Traveling wheel and traveling mechanism of mobile DR (Digital Radiography) equipment and mobile DR equipment

Abstract

The embodiment of the utility model discloses a traveling wheel of mobile DR equipment, a traveling mechanism and the mobile DR equipment, the traveling wheel comprises a mounting frame, a first roller, a driving part and an adjusting part, the mounting frame comprises a mounting seat and a mounting shaft, and a rotating hole is formed in the mounting seat. The driving part comprises a motor, a first gear and a second gear; the first gear and the first roller movably sleeve the mounting shaft; and the second gear fixedly sleeves the output shaft of the motor. The adjusting piece comprises a rotating rod and a first locking piece, the rotating rod is connected with the motor base, and the rotating rod penetrates through the rotating hole and can rotate relative to the rotating hole. According to the embodiment of the invention, the center distance between the first gear and the second gear can be adjusted, so that meshing of the first gear and the second gear is realized, and compared with the prior art that meshing of the first gear and the second gear is realized by means of high mounting precision of the first gear and the second gear, the requirement for machining precision of the traveling wheel can be reduced, and the machining cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a walking wheel, a walking mechanism and a mobile DR device. Background Art

[0002] Mobile DR (Digital Radiography) equipment is an indispensable mobile medical equipment in hospitals. In hospital emergency rooms, wards and other places, mobile DR equipment is needed to move flexibly to take pictures for patients.

[0003] The weight of mobile DR equipment is relatively high, usually over 300kg, and it is extremely laborious to push it manually. Based on this, related technologies have introduced electric-assisted mobile DR equipment, which drives the walking wheels electrically to enable the mobile DR equipment to move freely in the narrow ward space.

[0004] In the related art, the electric drive modes of the travel wheels are generally: chain drive, belt drive, gear drive, etc. Among them, chain drive and belt drive are prone to vibration; gear drive requires two gears to mesh with each other, and in order to achieve the meshing of the two gears, the installation accuracy of the two gears is required to be high, resulting in an increase in the processing cost of the mobile DR equipment. Utility Model Content

[0005] The embodiments of the present application provide a walking wheel, a walking mechanism and a mobile DR device for a mobile DR device, which are used to improve the problem that chain drive and belt drive in related technologies are prone to jitter; the gear drive requires two gears to mesh with each other, and in order to achieve the meshing of the two gears, the installation accuracy of the two gears is relatively high, which results in an increase in the processing cost of the mobile DR device.

[0006] In a first aspect, an embodiment of the present application provides a walking wheel of a mobile DR device, comprising:

[0007] A mounting frame, the mounting frame comprising a mounting seat and a mounting shaft connected to the mounting seat, and a rotation hole is provided on the mounting seat;

[0008] A first roller, the first roller is movably sleeved on the mounting shaft;

[0009] A driving member, the driving member comprises a motor, a first gear and a second gear, the first gear is movably sleeved on the mounting shaft, the first gear is fixed relative to the first roller; the second gear is fixedly sleeved on the motor output shaft of the motor;

[0010] An adjusting member, the adjusting member includes a rotating rod and a first locking member, the rotating rod is connected to the motor seat of the motor, the rotating rod passes through the rotating hole and can rotate relative to the rotating hole to adjust the center distance between the second gear on the motor output shaft and the first gear on the mounting shaft to achieve the meshing of the first gear and the second gear; the first locking member is connected to the rotating rod, and the first locking member is used to lock the rotating rod to the mounting seat.

[0011] In some of the schemes, an adjustment hole is also provided on the mounting seat, the adjustment hole is spaced apart from the rotating hole, the adjustment member also includes an adjustment rod, the adjustment rod is connected to the motor seat, the adjustment rod passes through the adjustment hole, and the walking wheel is configured so that when the rotating rod rotates relative to the rotating hole, the adjustment rod can move in the adjustment hole.

[0012] In some of the schemes, a plurality of adjustment holes are provided on the mounting seat, and the adjustment member includes adjustment rods having the same number as the adjustment holes, and each adjustment rod passes through each adjustment hole one by one, and the plurality of adjustment holes and the rotating hole are arranged at intervals on the outer periphery of the motor output shaft of the motor.

[0013] In some of these solutions, the drive also includes:

[0014] The motor mounting plate is arranged around the periphery of the motor output shaft, the motor mounting plate is installed on the motor seat, the motor mounting plate is fitted with the mounting seat, and a rotating rod and an adjusting rod are arranged on the motor mounting plate.

[0015] In some of the solutions, the first gear and the second gear are located on the same side of the mounting seat, the motor seat and the second gear are located on opposite sides of the mounting seat, and the motor output shaft passes through the mounting seat and is fixedly connected to the second gear.

[0016] In some of these solutions, the travel wheels also include:

[0017] The bearing is sleeved on the mounting shaft, and the inner ring of the bearing is fixed relative to the mounting shaft;

[0018] The bearing seat is sleeved on the bearing, the bearing seat is fixed relative to the outer ring of the bearing, and the first gear and the first roller are fixed relative to the bearing seat.

[0019] In a second aspect, an embodiment of the present application provides a walking mechanism, including:

[0020] the above-mentioned running wheels; and

[0021] A connecting rod, both ends of which are respectively connected to the mounting shafts of the two walking wheels.

[0022] In some of the solutions, the motors of the two traveling wheels are respectively located on opposite sides of the connecting rod along a direction perpendicular to the extending direction of the connecting rod.

[0023] In a third aspect, an embodiment of the present application provides a mobile DR device, including the above-mentioned walking wheels and a device body, wherein the walking wheels are connected to the device body; or, including the above-mentioned walking mechanism and a device body, wherein the walking mechanism is connected to the device body.

[0024] Some of the schemes further include a second roller, which is connected to the device body and is closer to the front end of the mobile DR device than the first roller, wherein the front end of the mobile DR device is the end in front of the mobile DR device in the direction of movement.

[0025] The walking wheel, walking mechanism and mobile DR equipment of the mobile DR equipment of the present application are designed so that the rotating rod connected to the motor can rotate relative to the rotating hole on the mounting seat. When the rotating rod rotates in the rotating hole, the position of the motor relative to the mounting seat can be changed. In this way, the position of the second gear connected to the motor output shaft of the motor relative to the mounting seat can be changed, thereby achieving the adjustment of the gap between the second gear and the first gear connected to the mounting shaft of the mounting seat. That is, the walking wheel of the embodiment of the present application can achieve the adjustable center distance between the first gear and the second gear, thereby achieving the meshing of the first gear and the second gear. Compared with the related art that relies on the high installation accuracy of the first gear and the second gear to achieve the meshing of the two, it can reduce the processing accuracy requirements for the walking wheel and reduce the processing cost.

