Walking wheel adjusting device and walking robot

Abstract

The utility model provides a walking wheel adjusting device and a walking robot. The walking wheel adjusting device comprises a rack, a first wheel shaft, a second wheel shaft and an adjusting module. The rack comprises a first end and a second end which are opposite in the front-back direction of the walking robot. The first end is connected with the collecting structure. The first axle is mounted on the first end portion. The second axle is mounted on the second end portion. The adjusting module is connected with the first wheel shaft and / or the second wheel shaft and used for driving the first wheel shaft and / or the second wheel shaft to move relative to the rack. When the first wheel shaft moves to the first position relative to the rack and / or the second wheel shaft moves to the second position relative to the rack, the ground clearance of the first end part is greater than that of the second end part, so that the second end part of the rack can incline towards the ground relative to the first end part; and the overall gravity center of the walking wheel adjusting device moves forwards in the direction of the second end part, so that the head warping prevention capability of the walking robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a walking wheel adjustment device and a walking robot. Background Art

[0002] The existing walking robot is prone to tilting its head when traveling, which causes the walking robot to be unable to work, and limits the application range of the walking robot. Utility Model Content

[0003] The present application provides a walking wheel adjustment device and a walking robot to solve the problem that the walking robot is prone to tilting its head.

[0004] In the first aspect, the present application provides a walking wheel adjustment device, which is applied to a walking robot, and the walking robot includes a collection structure. The walking wheel adjustment device includes a frame, a first wheel axle, a second wheel axle and an adjustment module. The frame includes a first end and a second end opposite to each other along the front-back direction of the walking robot. The first end is connected to the collection structure. The first wheel axle is mounted on the first end. The second wheel axle is mounted on the second end. The adjustment module is connected to the first wheel axle and / or the second wheel axle, and is used to drive the first wheel axle and / or the second wheel axle to move relative to the frame; when the first wheel axle moves to a first position relative to the frame, and / or the second wheel axle moves to a second position relative to the frame, the height of the first end above the ground is greater than the height of the second end above the ground.

[0005] In some embodiments, the adjustment module includes a first adjustment structure, a second adjustment structure and a driving structure, the first adjustment structure is connected to the first wheel axle, the second adjustment structure is connected to the second wheel axle, the driving structure is connected to the first adjustment structure and / or the second adjustment structure, and is used to drive the first adjustment structure to drive the first wheel axle to move relative to the frame, and / or drive the second adjustment structure to drive the second wheel axle to move relative to the frame.

[0006] In some embodiments, the first adjustment structure includes a first rotating shaft and a first swing arm, the first rotating shaft is connected to the frame, both ends of the first swing arm are respectively connected to the first rotating shaft and the first axle, and the driving structure is connected to the first rotating shaft and is used to drive the first rotating shaft to drive the first swing arm together with the first axle to rotate around the rotation axis of the first rotating shaft.

[0007] In some embodiments, the first adjustment structure also includes a rocker, one end of which is connected to the driving structure, and the other end is connected to the first rotating shaft, and is fixed relative to the first swing arm, and the driving structure is used to drive the rocker to drive the first swing arm to rotate around the rotation axis of the first rotating shaft.

[0008] In some embodiments, the length of the first swing arm is greater than or equal to the length of the rocker.

[0009] In some embodiments, the height of the center axis of the first wheel axle above the ground is greater than or equal to the height of the rotation axis of the first rotating axis above the ground, and along the length direction of the walking robot, the first wheel axle is located on the side of the first rotating axis away from the second end, and the first adjustment structure is used to adjust the first wheel axle to move relative to the first rotating axis in a direction away from the second end.

[0010] In some embodiments, the second adjustment structure includes a second rotating shaft and a second swing arm, the second rotating shaft, the second wheel axle and the driving structure are respectively connected to the second swing arm, the rotation axis of the second rotating shaft is spaced apart from the central axis of the second wheel axle, and the driving structure is used to drive the second swing arm to drive the second wheel axle to rotate around the rotation axis of the second rotating shaft.

[0011] In some embodiments, the driving structure includes a driving member, a first connecting rod and a second connecting rod, the driving member is fixedly connected to the frame, one end of the first connecting rod is hinged to the driving member, the other end of the first connecting rod is connected to the first rotating axis, one end of the second connecting rod is hinged to the driving member, and the other end of the second connecting rod is connected to the second swing arm.

[0012] In some embodiments, the driving member is provided as one, and the first connecting rod and the second connecting rod are connected to the driving member together; alternatively, the driving member is provided as two, one of the two driving members is connected to the first connecting rod, and the other of the two driving members is connected to the second connecting rod.

[0013] In some embodiments, a distance between the first axle and the first rotation axis is greater than or equal to a distance between the second axle and the second rotation axis.

[0014] In a second aspect, the present application provides a walking robot, comprising a collecting structure and a walking wheel adjusting device as described in any one of the above, wherein the collecting structure is connected to the walking wheel adjusting device.

[0015] In the walking wheel adjustment device and walking robot provided by the present application, the first wheel axle is installed on the first end, the second wheel axle is installed on the second end, the adjustment module is connected to the first wheel axle and / or the second wheel axle, and is used to drive the first wheel axle and / or the second wheel axle to move relative to the frame; when the first wheel axle moves to the first position relative to the frame, and / or the second wheel axle moves to the second position relative to the frame, the height of the first end above the ground is greater than the height of the second end above the ground. In this way, on the one hand, the second end of the frame can be tilted toward the ground relative to the first end, so that the overall center of gravity of the walking wheel adjustment device moves forward toward the second end, and The center of gravity of the collecting structure approaches the first end, and the collecting structure is lifted relative to the frame in a direction away from the ground, so that the center of gravity of the collecting structure approaches the first end, thereby improving the anti-tilting ability of the walking robot. On the other hand, when the collecting structure is loaded with collected objects, the collected objects in the collecting structure can also be gathered toward the side close to the walking wheel adjustment device, so that the distance between the overall center of gravity of the collecting structure and the collected objects and the first end is reduced, thereby reducing the overturning torque formed by the collecting structure and the collected objects on the frame, thereby avoiding the problem of tilting of the walking robot and improving the application range of the walking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments 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 labor.

[0017] Figure 1 It is a structural schematic diagram of the walking robot provided in an embodiment of the present application when the adjustment module is in a first working posture.

[0018] Figure 2 It is a structural schematic diagram of the walking robot provided in an embodiment of the present application when the adjustment module is in the second working posture.

[0019] Figure 3 It is a schematic diagram of the structure of the walking wheel adjustment device provided in an embodiment of the present application.

[0020] Figure 4 It is an exploded view of the walking wheel adjustment device provided in an embodiment of the present application.

[0021] Figure 5 yes Figure 3 Enlarged view of point I in the middle.

[0022] Figure 6 It is a schematic diagram of the structure of the walking wheel adjustment device provided in an embodiment of the present application after some structures are removed.

[0023] Figure 7 It is a schematic diagram of the structure of the walking wheel adjustment device provided in an embodiment of the present application after removing other parts of the structure.

[0024] Description of main reference numerals: walking robot 1000; walking wheel adjustment device 100; frame 11; first end 111; second end 112; first wheel shaft 121; first walking wheel 122; second wheel shaft 131; second walking wheel 132; adjustment module 20; first adjustment structure 21; first rotating shaft 211; fixing seat 2111; first swing arm 2122; second adjustment structure 22; second rotating shaft 221; second swing arm 222; base 2221; convex portion 2222; reinforcement portion 2223; mounting base 223; accommodating space 2231; connecting hole 2232; mounting hole 2233; first sliding member 2241; second sliding member 22 42; guide groove 2243; guide rod 225; rotating shaft 226; fixing hole 2261; first sleeve 2262; second sleeve 2263; elastic member 2271; fixing member 2272; driving structure 23; driving member 231; telescopic part 2311; driving part 2312; rocker 232; first connecting rod 233; first connecting rod section 2331; second connecting rod section 2332; second connecting rod 234; first segment 2341; second segment 2342; third segment 2343; connecting seat 235; partition 2361; casing 300; cutting structure 400; anti-collision structure 500; collecting structure 600; length direction X; width direction Y; height direction Z.

[0025] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments in the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] Reference to "embodiment" or "implementation" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment or implementation may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] It should be noted that the terms in the specification and claims of this application and the above-mentioned drawings are only for describing specific embodiments and are not intended to limit this application. The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. The term "and / or" used in the specification and claims of this application refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations.

