state, the output shaft of the driving part is connected to the transmission kit.

11. The clutch mechanism of the walking equipment according to claim 1, characterized in that: It also includes a reducer, which is connected to the driving part. The two ends of the transmission kit are respectively connected to the wheel axle of the walking wheel and the output shaft of the reducer. A docking component is provided between the output shaft of the reducer and the transmission kit to achieve docking and undocking of the two during the reciprocating motion of the transmission kit.

12. A robot equipped with the clutch mechanism according to any one of claims 1 to 11.

Images