[0026] The above-mentioned design adjustment member also includes a first locking member, which can realize that when the rotating rod is rotated to any position in the rotating hole, it can be locked and fixed by the first locking member, thereby realizing the relative maintenance of the center distance between the first gear and the second gear after adjustment, realizing the smooth rotation of the first roller, and realizing the smooth walking of the walking wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a schematic diagram of the structure of a mobile DR device provided in some embodiments of the present application;

[0029] Figure 2 yes Figure 1 A partial structural schematic diagram of a mobile DR device is shown;

[0030] Figure 3 yes Figure 1 A schematic cross-sectional structure diagram of a walking mechanism in a mobile DR device is shown;

[0031] Figure 4 yes Figure 3 Schematic diagram of the local structure;

[0032] Figure 5 yes Figure 1 The exploded structural diagram of the walking mechanism in the mobile DR device is shown;

[0033] Figure 6 yes Figure 5 Schematic diagram of the local structure;

[0034] Figure 7 yes Figure 1 A schematic diagram of the structure of the mechanical arm and head assembly in the mobile DR device is shown;

[0035] Figure 8 yes Figure 1 A schematic diagram of a partial cross-sectional structure of a mechanical arm in a mobile DR device is shown;

[0036] Fig. 9 yes Figure 1 A schematic diagram of a partial three-dimensional structure of a mechanical arm in a mobile DR device is shown;

[0037] Fig.10 yes Figure 1 Another partial three-dimensional structural schematic diagram of the mechanical arm in the mobile DR device is shown;

[0038] Fig.11 yes Figure 1 A schematic diagram of the cross-sectional structure of a mechanical arm at a locking member in a mobile DR device is shown;

[0039] Fig.12 yes Figure 1 A schematic diagram of the three-dimensional structure of the locking structure in the mobile DR device is shown;

[0040] Fig.13 yes Figure 1 A schematic cross-sectional structure diagram of a locking structure in a mobile DR device in a released state is shown;

[0041] Fig.14 yes Fig.13 Schematic diagram of the cross-section structure in the AA direction;

[0042] Fig.15 yes Fig.13 The cross-sectional structure diagram of the locking structure in the locked state is shown.

[0043] Description of reference numerals:

[0044] 1. Mobile DR equipment;

[0045] 10. Traveling wheel; 11. Mounting frame; 111. Mounting seat; 1111. Rotating hole; 1112. Adjusting hole; 1113. Mounting hole; 112. Mounting shaft; 12. First roller; 13. Driving member; 131. Motor; 1311. Motor output shaft; 1312. Motor seat; 132. First gear; 133. Second gear; 134. Motor mounting plate; 14. Adjusting member; 141. Rotating rod; 142. First locking member; 143. Adjusting rod; 15. Bearing; 16. Bearing seat; 17. Connecting rod;

[0046] 20. Traveling mechanism;

[0047] 30. Equipment body;

[0048] 40. Second roller;

[0049] 50. Mechanical arm; 51. Fixed axis; 511. Limiting part; 5111. Limiting ring; 5112. First connecting rod; 5113. Connecting hole; 52. Bearing; 521. Inner ring; 522. Outer ring; 53. Bearing seat; 531. First bearing seat; 532. Second bearing seat; 54. Force arm; 541. First arm; 542. Second arm; 5421. Third connecting rod; 543. Adjusting hole; 5 5. Damping member; 551. Friction plate; 552. First elastic member; 553. Gasket; 56. End cover; 561. End plate; 562. Side plate; 57. Locking member; 571. Locking seat; 572. Locking belt; 573. Friction block; 5731. Groove; 574. Locking rod; 575. Handle; 576. Second connecting rod; 577. Baffle; 578. Second elastic member; 58. Connecting column;

[0050] 60. Head assembly;

[0051] 70. Locking structure; 71. Base; 711. First groove; 72. Rotating shaft; 73. Locking member; 731. Second groove; 732. Guide surface; 74. Third elastic member; 75. First cavity. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0053] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0054] See also Figure 1 and Figure 2 The embodiment of the present application provides a mobile DR device 1, which includes a device body 30 and a running wheel 10, wherein the running wheel 10 is connected to the device body 30. The running wheel 10 is used to drive the device body 30 to move so that the device body 30 moves to different locations (for example, different wards) to perform radiographic examinations on patients.

[0055] The mobile DR device 1 may include one running wheel 10 or a plurality of running wheels 10. Figures 1 to 3 If the mobile DR device 1 includes a plurality of running wheels 10, two of the plurality of running wheels 10 can be connected via a connecting rod 17 to form a running mechanism 20. The setting of the running mechanism 20 facilitates the assembly of the two running wheels 10 with the device body 30 after the two running wheels 10 are assembled, thereby simplifying the assembly process of the mobile DR device 1.

[0056] See also Figures 3 to 6 The walking wheel 10 includes a mounting frame 11, a first roller 12, a driving member 13 and an adjusting member 14. The mounting frame 11 includes a mounting seat 111 and a mounting shaft 112 connected to the mounting seat 111, and a rotating hole 1111 is provided on the mounting seat 111. The first roller 12 is movably mounted on the mounting shaft 112. The driving member 13 includes a motor 131, a first gear 132 and a second gear 133. The first gear 132 is movably mounted on the mounting shaft 112, and the first gear 132 is fixed relative to the first roller 12; the second gear 133 is fixedly mounted on the motor output shaft 1311 of the motor 131. The adjusting member 14 includes a rotating rod 141 and a first locking member 142. The rotating rod 141 is connected to the motor seat 1312 of the motor 131. The rotating rod 141 passes through the rotating hole 1111 and can rotate relative to the rotating hole 1111 to adjust the center distance between the second gear 133 on the motor output shaft 1311 and the first gear 132 on the mounting shaft 112 to achieve the engagement of the first gear 132 and the second gear 133; the first locking member 142 is connected to the rotating rod 141, and the first locking member 142 is used to lock the rotating rod 141 to the mounting seat 111.