[0029] Please also read Figure 1 , Figure 2 and Figure 3 For a clearer description, in this application, the X-axis direction is defined as the length direction of the walking robot 1000, the Y-axis direction is defined as the width direction of the walking robot 1000, and the Z-axis direction is defined as the height direction of the walking robot 1000. The length direction X, the width direction Y, and the height direction Z of the walking robot 1000 are perpendicular to each other. The length direction X of the walking robot 1000 may refer to the front and rear direction of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the X-axis (the direction pointed by the arrow) is the front, front side or front end of the walking robot 1000, and the opposite direction of the walking robot 1000 along the positive direction of the X-axis is the rear, rear side or rear end of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the Z-axis (the direction pointed by the arrow) is the direction of the walking robot 1000 off the ground.

[0030] Please also read Figure 1 , Figure 3 and Figure 4 , the walking robot 1000 includes a walking wheel adjustment device 100, a housing 300 and a collecting structure 600. The housing 300 is mounted on the walking wheel adjustment device 100. The collecting structure 600 is mounted on the walking wheel adjustment device 100. The walking robot 1000 can be configured as a lawn mowing walking robot, a pesticide spraying walking robot, a crop harvesting walking robot, a sweeping walking robot, a transport walking robot, etc. The walking robot 1000 can be a two-wheeled walking robot, a four-wheeled walking robot, etc. In this embodiment, taking the walking robot 1000 configured as a lawn mowing walking robot as an example, the structure of the walking robot 1000 is described in detail. The walking robot 1000 also includes a cutting structure 400, which is mounted on the walking wheel adjustment device 100. The cutting structure 400 is used to mow the lawn. The collecting structure 600 is used to collect grass clippings, fallen leaves, etc. on the lawn.

[0031] The walking wheel adjustment device 100 includes a frame 11, a first wheel axle 121, a second wheel axle 131 and an adjustment module 20. The frame 11 includes a first end 111 and a second end 112 which are arranged opposite to each other along the front and rear direction of the walking robot. The first end 111 is close to the rear end of the walking robot 1000, and the second end 112 is close to the front end of the walking robot 1000. The first end 111 is connected to the collection structure 600. The first wheel axle 121 is installed on the first end 111. The first wheel axle 121 is used to install the first walking wheel 122. The second wheel axle 131 is installed on the second end 112. The second wheel axle 131 is used to install the second walking wheel 132. The adjustment module 20 is connected to the first wheel axle 121 and / or the second wheel axle 131, and is used to drive the first wheel axle 121 and / or the second wheel axle 131 to move relative to the frame 11. When the first axle 121 moves to the first position relative to the frame 11, and / or the second axle 131 moves to the second position relative to the frame 11, the height of the first end 111 from the ground is greater than the height of the second end 112 from the ground. The height from the ground refers to the distance between the frame 11 and the ground in a direction perpendicular to the ground when the walking robot 1000 is placed on the ground. In this way, the height of the first end 111 from the ground is greater than the height of the second end 112 from the ground. On the one hand, the second end 112 of the frame 11 can be tilted relative to the first end 111 toward the ground, and the frame 11 is in a forward tilting state as a whole, so that the overall center of gravity of the walking wheel adjustment device 100 moves forward toward the second end 112, and the collecting structure 600 rises relative to the frame 11 in a direction away from the ground, so that the center of gravity of the collecting structure 600 is close to the first end 111, thereby improving the anti-tilting ability of the walking robot 1000; on the other hand, when the collecting structure 600 is loaded with collected objects, the forward tilt of the frame 11 can also make the collected objects in the collecting structure 600 fall and gather toward the side close to the walking wheel adjustment device 100, so that the distance between the overall center of gravity of the collecting structure 600 and the collected objects and the first end 111 is reduced, thereby reducing the overturning torque formed by the collecting structure 600 and the collected objects on the frame 11, thereby avoiding the problem of tilting of the walking robot 1000 and improving the scope of application of the walking robot 1000.

[0032] In some embodiments, the adjustment module 20 is connected to the first axle 121 and is used to drive the first axle 121 to move relative to the frame 11. In some embodiments, the adjustment module 20 is connected to the second axle 131 and is used to drive the second axle 131 to move relative to the frame 11. In some embodiments, the adjustment module 20 is connected to both the first axle 121 and the second axle 131 and is used to drive the first axle 121 to move relative to the frame 11, and is used to drive the second axle 131 to move relative to the frame 11.

[0033] The adjustment module 20 includes a first adjustment structure 21, a second adjustment structure 22 and a driving structure 23. The first adjustment structure 21 is connected to the first wheel axle 121. The second adjustment structure 22 is connected to the second wheel axle 131. The driving structure 23 is connected to the first adjustment structure 21 and / or the second adjustment structure 22, and is used to drive the first adjustment structure 21 to drive the first wheel axle 121 to move relative to the frame 11, and / or drive the second adjustment structure 22 to drive the second wheel axle 131 to move relative to the frame 11, so as to adjust the tilt state of the frame 11, thereby adjusting the distribution position of the center of gravity of the walking wheel adjustment device 100.

[0034] In some embodiments, the driving structure 23 is connected to the first adjusting structure 21 to drive the first adjusting structure 21 to move the first wheel axle 121 relative to the frame 11, so as to adjust the height of the first end 111 from the ground. For example, when the walking robot 1000 is traveling on an uphill ground, or the weight of the collected objects loaded on the collecting structure 600 exceeds a predetermined value, the driving structure 23 can drive the first adjusting structure 21 to adjust the first wheel axle 121 to move relative to the frame 11, so that the frame 11 moves relative to the first wheel axle 121 in a direction away from the ground, so that the height of the first end 111 from the ground increases, and the frame 11 is tilted forward, so that the overall center of gravity of the walking wheel adjusting device 100, the collecting structure 600 and the collected objects moves forward, thereby avoiding the problem of the walking robot 1000 tilting its head. For another example, when the walking robot 1000 is traveling on a downhill road, the driving structure 23 can drive the first adjusting structure 21 to adjust the first wheel axle 121 to move relative to the frame 11, so that the frame 11 moves relative to the first wheel axle 121 toward the ground, thereby reducing the height of the first end 111 from the ground and making the frame 11 tilt backward, thereby avoiding the problem of the walking robot 1000 tipping forward and improving the stability of the walking robot 1000 during driving.

[0035] In some embodiments, the driving structure 23 is connected to the second adjusting structure 22 to independently drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, thereby independently adjusting the height of the second end 112 from the ground. For example, when the walking robot 1000 is traveling on an uphill ground, or the weight of the collected objects loaded on the collecting structure 600 exceeds a predetermined value, the driving structure 23 can drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, so that the frame 11 moves toward the ground relative to the second wheel axle 131, so that the height of the second end 112 from the ground is reduced, and the frame 11 is tilted forward, so that the overall center of gravity of the walking wheel adjusting device 100, the collecting structure 600 and the collected objects moves forward, thereby avoiding the problem of the walking robot 1000 tilting its head. For another example, when the walking robot 1000 is traveling on a downhill road, the driving structure 23 can drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, so that the frame 11 is relative to the second wheel axle 131 and faces away from the ground, thereby increasing the height of the second end 112 from the ground and making the frame 11 tilt backward, thereby avoiding the problem of the walking robot 1000 tipping forward and improving the stability of the walking robot 1000 during driving.

[0036] In some embodiments, the driving structure 23 can be connected to the first adjusting structure 21 and the second adjusting structure 22 respectively to drive the first adjusting structure 21 to adjust the first wheel axle 121 to move relative to the frame 11, and drive the second adjusting structure 22 to drive the second wheel axle 131 to move relative to the frame 11, so as to adjust the height of the first end 111 and the height of the second end 112 above the ground, thereby adjusting the inclination state of the frame 11 and adjusting the center of gravity position of the walking robot 1000.

[0037] The first adjustment structure 21 includes a first rotating shaft 211 and a first swing arm 2122. The first rotating shaft 211 is connected to the frame 11. Both ends of the first swing arm 2122 are respectively connected to the first rotating shaft 211 and the first axle 121. The driving structure 23 is connected to the first rotating shaft 211, and is used to drive the first rotating shaft 211 to drive the first swing arm 2122 and the first axle 121 to rotate around the rotation axis of the first rotating shaft 211.