[0057] The walking wheel 10 of the embodiment of the present application is designed so that the rotating rod 141 connected to the motor 131 can rotate relative to the rotating hole 1111 on the mounting seat 111. When the rotating rod 141 rotates in the rotating hole 1111, the position of the motor 131 relative to the mounting seat 111 can be changed. In this way, the position of the second gear 133 connected to the motor output shaft 1311 of the motor 131 relative to the mounting seat 111 can be changed, thereby achieving the adjustment of the gap between the second gear 133 and the first gear 132 connected to the mounting shaft 112 of the mounting seat 111. That is, the walking wheel 10 of the embodiment of the present application can achieve an adjustable center distance between the first gear 132 and the second gear 133, thereby achieving the meshing of the first gear 132 and the second gear 133. Compared with the related art that relies on the high installation accuracy of the first gear 132 and the second gear 133 to achieve the meshing of the two, the processing accuracy requirements for the walking wheel 10 can be reduced, and the processing cost can be reduced.

[0058] The above-mentioned design adjustment member 14 also includes a first locking member 142, which can realize that when the rotating rod 141 is rotated to any position in the rotating hole 1111, it can be locked and fixed by the first locking member 142, so as to realize the relative maintenance of the center distance between the first gear 132 and the second gear 133 after adjustment, realize the smooth rotation of the first roller 12 and the smooth walking of the walking wheel 10.

[0059] The first locking member 142 and the rotating rod 141 can be connected and fixed by means of threaded connection, snap connection, etc. In the embodiment of the present application, the first locking member 142 can be a nut, and the first locking member 142 is threadedly connected to the rotating rod 141. When the rotating rod 141 needs to be locked to the mounting seat 111, the first locking member 142 is tightened on the rotating rod 141, and the first locking member 142 is close to the mounting seat 111 to lock the rotating rod 141. At this time, the rotating rod 141 cannot rotate in the rotating hole 1111, and the motor 131 can be locked relative to the mounting seat 111. When the center distance between the first gear 132 and the second gear 133 needs to be adjusted, the first locking member 142 can be loosened relative to the rotating rod 141, and the first locking member 142 is separated from the mounting seat 111, so that the rotating rod 141 can rotate in the rotating hole 1111, and the center distance between the first gear 132 and the second gear 133 can be adjusted.

[0060] See also Figure 6, the mounting seat 111 is also provided with an adjustment hole 1112, and the adjustment hole 1112 is spaced apart from the rotating hole 1111. The adjustment member 14 also includes an adjustment rod 143, the adjustment rod 143 is connected to the motor seat 1312, and the adjustment rod 143 passes through the adjustment hole 1112. The walking wheel 10 is configured such that when the rotating rod 141 rotates relative to the rotating hole 1111, the adjustment rod 143 can move in the adjustment hole 1112. The arrangement of the above-mentioned adjustment rod 143 and the adjustment hole 1112 can constrain the rotation stroke of the rotating rod 141 when the rotating rod 141 rotates in the rotating hole 1111, so as to achieve adjustable center distance between the first gear 132 and the second gear 133 within a certain range, so that the rotation of the rotating rod 141 in the rotating hole 1111 is easier to control.

[0061] The adjustment hole 1112 may be a bar-shaped hole, and when the rotating rod 141 rotates relative to the rotating hole 1111, the adjustment rod 143 may move in the adjustment hole 1112 along the extension direction of the adjustment hole 1112. The extension direction of the adjustment hole 1112 may be approximately located on an arc line with the center of the rotating hole 1111 as the center and the distance from the center of the rotating hole 1111 to the adjustment hole 1112 as the radius, so that when the rotating rod 141 rotates relative to the rotating hole 1111, the adjustment rod 143 may smoothly move in the adjustment hole 1112 along the extension direction of the adjustment hole 1112.

[0062] The adjustment hole 1112 has two side walls extending along the extension direction thereof and opposite to each other. When the adjustment rod 143 moves in the adjustment hole 1112 along the extension direction of the adjustment hole 1112 , the two side walls can guide the movement trajectory of the adjustment rod 143 .

[0063] It is understandable that the mounting seat 111 may be provided with one adjustment hole 1112 or multiple adjustment holes 1112. If the mounting seat 111 is provided with multiple adjustment holes 1112, the adjustment member 14 includes adjustment rods 143 equal in number to the adjustment holes 1112, and each adjustment rod 143 passes through each adjustment hole 1112 in a one-to-one correspondence. Each adjustment hole 1112 cooperates with each adjustment rod 143 to serve as a force point between the motor 131 and the mounting seat 111 when the rotating rod 141 rotates relative to the rotating hole 1111. The provision of multiple adjustment holes 1112 and adjustment rods 143 can increase the number of force points and improve the stability of the rotation of the rotating rod 141 relative to the rotating hole 1111.

[0064] Furthermore, a plurality of adjustment holes 1112 and rotation holes 1111 can be arranged at intervals on the outer periphery of the motor output shaft 1311 of the motor 131. In this way, a plurality of force points can be roughly evenly distributed on the outer periphery of the motor output shaft 1311 of the motor 131, thereby preventing the motor 131 from tilting when the rotation rod 141 rotates relative to the rotation hole 1111.

[0065] It should be noted that if a plurality of adjustment holes 1112 are provided on the mounting seat 111, the extension direction of each adjustment hole 1112 can be roughly located on an arc line with the center of the rotating hole 1111 as the center and the distance from the center of the rotating hole 1111 to the corresponding adjustment hole 1112 as the radius, so that when the rotating rod 141 rotates relative to the rotating hole 1111, the adjustment rod 143 can move smoothly in the adjustment hole 1112 along the extension direction of the adjustment hole 1112.

[0066] The adjusting member 14 may further include a second locking member (not shown in the figure), which is connected to the adjusting rod 143 and is used to lock the adjusting rod 143 to the mounting seat 111. The second locking member locks the adjusting rod 143 to the mounting seat 111, and the first locking member 142 locks the rotating rod 141 to the mounting seat 111. The combination of the two can realize the stable fixation of the motor 131 on the mounting seat 111.

[0067] Among them, the second locking member and the adjusting rod 143 can be connected and fixed by means of threaded connection, snap connection, etc. In the embodiment of the present application, the second locking member can be a nut, and the second locking member is threadedly connected to the adjusting rod 143. When the adjusting rod 143 needs to be locked to the mounting seat 111, the second locking member is tightened on the adjusting rod 143, and the second locking member is close to the mounting seat 111 to lock the adjusting rod 143. At this time, the adjusting rod 143 cannot move in the adjustment hole 1112, and the motor 131 can be locked and fixed relative to the mounting seat 111. When the center distance between the second gear 132 and the second gear 133 needs to be adjusted, the second locking member can be loosened relative to the adjusting rod 143, and the second locking member is separated from the mounting seat 111, so that the adjusting rod 143 can move in the adjustment hole 1112, and the rotating rod 141 rotates in the rotating hole 1111 to achieve the adjustment of the center distance between the second gear 132 and the second gear 133.

[0068] See also Figure 5 and Figure 6 The driving member 13 also includes a motor mounting plate 134, which is arranged around the periphery of the motor output shaft 1311, and is installed on the motor seat 1312. The motor mounting plate 134 is fitted with the mounting seat 111, and a rotating rod 141 and an adjusting rod 143 are arranged on the motor mounting plate 134. The motor mounting plate 134 is arranged as above, and the rotating rod 141 and the adjusting rod 143 are both arranged on the motor mounting plate 134. In this way, by connecting the motor mounting plate 134 with the motor seat 1312, the connection between the rotating rod 141 and the adjusting rod 143 and the motor seat 1312 can be realized, and the connection process can be simplified. In addition, compared with connecting the rotating rod 141 and the adjusting rod 143 to the motor seat 1312 separately, the connection area between the motor mounting plate 134 and the motor seat 1312 is larger, and the connection between the two is more reliable.

[0069] The first gear 132 and the second gear 133 are located on the same side of the mounting seat 111, the motor seat 1312 and the second gear 133 can be located on opposite sides of the mounting seat 111, and the motor output shaft 1311 passes through the mounting seat 111 and is fixedly connected to the second gear 133. In this way, the motor seat 1312 will not hinder the meshing between the first gear 132 and the second gear 133, which is conducive to the smooth meshing between the two.

[0070] The mounting seat 111 may be provided with a mounting hole 1113 for the motor output shaft 1311 to pass through. The size of the mounting hole 1113 is larger than the size of the motor output shaft 1311, so that when the rotating rod 141 rotates in the rotating hole 1111, the motor output shaft 1311 can move in the mounting hole 1113 to change the position of the second gear 133 on the motor output shaft 1311.

[0071] See also Figure 4 and Figure 5 The walking wheel 10 also includes a bearing 15 and a bearing seat 16. The bearing 15 is sleeved on the installation shaft 112, and the inner ring of the bearing 15 is fixed relative to the installation shaft 112. The bearing seat 16 is sleeved on the bearing 15, and the bearing seat 16 is fixed relative to the outer ring of the bearing 15. The first gear 132 and the first roller 12 are both fixed relative to the bearing seat 16. The above-mentioned design of the bearing 15 and the bearing seat 16 can reduce the friction force when the first gear 132 and the installation shaft 112 rotate relative to each other, so that the rotation of the first gear 132 is smoother. The above-mentioned design of the first gear 132 and the first roller 12 are both fixed relative to the bearing seat 16, so that when the motor output shaft 1311 rotates, the second gear 133, the first gear 132 meshing with the second gear 133, and the first roller 12 fixed relative to the first gear 132 are driven to rotate, thereby realizing the walking function of the walking wheel 10.

[0072] The travel wheel 10 may include two bearings 15 matched with a bearing seat 16, and the two bearings 15 are distributed axially at intervals on the mounting shaft 112, so that the installation of the bearing seat 16 is more stable, and the rotation of the first gear 132 and the first roller 12 is more stable.

[0073] See also Figures 3 to 6 In the above-mentioned walking mechanism 20, both ends of the connecting rod 17 can be respectively connected to the mounting shafts 112 of the two walking wheels 10. Further, the connecting rod 17 and the two mounting shafts 112 can be an integrally formed structure to enhance the connection strength between the connecting rod 17 and the two mounting shafts 112. Among them, the connecting rod 17 and the two mounting shafts 112 can be coaxially designed.

[0074] In some embodiments, the motors 131 of the two running wheels 10 can be respectively located on opposite sides of the connecting rod 17 in a direction perpendicular to the extending direction of the connecting rod 17. In this way, the staggered distribution of the two motors 131 can be achieved, and mutual interference between the two can be avoided.

[0075] In other embodiments, the motors 131 of the two running wheels 10 can be respectively located on the same side of the connecting rod 17 in a direction perpendicular to the extending direction of the connecting rod 17. In this way, it is convenient to adjust the center distance between the second gear 133 and the first gear 132 corresponding to the two running wheels 10 on the same side.

[0076] See again Figure 1 and Figure 2 The mobile DR device 1 further includes a second roller 40, and the second roller 40 is connected to the device body 30. By providing a plurality of rollers, the mobile DR device 1 can be better supported, so that the mobile DR device 1 can move more smoothly.

[0077] The second roller 40 can be closer to the front end of the mobile DR device 1 than the first roller 12, wherein the front end of the mobile DR device 1 is the end of the mobile DR device 1 that is in front of the moving direction. That is, the first roller 12 corresponds to the rear wheel of the mobile DR device 1, and the second roller 40 corresponds to the front wheel of the mobile DR device 1.

[0078] The second roller 40 may be a driven wheel, and does not need to be driven by a power mechanism, but can move under the drive of the first roller 12. The second roller 40 may be a universal wheel, so that the movement direction of the mobile DR device 1 is more flexible.

[0079] The mobile DR device 1 may include one second roller 40 or multiple second rollers 40. In the embodiment of the present application, the mobile DR device 1 includes two second rollers 40, which may be located at the left and right sides of the front of the mobile DR device 1, respectively.

[0080] See also Figure 1 and Figure 2 The mobile DR device 1 also includes a mechanical arm 50 and a head assembly 60. The mechanical arm 50 is connected to the device body 30. The head assembly 60 is connected to one end of the mechanical arm 50 away from the device body 30. The head assembly 60 is electrically connected to the device body 30.

[0081] See also Figure 7 and Figure 8The mechanical arm 50 includes a fixed shaft 51, a bearing 52, a bearing seat 53, a force arm 54 and a damping member 55. A limiting portion 511 is provided on the fixed shaft 51. The bearing 52 includes an inner ring 521 and an outer ring 522. The inner ring 521 is fixedly sleeved on the fixed shaft 51, and the outer ring 522 is rotatably sleeved on the inner ring 521. The bearing seat 53 is fixedly sleeved on the outer ring 522. The bearing seat 53 and the limiting portion 511 are spaced apart along the axial direction of the fixed shaft 51. The damping member 55 is sleeved on the fixed shaft 51. The damping member 55 is located between the limiting portion 511 and the bearing seat 53 along the axial direction of the fixed shaft 51 and abuts against the limiting portion 511 and the bearing seat 53. The force arm 54 is fixedly sleeved on the bearing seat 53.