[0038] In some embodiments, the first adjustment structure 21 further includes a rocker 232. The driving structure 23 is fixedly connected to the frame 11. One end of the rocker 232 is connected to the driving structure 23, and the other end is connected to the first rotating shaft 211, and is fixed relative to the first swing arm 2122. The driving structure 23 is used to drive the rocker 232 to drive the first swing arm 2122 to rotate around the rotation axis of the first rotating shaft 211. Exemplarily, the first rotating shaft 211 can be rotatably connected to the frame 11, and the rocker 232 and the first swing arm 2122 are respectively fixedly connected to the first rotating shaft 211. The driving structure 23 is used to drive the rocker 232 to drive the first rotating shaft 211 to rotate, and when the first rotating shaft 211 rotates, the first swing arm 2122 is driven to rotate together with the first axle 121.

[0039] Wherein, the walking wheel adjustment device 100 also includes a fixed seat 2111 and a bearing. The fixed seat 2111 is fixedly connected to the frame 11. The bearing is installed on the fixed seat 2111. The first rotating shaft 211 is passed through the bearing. The first rotating shaft 211 is rotatable relative to the frame 11 through the bearing to reduce the rotation resistance of the first rotating shaft 211. The fixed seat 2111 is set as two, and the two fixed seats 2111 are arranged at intervals along the width direction Y of the walking robot 1000 to improve the connection stability between the first rotating shaft 211 and the frame 11. One of the two fixed seats 2111 is arranged close to one end of the first rotating shaft 211 along the width direction Y of the walking robot 1000, and the other of the two fixed seats 2111 is arranged close to the other end of the first rotating shaft 211 along the width direction Y of the walking robot 1000.

[0040] In some embodiments, the rocker 232 and the first swing arm 2122 can be rotatably connected to the first rotating shaft 211 respectively, the first rotating shaft 211 can be rotatably connected to the frame 11 or fixedly connected to the frame 11, and the rocker 232 and the first swing arm 2122 are fixedly connected or fixedly connected together through a connecting piece.

[0041] In some embodiments, the length of the first swing arm 2122 is greater than the length of the rocker 232. Thus, when the driving structure 23 drives the rocker 232 to drive the first swing arm 2122 to rotate around the rotation axis of the first rotating shaft 211, the rocker 232 moves a smaller stroke so that the first swing arm 2122 drives the first axle 121 to move a larger stroke, thereby amplifying the adjustment stroke of the rocker 232 on the first axle 121, improving the adjustment speed and adjustment efficiency of the first axle 121, and further improving the adjustment speed and adjustment efficiency of the height of the first end 111 from the ground. In some embodiments, the length of the first swing arm 2122 is equal to the length of the rocker 232.

[0042] The driving structure 23 includes a driving member 231 and a first connecting rod 233. The driving member 231 is fixedly connected to the frame 11. One end of the first connecting rod 233 is hinged to the driving member 231, and the other end of the first connecting rod 233 is connected to the first rotating shaft 211. The first connecting rod 233 is connected to the first rotating shaft 211 through a rocking rod 232, and the first connecting rod 233 is hinged to an end of the rocking rod 232 away from the first rotating shaft 211. The first connecting rod 233 and the rocking rod 232 are arranged at an angle. The driving member 231 is used to drive the first connecting rod 233 to drive the rocking rod 232 to move.

[0043] The first connecting rod 233 can be set to multiple. Multiple first connecting rods 233 are respectively hinged to the driving member 231. Along the width direction Y of the walking robot 1000, multiple first connecting rods 233 are arranged at intervals and distributed on both sides of the driving member 231. Multiple rocker arms 232 are set, and the number of rocker arms 232 corresponds to the number of first connecting rods 233. Multiple first connecting rods 233 are connected to multiple rocker arms 232 in a one-to-one correspondence. Since the collection structure 600 is installed on the walking robot 1000, the center of gravity of the walking robot 1000 will be closer to the first end 111 of the frame 11, and the rocker arm 232 will generate a greater force on the first connecting rod 233. In this embodiment, based on the provision of multiple first connecting rods 233, the multiple first connecting rods 233 are distributed on both sides of the driving member 231. On the one hand, the force of the rocking rod 232 can be dispersed, the force acting on a single first connecting rod 233 can be reduced, and the service life of the driving structure 23 can be improved; on the other hand, the balance when the first connecting rod 233 drives the rocking rod 232 to rotate together with the first rotating shaft 211 can be improved, so that the force on the first rotating shaft 211 is balanced. Exemplarily, the number of the first connecting rods 233 is set to an even number, and the even number of the first connecting rods 233 is divided into two groups, and the two groups of the first connecting rods 233 are distributed on both sides of the driving member 231. For example, the first connecting rods 233 can be set to two, four, and so on.

[0044] Please also read Figure 3 , Figure 4 and Figure 5 In some embodiments, the adjustment module 20 further includes a separator 2361. The separator 2361 is located between the first connecting rod 233 and the rocking rod 232. When the driving member 231 drives the first connecting rod 233 to drive the rocking rod 232 to rotate around the rotation axis of the first rotating shaft 211, the separator 2361 can separate the first connecting rod 233 from the rocking rod 232, avoiding direct contact between the first connecting rod 233 and the rocking rod 232, thereby reducing the wear of the first connecting rod 233 and the rocking rod 232 and improving the service life of the driving structure 23. Among them, the separator 2361 can be configured as a plane bearing, so that the friction between the separator 2361 and the first connecting rod 233 and between the separator 2361 and the rocking rod 232 is rolling friction, thereby reducing wear.

[0045] The hinged connection between the first link 233 and the rocker 232 can be a pivot connection or a ball joint connection between the first link 233 and the rocker 232. In some embodiments, a pivot is provided on the partition 2361, and a connection hole is respectively provided on the first link 233 and the rocker 232, and the pivot is rotatably inserted into the connection hole; or, a connection hole is provided on the first link 233 and one of the rockers 232, and the pivot is rotatably inserted into the connection hole, and the first link 233 and the other of the rockers 232 are fixedly connected to the pivot. In some embodiments, the partition 2361 can be configured as a ball joint assembly, and the ball joint assembly includes a ball head and a spherical bushing, and the first link 233 and one of the rockers 232 are provided with a spherical groove, and the ball head and the spherical bushing are accommodated in the spherical groove, and the first link 233 and the other of the rockers 232 are fixedly connected to the ball head. The spherical bushing is used to separate the inner wall of the spherical groove from the outer wall of the ball head, so as to avoid direct contact between the inner wall of the spherical groove and the outer wall of the ball head, thereby avoiding wear.

[0046] Please also read Figure 3 , Figure 4 and Figure 6 The adjustment module 20 has a first state and a second state. When the adjustment module 20 is in the first state, the height of the first end 111 from the ground is at a minimum value. When the adjustment module 20 is in the second state, the height of the first end 111 from the ground is at a maximum value.

[0047] In the first exemplary embodiment of the present application, the height of the center axis of the first axle 121 from the ground is greater than or equal to the height of the rotation axis of the first rotating shaft 211 from the ground. Along the length direction X of the walking robot 1000, the first axle 121 is located on the side of the first rotating shaft 211 away from the second end 112. The first adjustment structure 21 is used to adjust the first axle 121 to move relative to the first rotating shaft 211 in a direction away from the second end 112. Among them, the connection point P1 between the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 between the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotating shaft 211 away from the ground. When the adjustment module 20 transitions from the first state to the second state, the driving member 231 is used to drive the first connecting rod 233 to push the rocker 232 to swing in the direction away from the second end 112, so that the first wheel axle 121 moves toward the ground and away from the second end 112, so that the height of the first end 111 from the ground is increased, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is increased, thereby improving the anti-warping capability of the walking robot 1000. When the adjustment module 20 transitions from the second state to the first state, the driving member 231 is used to drive the first connecting rod 233 to pull the rocker 232 to swing in the direction close to the second end 112, so that the first wheel axle 121 moves away from the ground and toward the second end 112, so that the height of the first end 111 from the ground is reduced, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is reduced.

[0048] In the exemplary second embodiment of the present application, the height of the center axis of the first wheel axle 121 from the ground is greater than or equal to the height of the rotation axis of the first rotation axis 211 from the ground. Along the length direction X of the walking robot 1000, the first wheel axle 121 is located on the side of the first rotation axis 211 away from the second end 112. The connection point P1 between the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 between the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotation axis 211 close to the ground. When the adjustment module 20 transitions from the first state to the second state, the driving member 231 is used to drive the first connecting rod 233 to pull the rocker 232 to swing in the direction close to the second end 112, so that the first wheel axle 121 moves in the direction close to the ground and away from the second end 112, so that the height of the first end 111 from the ground is increased, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is increased, thereby improving the anti-warping ability of the walking robot 1000. When the adjustment module 20 transitions from the second state to the first state, the driving member 231 is used to drive the first connecting rod 233 to push the rocker 232 to swing away from the second end 112, so that the height of the first end 111 from the ground is reduced.