[0082] The above-designed lever arm 54 is fixedly sleeved on the bearing seat 53, and the lever arm 54 can rotate with the bearing seat 53, the outer ring 522 relative to the inner ring 521 and the fixed shaft 51, so that the user can adjust the position of the lever arm 54, so that the head assembly 60 on the lever arm 54 can reach the desired position. Among them, the fixed shaft 51 of the mechanical arm 50 can be fixed to the device body 30, and the lever arm 54 rotates relative to the fixed shaft 51, so that the position of the head assembly 60 on the lever arm 54 relative to the device body 30 can be adjusted to meet the use requirements.

[0083] The damping member 55 is arranged between the limiting portion 511 of the fixed shaft 51 and the bearing seat 53, and the damping member 55 can constrain the rotation of the lever arm 54 relative to the fixed shaft 51, so that the lever arm 54 can rotate relative to the fixed shaft 51 only when the force acting on the lever arm 54 is large enough, and when the force acting on the lever arm 54 is small or no force is applied, the lever arm 54 and the fixed shaft 51 will not rotate relative to each other, and the shape of the lever arm 54 relative to the fixed shaft 51 can be maintained, so that during the use of the head assembly 60 or in the process of transporting the mobile DR device 1, the head assembly 60 on the lever arm 54 will not shake, will not affect the detection process, and will not be easily damaged.

[0084] The damping member 55 can constrain the rotation of the lever arm 54 relative to the fixed shaft 51 by having sufficient friction between the damping member 55 and the limiting portion 511 and the bearing seat 53. The greater the friction between the damping member 55 and the limiting portion 511 and the bearing seat 53, the greater the force required for the lever arm 54 to rotate relative to the fixed shaft 51, and the smaller the friction between the damping member 55 and the limiting portion 511 and the bearing seat 53, the smaller the force required for the lever arm 54 to rotate relative to the fixed shaft 51.

[0085] The limiting part 511 and the fixed shaft 51 may be fixedly connected or adjustably connected. If the limiting part 511 and the fixed shaft 51 are adjustably connected, the distance between the limiting part 511 and the bearing seat 53 may be adjusted. After the distance between the limiting part 511 and the bearing seat 53 is changed, the friction between the damping member 55 and the bearing seat 53 and the limiting part 511 may be changed. That is, the friction between the damping member 55 and the bearing seat 53 and the limiting part 511 may be adjusted through the adjustable connection between the limiting part 511 and the fixed shaft 51 to meet different usage requirements.

[0086] Further, the limiting portion 511 may include a limiting ring 5111 and a first connecting rod 5112, the limiting ring 5111 is sleeved on the fixed shaft 51, the damping member 55 abuts against the limiting ring 5111, and the first connecting rod 5112 is used to fix the limiting ring 5111 to the fixed shaft 51. For example, the limiting ring 5111 has a connecting hole 5113 extending along its radial direction, and the first connecting rod 5112 can pass through the connecting hole 5113 and be connected to the fixed shaft 51, thereby realizing the connection and fixation of the limiting ring 5111 to the fixed shaft 51. Among them, the first connecting rod 5112 and the fixed shaft 51 can be threadedly connected, abutted, etc., which is not limited.

[0087] When adjusting the position of the limiting portion 511 on the fixed shaft 51, the connection between the first connecting rod 5112 and the fixed shaft 51 can be released first, and the limiting ring 5111 can be moved to change the distance between the limiting ring 5111 and the bearing seat 53, and change the friction between the damping member 55 and the bearing seat 53 and the limiting portion 511. After the limiting ring 5111 is adjusted to the fixed shaft 51, the first connecting rod 5112 can be connected to the fixed shaft 51 again to maintain the position of the limiting ring 5111 on the fixed shaft 51.

[0088] Optionally, the limiting ring 5111 may be provided with a plurality of connection holes 5113 distributed around the circumference thereof, the number of the first connection rods 5112 may be equal to the number of the connection holes 5113, and each first connection rod 5112 is disposed in each connection hole 5113 and connected to the fixed shaft 51. By providing a plurality of connection holes 5113 and a plurality of first connection rods 5112, the installation reliability between the limiting ring 5111 and the fixed shaft 51 may be improved.

[0089] In order to facilitate the adjustment of the limiting portion 511 and the fixed shaft 51, the force arm 54 can be arranged away from the limiting portion 511. Of course, the force arm 54 can also be set on the periphery of the limiting portion 511. In this case, the force arm 54 can be formed with an adjustment hole 543 at the limiting portion 511, and the adjustment hole 543 is used for adjusting between the limiting portion 511 and the fixed shaft 51. That is, the user can touch the limiting portion 511 through the adjustment hole 543 and adjust the limiting portion 511 and the fixed shaft 51.

[0090] The damping member 55 may include a friction plate 551, which is sleeved on the fixed shaft 51, and the friction plate 551 may abut against the bearing seat 53 and / or the limiting portion 511. In an exemplary solution, the damping member 55 may only include the friction plate 551, and in this case, two sides of the friction plate 551 may abut against the bearing seat 53 and the limiting portion 511, respectively.

[0091] In another exemplary solution, the damping member 55 includes, in addition to the friction plate 551, a first elastic member 552, which is sleeved on the fixed shaft 51. After the spacing between the limiting portion 511 and the bearing seat 53 is adjusted to the right position, the damping member 55 can provide pressure compensation through the first elastic member 552, and even if the friction plate 551 is worn, the friction between the damping member 55 and the bearing seat 53 and the limiting portion 511 can remain substantially unchanged. Moreover, if the limiting portion 511 is adjustable and connected to the fixed shaft 51 so as to adjust the spacing between the limiting portion 511 and the bearing seat 53, after the spacing between the limiting portion 511 and the bearing seat 53 is changed, the compression amount of the first elastic member 552 can be changed, and the squeezing force of the first elastic member 552 on the friction plate 551 can be changed, thereby changing the friction between the damping member 55 and the bearing seat 53 and the limiting portion 511. Since the first elastic member 552 has a certain elasticity, it can play a buffering effect and reduce the occurrence of damage to the damping member 55. The first elastic member 552 may be any device with elasticity, for example, the first elastic member 552 may be a spring, a spring sheet, etc. In the embodiment of the present application, the first elastic member 552 is a disc spring.