[0049] In the third exemplary embodiment of the present application, the height of the center axis of the first axle 121 from the ground is less than or equal to the height of the rotation axis of the first rotating shaft 211 from the ground. Along the length direction X of the walking robot 1000, the first axle 121 is located on the side of the first rotating shaft 211 close to the second end 112. The first adjustment structure 21 is used to adjust the first axle 121 to move in a direction away from the second end 112 relative to the first rotating shaft 211. Among them, the connection point P1 between the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 between the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotating shaft 211 away from the ground. When the adjustment module 20 transitions from the first state to the second state, the driving member 231 is used to drive the first connecting rod 233 to pull the rocker 232 to swing in the direction close to the second end 112, so that the first wheel axle 121 moves toward the ground and away from the second end 112, so that the height of the first end 111 from the ground is increased, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is increased, thereby improving the anti-warping capability of the walking robot 1000. When the adjustment module 20 transitions from the second state to the first state, the driving member 231 is used to drive the first connecting rod 233 to push the rocker 232 to swing in the direction away from the second end 112, so that the height of the first end 111 from the ground is reduced.

[0050] In the exemplary fourth embodiment of the present application, the height of the center axis of the first axle 121 from the ground is less than or equal to the height of the rotation axis of the first rotating shaft 211 from the ground. Along the length direction X of the walking robot 1000, the first axle 121 is located on the side of the first rotating shaft 211 close to the second end 112. The first adjustment structure 21 is used to adjust the first axle 121 to move in a direction away from the second end 112 relative to the first rotating shaft 211. Among them, the connection point P1 between the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 between the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotating shaft 211 close to the ground. When the adjustment module 20 transitions from the first state to the second state, the driving member 231 is used to drive the first connecting rod 233 to push the rocker 232 to swing in the direction away from the second end 112, so that the first wheel axle 121 moves toward the ground and away from the second end 112, so that the height of the first end 111 from the ground is increased, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is increased, thereby improving the anti-warping capability of the walking robot 1000. When the adjustment module 20 transitions from the second state to the first state, the driving member 231 is used to drive the first connecting rod 233 to pull the rocker 232 to swing in the direction close to the second end 112, so that the height of the first end 111 from the ground is reduced.

[0051] Please also read Figure 3 , Figure 4 , Figure 6 and Figure 7 The second adjustment structure 22 includes a second rotating shaft 221 and a second swing arm 222. The second rotating shaft 221, the second wheel axle 131 and the driving structure 23 are respectively connected to the second swing arm 222. The rotation axis of the second rotating shaft 221 is spaced from the center axis of the second wheel axle 131. The driving structure 23 is also used to drive the second swing arm 222 to drive the second wheel axle 131 to rotate around the rotation axis of the second rotating shaft 221.

[0052] In some embodiments, the second rotating shaft 221 and the second swing arm 222 can be rotatably connected. In some embodiments, the second rotating shaft 221 and the second swing arm 222 are fixedly connected, and the second rotating shaft 221 can rotate relative to the frame 11 along the circumferential direction of the second rotating shaft 221. Among them, the second rotating shaft 221 and the second swing arm 222 can be set independently of each other, and the second rotating shaft 221 and the second swing arm 222 can be fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fasteners, etc., or the second rotating shaft 221 and the second swing arm 222 can also be integrally formed.

[0053] The second axle 131 and the second swing arm 222 can be rotatably connected or fixedly connected. Exemplarily, the second axle 131 and the second swing arm 222 are fixedly connected. The second axle 131 and the second swing arm 222 can be set independently of each other, and the second axle 131 and the second swing arm 222 can be fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fasteners, etc. In some embodiments, the second axle 131 and the second swing arm 222 can also be integrally formed. At least one of the first walking wheel 122 and the second walking wheel 132 can be installed with a hub motor to make the structure of the walking robot 1000 compact.

[0054] The second swing arm 222 is provided with two, and the two second swing arms 222 are located near the middle position of the walking robot 1000 along the width direction Y. The second walking wheel 132 and the second swing arm 222 are arranged at intervals along the width direction Y of the walking robot 1000. The middle position of the walking robot 1000 along the width direction Y may refer to the midpoint of the walking robot 1000 along the width direction Y or a position near the midpoint. The midpoint of the walking robot 1000 along the width direction Y may be located between the two second swing arms 222. Along the width direction Y of the walking robot 1000, the distance between the second swing arm 222 and the midpoint of the walking robot 1000 along the width direction Y is less than the distance between the second swing arm 222 and the second walking wheel 132. Among them, the housing 300 and the frame 11 are enclosed to form a receiving space, and the second swing arm 222, the second rotating shaft 221 and the driving structure 23 are all located in the receiving space to prevent grass plants from being entangled on the second swing arm 222, the second rotating shaft 221 and the driving structure 23.

[0055] The driving structure 23 further includes a second connecting rod 234. One end of the second connecting rod 234 is hinged to the driving member 231, and the other end of the second connecting rod 234 is connected to the second swing arm 222. The driving member 231 is used to drive the second swing arm 222 to rotate around the rotation axis of the second rotating shaft 221.

[0056] The second adjustment structure 22 also includes a first sliding member 2241. The first sliding member 2241 is connected to the second swing arm 222. The second connecting rod 234 is used to connect with the first sliding member 2241 to drive the first sliding member 2241 to move along the length direction X of the walking robot 1000, so that the first sliding member 2241 drives the second swing arm 222 to rotate around the central axis of the second rotating shaft 221. The two opposite ends of the first sliding member 2241 along the axial direction are respectively connected to the two second swing arms 222 in the two first wheel axle modules 12, so that the second connecting rod 234 can drive the two second swing arms 222 to rotate synchronously through the first sliding member 2241, simplifying the connection between the second connecting rod 234 and the two second swing arms 222. Among them, the first sliding member 2241 and the second swing arm 222 can be rotatably connected or fixedly connected.

[0057] The second swing arm 222 can be configured as a swing plate. The second swing arm 222 includes a base 2221 and a convex portion 2222 convexly arranged on the base 2221 along the width direction Y of the walking robot 1000. The base 2221 is arranged in a plate shape. A connecting hole is provided on the convex portion 2222. There are three convex portions 2222, and the three convex portions 2222 correspond to the second rotating shaft 221, the second wheel shaft 131 and the first sliding member 2241 one by one, and the second rotating shaft 221, the second wheel shaft 131 and the first sliding member 2241 are respectively inserted into the connecting holes on the corresponding convex portions 2222. The convex portion 2222 can increase the connection length of the second rotating shaft 221, the second wheel shaft 131 and the first sliding member 2241 with the second swing arm 222, and improve the connection stability. Among them, the base 2221 can be roughly triangular, and the three convex portions 2222 are respectively arranged at the three corners of the base 2221.

[0058] In some embodiments, the second swing arm 222 further includes a reinforcing portion 2223 protruding from the base 2221. The reinforcing portion 2223 may be connected between the protruding portion 2222 and the base 2221 to improve the connection stability between the protruding portion 2222 and the base 2221, and to improve the anti-bending ability of the base 2221. The reinforcing portion 2223 may be provided in plurality. The plurality of reinforcing portions 2223 may be arranged side by side and spaced apart.

[0059] The second adjustment structure 22 also includes a mounting base 223, a second sliding member 2242 and a guide rod 225. The mounting base 223 is fixed relative to the frame 11. A receiving space 2231 is provided on the mounting base 223. The first sliding member 2241, the second sliding member 2242 and the guide rod 225 are all located in the receiving space 2231. The axial direction of the guide rod 225 is perpendicular to the width direction Y of the walking robot 1000. The axial direction of the guide rod 225 can be perpendicular to the axial direction of the second rotating shaft 221. The second sliding member 2242 is slidably sleeved on the guide rod 225.

[0060] The first sliding member 2241 is in sliding contact with the second sliding member 2242. A guide groove 2243 is provided on one of the first sliding member 2241 and the second sliding member 2242, and the other of the first sliding member 2241 and the second sliding member 2242 is inserted into the guide groove 2243 and can slide in the guide groove 2243. Exemplarily, the second sliding member 2242 may be provided with a guide groove 2243, and the first sliding member 2241 is inserted into the guide groove 2243. The guide groove 2243 is arranged in a long strip shape. The guide groove 2243 is extended along the height direction Z of the walking robot 1000. Along the height direction Y of the walking robot 1000, the height dimension of the guide groove 2243 is greater than the height dimension of the first sliding member 2241. In some embodiments, the first sliding member 2241 may be provided with a guide groove 2243, and the second sliding member 2242 is inserted into the guide groove 2243. The guide groove 2243 is opened along the width direction Y of the walking robot 1000 . Along the width direction Y of the walking robot 1000 , the width of the guide groove 2243 is greater than the width of the second sliding member 2242 .