[0092] If the damping member 55 includes a first friction plate 551 and a first elastic member 552, the first friction plate 551 may be located on a side close to the bearing seat 52, and the first elastic member 552 may be located on a side close to the limiting portion 511. Of course, the positions of the two may also be interchanged, which is not limited thereto.

[0093] The damping member 55 may further include a gasket 553 sleeved on the fixed shaft 51. The number of the gasket 553 may be one or more. In the embodiment of the present application, the damping member 55 includes two gaskets 553, which are respectively located on opposite sides of the first elastic member 552.

[0094] The robot arm 50 may further include an end cover 56, which is located between the bearing seat 53 and the damping member 55. The end cover 56 includes an end plate 561 and a peripheral side plate 562. The end plate 561 abuts against the damping member 55. The peripheral side plate 562 is located on a side of the end plate 561 away from the damping member 55 and is fixed to the periphery of the end plate 561. The peripheral side plate 562 is fixed to the bearing seat 53. By arranging the end cover 56 between the bearing seat 53 and the damping member 55, it is possible to avoid the bearing seat 53 and the damping member 55 being obstructed by the bearing 52 when contacting. The end cover 56 is designed such that the end plate 561 abuts against the damping member 55 and the peripheral side plate 562 is fixed to the bearing seat 53. On the one hand, it is possible to ensure that the contact area between the end cover 56 and the damping member 55 is large enough and the damping effect is significant; on the other hand, it is possible to avoid the bearing 52 obstructing the design of the end cover 56. It should be noted that the end cover 56 may also be removed, and the bearing seat 53 may be directly designed to abut against the damping member 55 , and this is not limited to this.

[0095] In the embodiment of the present application, the number of bearings 52 can be one or more, the number of bearing seats 53 is equal to the number of bearings 52, each bearing seat 53 is fixedly sleeved on the outer ring 522 of each bearing 52, and the force arm 54 is fixedly sleeved on all the bearing seats 53. If multiple bearings 52 and multiple bearing seats 53 are designed, the multiple bearings 52 are arranged at intervals along the axial direction of the fixed shaft 51, so that the force arm 54 can be supported by multiple bearing seats 53, and the connection and rotation are more stable.

[0096] If multiple bearings 52 and multiple bearing seats 53 are designed, the multiple bearing seats 53 may include a first bearing seat 531 and at least one second bearing seat 532, the first bearing seat 531 is located on one side of the at least one second bearing seat 532 along the axial direction of the fixed shaft 51, the limiting portion 511 is located on the side of the first bearing seat 531 away from the at least one second bearing seat 532 along the axial direction of the fixed shaft 51, and the damping member 55 is located between the limiting portion 511 and the first bearing seat 531 along the axial direction of the fixed shaft 51 and abuts the limiting portion 511 and the first bearing seat 531.

[0097] If multiple bearings 52 and multiple bearing seats 53 are designed, each two adjacent bearing seats 53 can be connected via a connecting column 58, so that the bearing seats 53 are connected as a whole, and the assembly is more convenient, wherein the number of the connecting column 58 can be one or more along the circumference of the bearing seat 53. Of course, the bearing seats 53 can also be independent of each other, which is not limited.

[0098] In the embodiment of the present application, the mechanical arm 50 includes two bearings 52 and two bearing seats 53, which can improve the connection and rotation stability of the force arm 54 on the basis of simplifying the structure of the mechanical arm 50.

[0099] See also Figures 9 to 11The mechanical arm 50 also includes a locking member 57, which is used to lock the fixed shaft 51 and the force arm 54 to prevent the force arm 54 from rotating relative to the fixed shaft 51, so as to better fix the force arm 54 at a certain position.

[0100] See also Figures 9 to 11 The locking member 57 includes a locking seat 571, a locking belt 572, a friction block 573 and a locking rod 574. The locking seat 571 is located at one side of the fixed shaft 51 along the radial direction of the fixed shaft 51 and is connected to the force arm 54 and / or the bearing seat 53. The locking belt 572 passes around the fixed shaft 51 and both ends are fixed to the locking seat 571. The friction block 573 is located between the fixed shaft 51 and the locking seat 571 along the radial direction of the fixed shaft 51. The locking rod 574 passes through the locking seat 571 and abuts against the friction block 573. The locking rod 574 can move relative to the locking seat 571 to approach the fixed shaft 51 or move away from the fixed shaft 51.

[0101] The locking rod 574 of the above design can move relative to the locking seat 571 to approach the fixed shaft 51 or move away from the fixed shaft 51. Thus, when the locking rod 574 moves relative to the locking seat 571 to approach the fixed shaft 51, the locking rod 574 can push the friction block 573 and the fixed shaft 51, so that the locking belt 572 is tightened and the force arm 54 cannot rotate relative to the fixed shaft 51. When the locking rod 574 moves relative to the locking seat 571 to move away from the fixed shaft 51, there is a margin of movement between the friction block 573 and the fixed shaft 51, so that the locking belt 572 is loosened and the force arm 54 can rotate relative to the fixed shaft 51, so that the force arm 54 can be adjusted to a suitable position.

[0102] The setting of the above-mentioned friction block 573 can enhance the friction between it and the fixed shaft 51 when the two are in contact, ensuring that when the locking belt 572 is tightened, the force arm 54 cannot rotate relative to the fixed shaft 51 due to the obstruction of the locking belt 572 and the friction block 573.

[0103] The locking rod 574 and the locking seat 571 can be threadedly connected so that when the locking rod 574 rotates in one direction, the locking rod 574 can move relative to the locking seat 571 to approach the fixed shaft 51, and when the locking rod 574 rotates in another direction, the locking rod 574 can move relative to the locking seat 571 to move away from the fixed shaft 51, thereby simplifying the adjustment steps of the locking rod 574.

[0104] Part of the locking rod 574 can extend into the friction block 573. That is, a groove 5731 is provided on the friction block 573, and part of the locking rod 574 extends into the groove 5731 and abuts against the bottom wall of the groove 5731. In this way, the connection reliability between the locking rod 574 and the friction block 573 can be improved. If the locking rod 574 is threadedly connected to the locking seat 571, when the locking rod 574 rotates relative to the locking seat 571, the locking rod 574 can also rotate in the groove 5731 without driving the friction block 573 to rotate.

[0105] The locking member 57 further comprises a handle 575, which is located outside the force arm 54 and connected to an end of the locking rod 574 away from the friction block 573. In this way, the locking rod 574 can be adjusted to move relative to the locking seat 571 by operating the handle 575, which is more convenient to operate.