[0061] The first sliding member 2241 can be configured as a columnar body, and the cross section of the first sliding member 2241 can be configured as a circle to reduce the contact area between the side wall of the first sliding member 2241 and the groove wall of the guide groove 2243, thereby reducing the sliding resistance when the first sliding member 2241 slides. In some embodiments, the cross section of the first sliding member 2241 can also be configured as a square, an ellipse, a regular polygon, etc. The central axis of the first sliding member 2241 passes through the geometric center of the cross section of the first sliding member 2241.

[0062] In some embodiments, at least one of the first sliding member 2241 and the second sliding member 2242 is provided with a lubricating structure to reduce the wear of the first sliding member 2241 and the second sliding member 2242 when sliding against each other, improve the service life, and reduce noise. Wherein, the lubricating structure can be configured as grease. Grease is coated on the outer surface of the first sliding member 2241, or grease is coated on the inner wall of the guide groove 2243, or grease is coated on the outer surface of the first sliding member 2241 and the inner wall of the guide groove 2243. In some embodiments, the first sliding member 2241 can be configured as a self-lubricating structure, and / or the second sliding member 2242 can be configured as a self-lubricating structure. The lubricating structure can be configured as the outer wall surface of the first sliding member 2241 and / or the inner wall surface of the guide groove 2243. Wherein, the material made of the self-lubricating structure may include a plastic structure with a self-lubricating function.

[0063] The second connecting rod 234 is rotatably connected to the second sliding member 2242 to drive the second sliding member 2242 to slide along the guide rod 225, so that the second sliding member 2242 pushes or pulls the first sliding member 2241 to drive the second swing arm 222 to rotate around the central axis of the second rotating shaft 221, and the second swing arm 222 drives the second wheel axle 131 together with the second walking wheel 132 to rotate around the second rotating shaft 221.

[0064] A connecting hole 2232 is provided on the mounting base 223. The connecting hole 2232 is connected to the accommodating space 2231. The second connecting rod 234 is passed through the connecting hole 2232. In some cases, the connecting hole 2232 can limit the second connecting rod 234, thereby reducing or avoiding the shaking of the second connecting rod 234. The mounting base 223 includes two mounting parts, and the two mounting parts are arranged at intervals along the length direction X of the walking robot 1000. The accommodating space 2231 is located between the two mounting parts. The two mounting parts can be set independently of each other, or the two mounting parts can be set as an integral part. Along the width direction Y of the walking robot 1000, the mounting base 223 is located between the two second swing arms 222.

[0065] The number of guide rods 225 can be set to multiple. The central axes of multiple guide rods 225 are parallel to each other and spaced from each other. For example, the number of guide rods 225 can be set to four. Four guide rods 225 are distributed in an array. Through holes are provided on the four corners of the second sliding member 2242, and the four guide rods 225 are correspondingly penetrated in the four through holes. The connecting hole 2232 can also make the connection between the second connecting rod 234 and the second sliding member 2242 located at the geometric center of the line connecting the four guide rods 225, so that when the second connecting rod 234 drives the second sliding member 2242 to slide, the uniformity of the limiting force of the four guide rods 225 on the second sliding member 2242 is improved, thereby reducing the sliding resistance between the second sliding member 2242 and the guide rod 225, reducing the wear of the second sliding member 2242 and the guide rod 225, and improving the service life. In some embodiments, the number of guide rods 225 can also be one, two, three, five, six, etc., and those skilled in the art can specifically set it according to actual needs, and it is not specifically limited in the embodiments of the present application.

[0066] In some embodiments, the second rotating shaft 221 is rotatable relative to the frame 11 along the height direction Z of the walking robot 1000. Along the width direction Y of the walking robot 1000, the two opposite ends of the second rotating shaft 221 can swing up and down relative to the middle of the second rotating shaft 221 along the height direction Z of the walking robot 1000. Among them, the second rotating shaft 221 is rotatable relative to the frame 11 along the height direction Z of the walking robot 1000, which means that the rotation plane of the second rotating shaft 221 along the height direction Z of the walking robot 1000 is parallel to or at an acute angle to the height direction Z of the walking robot 1000. When the second rotating shaft 221 swings up and down relative to the frame 11, it can drive the second swing arm 222 and the second wheel axle 131 to swing relative to the frame 11. In this way, when the walking robot 1000 passes through an uneven road surface, the up and down rotation of the second rotating shaft 221 can offset the influence of the uneven road surface on the frame 11, so that the frame 11 remains relatively stable when the walking robot 1000 is driving, thereby improving the stability of the walking robot 1000 when driving.

[0067] The guide slot 2243 is extended along the rotation plane formed when the second rotation axis 221 rotates relative to the frame 11 along the height direction Z of the walking robot 1000. When the second rotation axis 221 rotates relative to the frame 11 along the height direction Z of the walking robot 1000, the second rotation axis 221 can drive the second swing arm 222 together with the first sliding member 2241 to rotate relative to the frame 11, and the first sliding member 2241 rotates relative to the second sliding member 2242 in the guide slot 2243. Exemplarily, the rotation plane of the second rotation axis 221 relative to the frame 11 along the height direction Z of the walking robot 1000 can be perpendicular to the length direction X of the walking robot 1000.

[0068] The walking wheel adjustment device 100 also includes a rotating shaft 226. The rotating shaft 226 is used to connect with the frame 11. The second rotating shaft 221 is connected to the rotating shaft 226. The central axis of the rotating shaft 226 is perpendicular to the rotating axis of the second rotating shaft 221. The second rotating shaft 221 is rotatable around the central axis of the rotating shaft 226. When the walking robot 1000 travels on an uneven ground, the second walking wheel 132 can adaptively drive the second rotating shaft 221 to rotate relative to the central axis of the rotating shaft 226 according to the ups and downs of the ground, so that the frame 11 remains parallel or approximately parallel to the ground, which greatly reduces the bumps and vibrations of the walking robot 1000 when traveling on uneven ground, and improves the stability of the walking robot 1000 when traveling.

[0069] Exemplarily, the center axis of the rotation shaft 226 may be parallel to the length direction X of the walking robot 1000. The axial direction of the second rotation shaft 221 is perpendicular to the length direction X of the walking robot 1000. When the second rotation shaft 221 rotates around the center axis of the rotation shaft 226, the rotation plane formed by the second rotation shaft 221 is parallel to the height direction Z of the walking robot 1000. In some embodiments, the center axis of the rotation shaft 226 may also be set at an angle to the length direction X of the walking robot 1000. The center axis of the rotation shaft 226 is located in a plane perpendicular to the width direction Y of the walking robot 1000. When the second rotation shaft 221 rotates around the center axis of the rotation shaft 226, the rotation plane formed by the second rotation shaft 221 is set at an acute angle to the height direction Z of the walking robot 1000.

[0070] In some embodiments, the rotating shaft 226 is rotatable relative to the frame 11 around the central axis of the rotating shaft 226. The rotating shaft 226 is rotatably connected to the mounting base 223. The mounting base 223 is provided with a mounting hole 2233. The rotating shaft 226 is inserted into the mounting hole 2233. Exemplarily, the walking wheel adjustment device 100 also includes a first sleeve 2262. The first sleeve 2262 is sleeved on the rotating shaft 226 and inserted into the mounting hole 2233 on the mounting base 223. The first sleeve 2262 is used to reduce the wear of the rotating shaft 226 and the mounting base 223 when the rotating shaft 226 rotates relative to the mounting base 223, thereby increasing the service life.

[0071] A fixing hole 2261 may be provided on the rotating shaft 226, and the second rotating shaft 221 is inserted into the fixing hole 2261. The rotating shaft 226 and the second rotating shaft 221 may be rotatably connected. Exemplarily, the walking wheel adjustment device 100 also includes a second sleeve 2263. The second sleeve 2263 is sleeved on the second rotating shaft 221 and inserted into the fixing hole 2261. The second sleeve 2263 is used to reduce the wear between the second rotating shaft 221 and the rotating shaft 226 when the second rotating shaft 221 rotates relative to the rotating shaft 226, thereby increasing the service life. The second sleeve 2263 includes a first sleeve portion located in the fixing hole 2261 and a second sleeve portion connected to the first sleeve portion. The second sleeve portion is located outside the fixing hole 2261 and between the second swing arm 222 and the rotating shaft 226. The second sleeve portion is used to reduce the wear between the second swing arm 222 and the rotating shaft 226 when the second swing arm 222 rotates around the rotating axis of the second rotating shaft 221, thereby increasing the service life of the walking wheel adjustment device 100. In some embodiments, the rotating shaft 226 and the second rotating shaft 221 can be fixedly connected. The rotating shaft 226 and the second rotating shaft 221 can also be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 226 and the second rotating shaft 221 can also be integrally formed.

[0072] In some embodiments, a fixing hole 2261 may be provided on the second rotating shaft 221, and the rotating shaft 226 is inserted into the fixing hole 2261, and the second rotating shaft 221 is rotatable relative to the rotating shaft 226. The rotating shaft 226 is rotatable or fixed relative to the frame 11. The rotating shaft 226 and the mounting base 223 may be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 226 and the mounting base 223 may be integrally formed. In some embodiments, a fixing hole 2261 may be provided on the second rotating shaft 221, and the rotating shaft 226 is inserted into the fixing hole 2261, and the second rotating shaft 221 is fixed relative to the rotating shaft 226, and the rotating shaft 226 is rotatable relative to the frame 11.

[0073] In some embodiments, the walking wheel adjustment device 100 further includes an elastic member 2271. One end of the elastic member 2271 is connected to the mounting base 223, and the other end of the elastic member 2271 is connected to one of the second rotating shaft 221, the second swing arm 222, and the second wheel axle 131. The elastic member 2271 is used to buffer the rotation of the second rotating shaft 221 when the second rotating shaft 221 swings relative to the frame 11 along the height direction Z of the walking robot 1000, slow down the rotation speed of the second rotating shaft 221, reduce the impact force generated by the second rotating shaft 221 on the vehicle body, improve the driving stability of the walking robot 1000, and provide a reset force for the second rotating shaft 221 so that the second rotating shaft 221 is reset in time.

[0074] Exemplarily, the elastic member 2271 is connected to the second rotating shaft 221. Along the width direction Y of the walking robot 1000, the second rotating shaft 221 penetrates the second swing arm 222, and the end of the second rotating shaft 221 along the axial direction protrudes relative to the second swing arm 222. A slot may be provided at the end of the second rotating shaft 221 protruding relative to the second swing arm 222, and the elastic member 2271 is snapped into the slot to prevent the elastic member 2271 from slipping off the second rotating shaft 221. Two elastic members 2271 are provided, and the two elastic members 2271 are correspondingly connected to the two ends of the second rotating shaft 221 that are opposite to each other along the axial direction. Among them, the elastic member 2271 can be configured as a spring, an elastic band, etc.

[0075] In some embodiments, the walking wheel adjustment device 100 also includes a fixing member 2272. The fixing member 2272 is connected to the mounting base 223. The end of the fixing member 2272 protrudes relative to the mounting base 223 along the width direction Y of the walking robot 1000. The elastic member 2271 is connected to the end of the fixing member 2272. Among them, the fixing member 2272 is used to prevent the elastic member 2271 from interfering with other structures and facilitate the installation of the elastic member 2271. The fixing member 2272 can be constructed as a fixing rod. A snap-fit ​​groove can be provided at the end of the fixing member 2272, and the elastic member 2271 is snap-fitted into the snap-fit ​​groove to prevent the elastic member 2271 from slipping off the fixing member 2272.

[0076] The adjustment module 20 also includes a third state and a fourth state. When the adjustment module 20 is in the third state, the height of the second end 112 from the ground is at a minimum value. When the adjustment module 20 is in the fourth state, the height of the second end 112 from the ground is at a maximum value.

[0077] In the exemplary fifth embodiment of the present application, the height of the center axis of the second wheel axle 131 from the ground is greater than the height of the rotation axis of the second rotating shaft 221 from the ground. Along the length direction X of the walking robot 1000, the second wheel axle 131 is located on the side of the second rotating shaft 221 close to the first end 111. The second adjustment structure 22 is used to adjust the second wheel axle 131 to move relative to the second rotating shaft 221 toward the direction close to the first end 111. Among them, the connection point P3 of the first sliding member 2241 and the second swing arm 222 is located on the side of the connection point P4 of the second connecting rod 234 and the driving member 231 and the line L2 between the rotation axis of the second rotating shaft 221 away from the ground. When the adjustment module 20 transitions from the third state to the fourth state, the driving member 231 drives the second connecting rod 234 to pull the second sliding member 2242 to drive the first sliding member 2241 to move toward the direction close to the first end 111, and the first sliding member 2241 drives the second wheel axle 131 to move relative to the rotation axis of the second rotating shaft 221 toward the ground and close to the first end 111 through the second swing arm 222, thereby increasing the height of the second end 112 from the ground and reducing the distance between the center of gravity of the walking wheel adjustment device 100 and the second wheel axle 131. When the adjustment module 20 transitions from the fourth state to the third state, the driving member 231 drives the second connecting rod 234 to push the second sliding member 2242 to drive the first sliding member 2241 to move in a direction away from the first end 111, and the first sliding member 2241 drives the second wheel axle 131 to move relative to the rotation axis of the second rotating shaft 221 in a direction away from the ground and away from the first end 111 through the second swing arm 222, so that the height of the second end 112 from the ground is reduced, and the distance between the center of gravity of the walking wheel adjustment device 100 and the second wheel axle 131 is increased. In some embodiments, the position of the second wheel axle 131 relative to the second rotating shaft 221 can also be specifically set according to actual needs. The connection point P3 of the first sliding member 2241 and the second swing arm 222 can be located on the side of the connection point P4 of the second connecting rod 234 and the driving member 231 and the line L2 between the rotation axis of the second rotating shaft 221 away from or close to the ground.

[0078] Please also read Figure 1 and Figure 2, the adjustment module 20 also has a first working posture and a second working posture. When the adjustment module 20 is in the first working posture, the spacing distance between the first axle 121 and the second axle 131 along the height direction Z of the walking robot 1000 is at a maximum value, and the first axle 121 is located on the side of the second axle 131 away from the ground. At this time, the first axle 121 is in the first position, the second axle 131 is in the second position, and the height of the first end 111 from the ground is greater than the height of the second end 112 from the ground. When the adjustment module 20 is in the second working posture, the spacing distance between the first axle 121 and the second axle 131 along the height direction Z of the walking robot 1000 is zero, and at this time, the height of the first end 111 from the ground is equal to the height of the second end 112 from the ground.

[0079] In some embodiments, the adjusting module 20 is connected to the first axle 121. The adjusting module 20 is in the first working posture, which may be the adjusting module 20 is in the second state. The adjusting module 20 is in the second working posture, which may be the adjusting module 20 is in the first state.

[0080] In some embodiments, the adjusting module 20 is connected to the second axle 131. The adjusting module 20 is in the first working posture, which may be the adjusting module 20 in the third state. The adjusting module 20 is in the second working posture, which may be the adjusting module 20 in the fourth state.

[0081] In some embodiments, the adjustment module 20 is connected to the first axle 121 and the second axle 131 respectively. The adjustment module 20 is in the first working posture, which may be an intermediate state when the adjustment module 20 is in transition from the first state to the second state and from the third state to the fourth state, or the adjustment module 20 may be in the second state and the fourth state. The adjustment module 20 is in the second working posture, which may be the adjustment module 20 in the first state and the third state.

[0082] Please also read Figure 3 , Figure 4 , Figure 6 and Figure 7, the distance between the first axle 121 and the first rotating shaft 211 is greater than the distance between the second axle 131 and the second rotating shaft 221. When the adjustment module 20 is in the second working posture, the angle between the line between the central axis of the first axle 121 and the rotation axis of the first rotating shaft 211 and the horizontal ground is greater than the angle between the line between the central axis of the second axle 131 and the rotation axis of the second rotating shaft 221 and the horizontal ground. In this way, when the driving structure 23 drives the first adjustment structure 21 to drive the first axle 121 to move, and drives the second adjustment structure 22 to drive the second axle 131 to move, the change in the height of the first end 111 from the ground is greater than the change in the height of the second end 112 from the ground, so that the adjustment module 20 can adjust the height of the first end 111 from the ground to be greater than the height of the second end 112 from the ground.