[0106] The locking member 57 also includes a connecting member, which includes a second connecting rod 576, a baffle 577 and a second elastic member 578. The baffle 577 is located at one side of the locking seat 571. The second elastic member 578 is arranged between the baffle 577 and the locking seat 571. The second connecting rod 576 passes through the locking seat 571, and the second connecting rod 576 connects the baffle 577 with the force arm 54 and / or the bearing seat 53. The connecting member designed to connect the locking seat 571 with the force arm 54 and / or the bearing seat 53 includes the second elastic member 578, so that the locking seat 571 has a certain buffering effect relative to the force arm 54 and / or the bearing seat 53, which can avoid damage caused by hard contact between the locking seat 571 and the force arm 54 and / or the bearing seat 53 when the locking rod 574 is adjusted to approach the fixed shaft 51. Among them, the second elastic member 578 can be any device with elasticity, for example, the second elastic member 578 can be a spring, a spring, etc. In the embodiment of the present application, the second elastic member 578 is a disc spring.

[0107] The locking member 57 may include one connecting member or multiple connecting members. If it includes multiple connecting members, the multiple connecting members are spaced apart on the locking seat 571 to enhance the connection reliability between the locking seat 571 and the force arm 54 and / or the bearing seat 53.

[0108] If the robot arm 50 includes a plurality of bearings 52 and a plurality of bearing seats 53, the locking member 57 may be disposed between two adjacent bearing seats 53. By designing the locking member 57 to be disposed between two bearing seats 53, the locking member 57 may apply a locking force between the two bearing seats 53 to the rotation of the force arm 54 relative to the fixed shaft 51, thereby better preventing the rotation of the force arm 54 relative to the fixed shaft 51.

[0109] If the robot arm 50 further includes a connecting column 58 connected between two adjacent bearing seats 53, the connection between the locking seat 571 and the force arm 54 and / or the bearing seat 53 can be converted into: the locking seat 571 is connected to the connecting column 58. Further, if a plurality of connecting columns 58 spaced apart along the circumferential direction are provided between two adjacent bearing seats 53, the locking seat 571 can be arranged between the two connecting columns 58 and connect the two connecting columns 58.

[0110] See again Figure 1 and Figure 2The above-mentioned lever arm 54 may include a first arm 541 and a second arm 542, wherein the first arm 541 is fixedly sleeved on the bearing seat 53, and the second arm 542 is rotatably connected to the lever arm 54, and the rotation axis of the second arm 542 relative to the first arm 541 intersects with the axial direction of the fixed shaft 51. Among them, one end of the second arm 542 away from the first arm 541 is connected to the head assembly 60. By designing the lever arm 54 to include the first arm 541 and the second arm 542 that can rotate relatively, the freedom of movement of the lever arm 54 can be improved, and the flexibility of the position of the head assembly 60 on the lever arm 54 can be improved. Among them, the rotation axis of the second arm 542 relative to the first arm 541 and the axial direction of the fixed shaft 51 can be perpendicular to each other. Among them, the first arm 541 can be provided with an adjustment hole 543.

[0111] See also Figures 12 to 15 The mobile DR device 1 further includes a locking structure 70, which is connected to the device body 30. The locking structure 70 has a locking state and a releasing state. In the locking state, the locking structure 70 is connected to the second arm 542, and in the releasing state, the locking structure 70 is disconnected from the second arm 542. In this way, when the mobile DR device 1 is not in use, the locking structure 70 can be in a locked state and connected to the second arm 542 to prevent the swing of the force arm 54 from causing damage to the head assembly 60. When the mobile DR device 1 needs to be used, the locking structure 70 can be in a releasing state and disconnected from the second arm 542, so that the force arm 54 can move relative to the device body 30 and the second arm 542 can move relative to the first force arm 541, so that the head assembly 60 is adjusted to the optimal position.

[0112] See also Figures 12 to 15 The locking structure 70 may include a base 71, a rotating shaft 72, a locking member 73 and a third elastic member 74. The base 71 is connected to the device body 30, and the base 71 is formed with a first groove 711. The rotating shaft 72 is connected to the base 71. The locking member 73 is movably sleeved on the rotating shaft 72, and the locking member 73 is formed with a second groove 731. In the locked state, the groove wall of the second groove 731 and the groove wall of the first groove 711 are enclosed to form a first cavity 75, and the second arm 542 is located in the first cavity 75. In the unlocked state, the second groove 731 is separated from the first groove 711, and the second arm 542 moves out of the first groove 711 and the second groove 731. The third elastic member 74 is sleeved on the rotating shaft 72 and has two ends respectively connected to the base 71 and the locking member 73. The third elastic member 74 has a restored state and a deformed state. In the restored state, the groove wall of the second groove 731 and the groove wall of the first groove 711 are surrounded to form a first cavity 75. In the deformed state, the second groove 731 is separated from the first groove 711.

[0113] The third elastic member 74 of the above design forms the first cavity 75 when it is in the restored state. Since the third elastic member 74 is not subjected to external force and is usually in the restored state, this is beneficial to the stability of the first cavity 75 and to maintaining the connection between the locking structure 70 and the second arm 542. When the third elastic member 74 is in the deformed state, the second groove 731 is separated from the first groove 711, that is, in order to achieve the second arm 542 to move out of the second groove 731 and the first groove 711, so that the locking structure 70 switches from the locked state to the unlocked state, it is necessary to apply an external force to switch the third elastic member 74 from the restored state to the deformed state, which requires external force intervention to achieve, and can better ensure the connection reliability between the locking structure 70 and the second arm 542 in the locked state. Among them, the third elastic member 74 can be any device with elasticity, for example, the third elastic member 74 can be a spring, a spring, etc. In the embodiment of the present application, the third elastic member 74 is a torsion spring.

[0114] It should be noted that as long as the third elastic member 74 is in the restored state, the groove wall of the second groove 731 and the groove wall of the first groove 711 will enclose to form the first cavity 75 under the restoring force of the third elastic member 74. At this time, if the locking structure 70 is in the locked state, the second arm 542 is located in the first cavity 75, and if the locking structure 70 is not in the locked state, the second arm 542 is not located in the first cavity 75.