[0083] The first connecting rod 233 is at least partially configured as an elastic structure, and / or the second connecting rod 234 is at least partially configured as an elastic structure. In some embodiments, the first connecting rod 233 is at least partially configured as an elastic structure. It is understandable that under the action of gravity, the weight of the walking robot 1000 itself will act on the first wheel shaft 121, and the first wheel shaft 121 will generate a torque centered on the rotation axis of the first rotating shaft 211 on the second swing arm 222, and the first rotating shaft 211 acts on the first connecting rod 233 through the rocker 232, so that the rocker 232 generates pressure or tension on the first connecting rod 233. In some cases, when the first walking wheel 122 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension exerted by the rocker 232 on the first connecting rod 233 is too large, which easily causes the first connecting rod 233 to bend under the pressure or crack under the tension. In the embodiment of the present application, the first connecting rod 233 is at least partially configured as an elastic structure. On the one hand, the rigid transmission between the first connecting rod 233 and the driving member 231 can be reduced. The first connecting rod 233 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the first connecting rod 233, avoiding damage to the first connecting rod 233, and increasing the service life of the first connecting rod 233; on the other hand, when the first connecting rod 233 is elastically deformed, it can absorb the impact force of the rocker arm 232 on the first connecting rod 233, reduce the impact of the first connecting rod 233 on the driving member 231, and increase the service life of the driving structure 23; on the other hand, when the first connecting rod 233 is elastically deformed, it can also absorb the impact force generated by the ground on the walking robot 1000, thereby improving the stability of the walking robot 1000 when traveling on uneven roads.

[0084] Exemplarily, the first connecting rod 233 is arranged in a bent or curved shape. The first connecting rod 233 may include a first connecting rod segment 2331 and a second connecting rod segment 2332 connected to the first connecting rod segment 2331. One end of the first connecting rod segment 2331 away from the second connecting rod segment 2332 is connected to the rocker 232. One end of the second connecting rod segment 2332 away from the first connecting rod segment 2331 is connected to the driving member 231. The first connecting rod segment 2331 and the second connecting rod segment 2332 are arranged at an angle. In some embodiments, the first connecting rod 233 can also be arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, the first connecting rod 233 can also be arranged partially in a bent shape, for example, at least one of the first connecting rod segment 2331 and the second connecting rod segment 2332 is arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, a part or the whole of the first connecting rod 233 is configured as a spring. For example, at least one of the first link segment 2331 and the second link segment 2332 is partially or entirely configured as a spring. In some embodiments, the material of the first link 233 partially or entirely includes an elastic material, such as rubber, plastic, and the like.

[0085] In some embodiments, the second connecting rod 234 is at least partially configured as an elastic structure. It is understandable that under the action of gravity, the weight of the walking robot 1000 itself will act on the second wheel axle 131, and the second wheel axle 131 will generate a torque centered on the rotation axis of the second rotating shaft 221 on the second swing arm 222, and the torque acts on the second connecting rod 234 through the first sliding member 2241 and the second sliding member 2242, and generates pressure or tension on the second connecting rod 234. When the walking robot 1000 travels on an uneven ground, the second walking wheel 132 will rise and fall with the unevenness of the ground, causing the walking robot 1000 to vibrate and bump, resulting in the torque generated by the second wheel axle 131 on the second swing arm 222 becoming larger or smaller, and the pressure of the second sliding member 2242 on the second connecting rod 234 increasing or decreasing. In some cases, when the second traveling wheel 132 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension exerted by the second sliding member 2242 on the second connecting rod 234 is too large, which can easily cause the second connecting rod 234 to bend under the pressure or crack under the tension. In the embodiment of the present application, the second connecting rod 234 is at least partially configured as an elastic structure. On the one hand, the second connecting rod 234 can undergo elastic deformation when subjected to pressure or tension, thereby buffering the pressure or tension acting on the second connecting rod 234, avoiding damage to the second connecting rod 234, and increasing the service life of the second connecting rod 234; on the other hand, when the second connecting rod 234 undergoes elastic deformation, it can absorb the impact force of the second swing arm 222 acting on the second connecting rod 234, reduce the impact of the second connecting rod 234 on the driving member 231, and increase the service life of the driving member 231; on the other hand, when the second connecting rod 234 undergoes elastic deformation, it can also absorb the impact force generated by the ground on the walking robot 1000, thereby improving the stability of the walking robot 1000 when traveling on uneven roads.

[0086] The second connecting rod 234 may be arranged in a curved shape. For example, the second connecting rod 234 is arranged in a wave shape. The second connecting rod 234 may include a first segment 2341, a second segment 2342, and a third segment 2343 connected end to end in sequence. The first segment 2341 is used to connect with the second sliding member 2242. The third segment 2343 is used to connect with the driving member 231. The first segment 2341 and the second segment 2342, and the second segment 2342 and the third segment 2343 are arranged at an angle respectively. The first segment 2341, the second segment 2342, and the third segment 2343 are arranged in a wave shape. In some embodiments, the second connecting rod 234 may also be arranged in an arc shape, a broken line shape, etc. In some embodiments, the second connecting rod 234 may also be partially arranged in a curved shape, for example, at least one of the first segment 2341, the second segment 2342, and the third segment 2343 is arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, part or the whole of the second connecting rod 234 is configured as a spring. For example, at least one of the first segment 2341, the second segment 2342, and the third segment 2343 is configured as a spring. In some embodiments, part or the whole of the second connecting rod 234 is made of an elastic material, such as rubber, plastic, etc. In some embodiments, both the first connecting rod 233 and the second connecting rod 234 are at least partially configured as an elastic structure to increase the service life of the driving structure 23 and improve the stability of the walking robot 1000 when traveling.

[0087] The driving member 231 includes a telescopic portion 2311 and a driving portion 2312. The driving portion 2312 is fixedly connected to the frame 11. The telescopic portion 2311 is hinged to the first connecting rod 233 and the second connecting rod 234 respectively. The first connecting rod 233 and the second connecting rod 234 are rotatable relative to the telescopic portion 2311 respectively. The driving portion 2312 is used to drive the telescopic portion 2311 to extend toward the front of the walking robot 1000 or retract toward the rear of the walking robot 1000 relative to the driving portion 2312. The extension direction D1 of the telescopic portion 2311 is parallel to or colinear with the telescopic direction. The first walking wheel 122 is configured as the rear walking wheel of the walking robot 1000. The second walking wheel 132 is configured as the front walking wheel of the walking robot 1000.

[0088] It can be understood that the extension direction D1 of the telescopic portion 2311 and the extension direction of the line L1 between the connection point P2 between the telescopic portion 2311 and the first connecting rod 233 and the rotation axis of the first rotating shaft 211 are set at an angle. The extension direction D1 of the telescopic portion 2311 and the extension direction of the line L2 between the connection point P4 between the telescopic portion 2311 and the second connecting rod 234 and the rotation axis of the second rotating shaft 221 are set at an angle. The force of the first connecting rod 233 acting on the telescopic portion 2311 is along the extension direction of the line L1 between the connection point P2 between the telescopic portion 2311 and the first connecting rod 233 and the rotation axis of the first rotating shaft 211. The force of the second connecting rod 234 acting on the telescopic portion 2311 is along the extension direction of the line L2 between the connection point P4 between the telescopic portion 2311 and the second connecting rod 234 and the rotation axis of the second rotating shaft 221. The force exerted by the first connecting rod 233 and the second connecting rod 234 on the telescopic portion 2311 can be decomposed into a first component force along the extension direction D1 of the telescopic portion 2311 and a second component force perpendicular to the extension direction D1 of the telescopic portion 2311. The first component force compresses or stretches the telescopic portion 2311. The second component force forms a torque on the telescopic portion 2311, tends to bend the telescopic portion 2311, and tends to increase the friction between the telescopic portion 2311 and the driving portion 2312, resulting in increased wear between the telescopic portion 2311 and the driving portion 2312, thereby reducing the service life of the driving member 231. In some cases, when the walking robot 1000 travels over pits or bumps on the ground, the first walking wheel 122 and the second walking wheel 132 impact the ground, causing the first connecting rod 233 and the second connecting rod 234 to impact the telescopic part 2311. When the second component force is too large, the second component force can easily cause the telescopic part 2311 to bend, causing damage to the telescopic part 2311.