[0115] Since the normal state of the third elastic member 74 is in the restored state, therefore, before placing the second arm 542 in the first cavity 75 to realize that the locking structure 70 is in the locked state, it is necessary to first apply a force to the locking member 73 to separate the second groove 731 from the first groove 711 so that the second arm 542 can enter the first groove 711, and when the external force on the locking member 73 stops being applied, the locking member 73 makes the groove wall of the second groove 731 and the groove wall of the first groove 711 enclose the first cavity 75 under the restoring force of the third elastic member 74, so that the second arm 542 is firmly placed in the first cavity 75, and the locking structure 70 is in the locked state.

[0116] The locking member 73 may be provided with a guide surface 732. Before placing the second arm 542 in the first cavity 75 to put the locking structure 70 in a locked state, the second arm 542 may be directly pushed to slide along the guide surface 732, so that the locking member 73 rotates around the rotating shaft 72, and the second groove 731 is separated from the first groove 711, so that the second arm 542 enters the first groove 711 and is then placed in the first cavity 75. The provision of the guide surface 732 allows the user to push the second arm 542 with one hand to put the second arm 542 in the first cavity 75, which can simplify the difficulty of operation when the locking structure 70 is in a locked state.

[0117] In the locked state, the locking structure 70 forms a first cavity 75 by splicing the groove wall of the first groove 711 on the base 71 and the groove wall of the second groove 731 on the locking member 73, while in the released state, the first groove 711 and the second groove 731 are separated and no longer enclosed to form the first cavity 75, making the formation of the first cavity 75 more flexible.

[0118] In the locked state, the second arm 542 can be directly partially placed in the first cavity 75, or the third connecting rod 5421 can be arranged on the second arm 542 so that the third connecting rod 5421 is partially placed in the first cavity 75. If the second arm 542 is partially placed in the first cavity 75, the size of the first cavity 75 can roughly match the cross section of the second arm 542 to better constrain the second arm 542. If the third connecting rod 5421 is partially placed in the first cavity 75, the size of the first cavity 75 can roughly match the cross section of the third connecting rod 5421 to better constrain the second arm 542.

[0119] In the embodiment of the present application, in the locked state, the third connecting rod 5421 on the second arm 542 is partially placed in the first cavity 75. Since the size of the third connecting rod 5421 can be designed to be smaller than the size of the second arm 542, designing the third connecting rod 5421 to be partially placed in the first cavity 75 is beneficial to reducing the size of the locking structure 70.

[0120] Among them, the above-mentioned first groove 711 can be an open groove that penetrates along the axial direction of the second arm 542 / the third connecting rod 5421, and the second groove 731 can be an open groove that penetrates along the axial direction of the second arm 542 / the third connecting rod 5421, so that the first cavity 75 formed by the first groove 711 and the second groove 731 penetrates along the axial direction of the second arm 542 / the third connecting rod 5421, so as to facilitate the axial part of the second arm 542 / the third connecting rod 5421 to be placed in the first cavity 75, and the remaining axial part of the second arm 542 / the third connecting rod 5421 can be placed outside the first cavity 75.

[0121] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0122] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A walking wheel of a mobile DR device, characterized in that: include: A mounting frame, the mounting frame comprising a mounting seat and a mounting shaft connected to the mounting seat, and the mounting seat is provided with a rotation hole; A first roller, the first roller is movably sleeved on the mounting shaft; A driving member, the driving member comprises a motor, a first gear and a second gear, the first gear is movably sleeved on the mounting shaft, the first gear is fixed relative to the first roller; the second gear is fixedly sleeved on the motor output shaft of the motor; an adjusting member, the adjusting member comprising a rotating rod and a first locking member, the rotating rod being connected to the motor seat of the motor, the rotating rod passing through the rotating hole and being rotatable relative to the rotating hole, so as to adjust the center distance between the second gear on the motor output shaft and the first gear on the mounting shaft, so as to achieve meshing of the first gear and the second gear; The first locking member is connected to the rotating rod, and the first locking member is used to lock the rotating rod to the mounting seat.

2. The travel wheel according to claim 1, characterized in that: The mounting seat is also provided with an adjustment hole, and the adjustment hole is spaced apart from the rotation hole; The adjusting member also includes an adjusting rod, which is connected to the motor seat and passes through the adjusting hole. The walking wheel is configured such that when the rotating rod rotates relative to the rotating hole, the adjusting rod can move in the adjusting hole.

3. The travel wheel according to claim 2, characterized in that: The mounting seat is provided with a plurality of adjustment holes, the adjustment member includes adjustment rods whose number is equal to the adjustment holes, each adjustment rod passes through each adjustment hole one by one, and the plurality of adjustment holes and the rotating hole are arranged at intervals on the outer periphery of the motor output shaft of the motor.

4. The travel wheel according to claim 2 or 3, characterized in that: The driving member also includes: A motor mounting plate, the motor mounting plate is arranged around the periphery of the motor output shaft, the motor mounting plate is installed on the motor seat, the motor mounting plate is fitted with the mounting seat, and the rotating rod and the adjusting rod are arranged on the motor mounting plate.

5. The travel wheel according to claim 1, characterized in that: The first gear and the second gear are located on the same side of the mounting seat, the motor seat and the second gear are located on opposite sides of the mounting seat, and the motor output shaft passes through the mounting seat and is fixedly connected to the second gear.

6. The travel wheel according to claim 1, characterized in that: The walking wheel also includes: A bearing, wherein the bearing is sleeved on the mounting shaft, and the inner ring of the bearing is fixed relative to the mounting shaft; A bearing seat, wherein the bearing seat is sleeved on the bearing, the bearing seat is fixed relative to the outer ring of the bearing, and the first gear and the first roller are both fixed relative to the bearing seat.

7. A walking mechanism, characterized in that: include: The travel wheel according to any one of claims 1 to 6; and A connecting rod, both ends of which are respectively connected to the mounting shafts of the two walking wheels.

8. The traveling mechanism according to claim 7, characterized in that: The motors of the two walking wheels are respectively located on two opposite sides of the connecting rod along a direction perpendicular to the extending direction of the connecting rod.

9. A mobile DR device, characterized in that: It comprises the walking wheel and the equipment body according to any one of claims 1 to 6, wherein the walking wheel is connected to the equipment body; or it comprises the walking mechanism and the equipment body according to claim 7 or 8, wherein the walking mechanism is connected to the equipment body.

10. The mobile DR device according to claim 9, characterized in that: Also includes: A second roller, the second roller is connected to the device body, and the second roller is closer to the front end of the mobile DR device than the first roller, wherein the front end of the mobile DR device is the end of the mobile DR device that is in front in the movement direction.

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