[0089] Among them, since a collection structure 600 is installed on the frame 11, along the length direction X of the walking robot 1000, the distance between the overall center of gravity of the walking robot 1000 and the first rotation axis 211 is smaller than the distance between the center of gravity and the second rotation axis 221, and the force generated by the first connecting rod 233 on the telescopic part 2311 is greater than the force generated by the second connecting rod 234 on the telescopic part 2311. In this embodiment, based on the driving part 2312 driving the telescopic part 2311 to extend toward the front of the walking robot 1000 or retract toward the rear of the walking robot 1000 relative to the driving part 2312, the distance between the connection point P2 of the telescopic part 2311 and the first connecting rod 233 and the rotation axis of the first rotating shaft 211 can be increased, thereby reducing the angle θ formed by the extension direction D1 of the telescopic part 2311 and the extension direction of the line L1 between the connection point P2 of the telescopic part 2311 and the first connecting rod 233 and the rotation axis of the first rotating shaft 211, thereby reducing the second component of the first connecting rod 233 acting on the telescopic part 2311, reducing the risk of bending damage of the telescopic part 2311, reducing the friction between the telescopic part 2311 and the driving part 2312, reducing the wear between the telescopic part 2311 and the driving part 2312, and improving the service life of the driving member 231.

[0090] In some embodiments, a partition 2361 is provided between the first connecting rod 233 and the telescopic part 2311 to separate the first connecting rod 233 from the telescopic part 2311 to avoid direct contact between the first connecting rod 233 and the telescopic part 2311, thereby reducing the wear generated when the first connecting rod 233 rotates relative to the telescopic part 2311 and improving the service life of the driving structure 23.

[0091] In some embodiments, the first connecting rod 233 and the telescopic part 2311 may be connected by a ball joint. One of the first connecting rod 233 and the telescopic part 2311 is provided with a ball head, and the other of the first connecting rod 233 and the telescopic part 2311 is provided with a spherical groove. A separator 2361 is provided between the first connecting rod 233 and the telescopic part 2311, and the separator 2361 is sleeved on the ball head and accommodated in the spherical groove to reduce the wear generated when the first connecting rod 233 rotates relative to the telescopic part 2311, thereby increasing the service life of the driving structure 23.

[0092] The driving member 231 may be provided as one or more. In some embodiments, the driving member 231 is provided as one, and the first connecting rod 233 and the second connecting rod 234 are connected to the driving member 231 together, so as to achieve the common adjustment of the first axle 121 and the second axle 131, and reduce the structural complexity of the driving structure 23. In some embodiments, the driving member 231 is provided as two, and one of the two driving members 231 is used to connect with the first connecting rod 233, and the other of the two driving members 231 is used to connect with the second connecting rod 234. In this way, the two driving members 231 can independently drive the first connecting rod 233 and the second connecting rod 234, so that the rotation of the first axle 121 relative to the rotation axis of the first rotating shaft 211 can be adjusted separately, and the rotation of the second axle 131 relative to the rotation axis of the second rotating shaft 221 can be adjusted separately, thereby improving the flexibility of adjusting the height of the frame 11 from the ground.

[0093] The driving member 231 can be configured as one of an electric push rod, a screw nut assembly, a gear rack assembly, and a piston cylinder member. Exemplarily, the driving member 231 can be configured as an electric push rod, the telescopic portion 2311 is configured as a push rod, and the driving portion 2312 is configured as a drive motor. In some embodiments, the driving member 231 can also be configured as a screw nut assembly, one of the telescopic portion 2311 and the driving portion 2312 is configured as a screw, and the other is configured as a nut. In some embodiments, the driving member 231 can be configured as a gear rack assembly, the telescopic portion 2311 is configured as a rack, and the driving portion 2312 is configured as a gear. In some embodiments, the driving member 231 can be configured as a piston cylinder member, the telescopic portion 2311 is configured as a piston rod, and the driving portion 2312 is configured as a cylinder body.

[0094] The driving structure 23 also includes a connecting seat 235. The connecting seat 235 is fixed relative to the frame 11. The driving unit 2312 is installed on the connecting seat 235. There are multiple connecting seats 235. Exemplarily, there are two connecting seats 235. The two connecting seats 235 are located at the two ends of the driving unit 2312 along the length direction X of the walking robot 1000, and the two ends of the driving unit 2312 are connected to the two connecting seats 235 respectively, so that the driving unit 2312 is fixedly connected to the frame 11.

[0095] See also Figure 1In some embodiments, the walking robot 1000 further includes an anti-collision structure 500. The anti-collision structure 500 can be mounted on the frame 11 or the housing 300 and arranged on the front side of the walking robot 1000. When there is an obstacle in the direction of travel of the walking robot 1000, the anti-collision structure 500 can be used to collide with the obstacle to avoid the housing 300 colliding with the obstacle and causing damage to the vehicle body. In some embodiments, a touch sensor (such as a contact sensor, an ultrasonic sensor, a visual sensor, etc.) is provided in the anti-collision structure 500, and the touch sensor is used to identify obstacles in a contact or non-contact manner, and the walking robot 1000 performs an obstacle avoidance operation when encountering an obstacle.

[0096] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A walking wheel adjustment device, applied to a walking robot, wherein the walking robot comprises a collecting structure, characterized in that: The walking wheel adjusting device comprises: A frame, the frame comprising a first end and a second end opposite to each other in a front-rear direction of the walking robot, the first end being connected to the collecting structure; a first axle mounted on the first end; a second axle mounted on the second end; an adjusting module, the adjusting module being connected to the first wheel axle and / or the second wheel axle and being used for driving the first wheel axle and / or the second wheel axle to move relative to the frame; When the first axle moves to a first position relative to the frame, and / or the second axle moves to a second position relative to the frame, the height of the first end portion above the ground is greater than the height of the second end portion above the ground.

2. The walking wheel adjustment device according to claim 1, characterized in that: The adjustment module includes a first adjustment structure, a second adjustment structure and a driving structure, the first adjustment structure is connected to the first wheel axle, the second adjustment structure is connected to the second wheel axle, the driving structure is connected to the first adjustment structure and / or the second adjustment structure, and is used to drive the first adjustment structure to drive the first wheel axle to move relative to the frame, and / or drive the second adjustment structure to drive the second wheel axle to move relative to the frame.

3. The walking wheel adjustment device according to claim 2, characterized in that: The first adjusting structure includes a first rotating shaft and a first swing arm, the first rotating shaft is connected to the frame, and both ends of the first swing arm are respectively connected to the first rotating shaft and the first axle, and the driving structure is connected to the first rotating shaft and is used to drive the first rotating shaft to drive the first swing arm and the first axle to rotate around the rotation axis of the first rotating shaft.

4. The walking wheel adjustment device according to claim 3, characterized in that: The first adjustment structure also includes a rocker, one end of which is connected to the driving structure, and the other end is connected to the first rotating shaft and fixed relative to the first swing arm. The driving structure is used to drive the rocker to drive the first swing arm to rotate around the rotation axis of the first rotating shaft.

5. The walking wheel adjustment device according to claim 4, characterized in that: The length of the first swing arm is greater than or equal to the length of the rocker.

6. The walking wheel adjustment device according to claim 3, characterized in that: The height of the center axis of the first wheel axle above the ground is greater than or equal to the height of the rotation axis of the first rotating axis above the ground. Along the length direction of the walking robot, the first wheel axle is located on the side of the first rotating axis away from the second end, and the first adjustment structure is used to adjust the first wheel axle to move relative to the first rotating axis in a direction away from the second end.

7. The travel wheel adjustment device according to claim 3, characterized in that: The second adjustment structure includes a second rotating shaft and a second swing arm, the second rotating shaft, the second wheel axle and the driving structure are respectively connected to the second swing arm, the rotation axis of the second rotating shaft is spaced apart from the center axis of the second wheel axle, and the driving structure is used to drive the second swing arm to drive the second wheel axle to rotate around the rotation axis of the second rotating shaft.

8. The travel wheel adjustment device according to claim 7, characterized in that: The driving structure includes a driving member, a first connecting rod and a second connecting rod. The driving member is fixedly connected to the frame, one end of the first connecting rod is hinged to the driving member, the other end of the first connecting rod is connected to the first rotating shaft, one end of the second connecting rod is hinged to the driving member, and the other end of the second connecting rod is connected to the second swing arm.

9. The travel wheel adjustment device according to claim 8, characterized in that: The driving member is provided as one, and the first connecting rod and the second connecting rod are connected to the driving member together; or, the driving member is provided as two, one of the two driving members is connected to the first connecting rod, and the other of the two driving members is connected to the second connecting rod.

10. The travel wheel adjustment device according to claim 7, characterized in that: A distance between the first axle and the first rotation axis is greater than or equal to a distance between the second axle and the second rotation axis.

11. A walking robot, characterized in that: The walking robot comprises a collecting structure and a walking wheel adjusting device as described in any one of claims 1 to 10, and the collecting structure is connected to the walking wheel adjusting device.

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