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 first mounting module, a driving structure and a partition part. The first installation module is rotationally connected with the rack and used for installing the first walking wheel. The driving structure is hinged to the first mounting module and used for driving the first mounting module to rotate so as to adjust the relative position of the axis of the first walking wheel and the rack. The partition piece is located at the hinged position of the driving structure and the first installation module and located between the driving structure and the first installation module. When the driving structure drives the first mounting module to rotate, the driving structure and the first mounting module are separated by the separator, and the driving structure is prevented from being in direct contact with the first mounting module, so that the abrasion of the hinged part of the driving structure and the first mounting module is reduced, and the service life of the walking wheel adjusting device and the walking robot is prolonged.

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] In the related art, a walking robot is provided with a height adjustment device for adjusting the height of the frame from the ground. Since the transmission structure in the height adjustment device needs to bear the force brought by the weight of the fuselage, the transmission structure is prone to wear and even breakage after a long period of use, which eventually causes the walking robot to malfunction and affects the normal use 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 of easy wear of the transmission structure.

[0004] In a first aspect, the present application provides a walking wheel adjustment device, which includes a first mounting module, a driving structure, and a separator. The first mounting module is rotatably connected to a frame and is used to mount a first walking wheel. The driving structure is hinged to the first mounting module and is used to drive the first mounting module to rotate so as to adjust the relative position between the axis of the first walking wheel and the frame. The separator is located at the hinge between the driving structure and the first mounting module, and is located between the driving structure and the first mounting module.

[0005] In combination with the first aspect, in certain implementations of the first aspect, the first mounting module includes a first rotating shaft and a first axle module; the first rotating shaft is used to connect to the frame; the first axle module is connected to the first rotating shaft, and the first axle module is used to install the first walking wheel, and the axis of the first walking wheel is spaced apart from the rotation axis of the first rotating shaft; the driving structure includes a driving member and a first connecting rod, and the driving member is respectively connected to the frame and the first connecting rod; the first connecting rod is hinged to the first axle module, and the driving member is used to drive the first connecting rod to drive the first axle module to rotate around the rotation axis of the first rotating shaft; the partition is located between the first connecting rod and the first axle module.

[0006] In combination with the first aspect, in certain implementations of the first aspect, the first installation module includes a first rotating shaft, a first wheel axle module and a rocker arm; the first rotating shaft is used to connect to the frame; the first wheel axle module is connected to the first rotating shaft, the first wheel axle module is used to install the first walking wheel, the axis of the first walking wheel is spaced apart from the rotation axis of the first rotating shaft, the rocker arm is connected to the first rotating shaft and is fixed relative to the first wheel axle module; the driving structure includes a driving member and a first connecting rod, the driving member is respectively connected to the frame and the first connecting rod, the first connecting rod is hinged to the rocker arm, and the first connecting rod is used to drive the rocker arm together with the first wheel axle module to rotate around the rotation axis of the first rotating shaft; the partition is located between the first connecting rod and the rocker arm.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the walking wheel adjustment device also includes a connecting piece, and one of the first connecting rod and the rocker arm is provided with a first connecting hole, and the connecting piece is inserted into the first connecting hole; the other of the first connecting rod and the rocker arm is provided with a second connecting hole, and the connecting piece is inserted into the second connecting hole, or the other of the first connecting rod and the rocker arm is fixedly connected to the connecting piece.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the rocker has a first connecting surface, the first connecting rod has a second connecting surface, the first connecting surface is opposite to the second connecting surface, and the partition is located between the first connecting surface and the second connecting surface.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the connecting member is configured as a pivot, and the first connecting surface is parallel to the second connecting surface and perpendicular to a central axis of the pivot.

[0010] In combination with the first aspect, in certain implementations of the first aspect, the partition is configured as a ball joint assembly, which is connected between the drive structure and the first mounting module; or, the partition is configured as a bearing, one of the drive structure and the first mounting module is connected to the inner ring of the bearing, and the other is connected to the outer ring of the bearing.

[0011] In combination with the first aspect, in certain implementations of the first aspect, a plurality of first connecting rods are provided, the plurality of first connecting rods are respectively hinged to the driving member, the plurality of first connecting rods are arranged at intervals and distributed on both sides of the driving member.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the first wheel axle module includes a first wheel axle and a first swing arm, the first rotating axis and the first wheel axle are respectively connected to the first swing arm, the first wheel axle is used to install the first walking wheel, and the rocker is fixed relative to the first swing arm.

[0013] In combination with the first aspect, in some implementations of the first aspect, the length of the rocker is less than or equal to the length of the first swing arm.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the driving member includes an extending portion and a driving portion, the driving portion is connected to the frame, the extending portion is rotatably connected to the first connecting rod, and the driving portion is used to make the extending portion extend in a direction away from the first rotation axis or retract in a direction close to the first rotation axis relative to the driving portion.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the walking wheel adjustment device also includes a second installation module, the second installation module includes a second rotating shaft and a second wheel axle module, the second rotating shaft is used to connect to the frame, the second wheel axle module includes a second wheel axle and a second swing arm, the driving structure includes a driving member and a second connecting rod connected to the driving member, the second rotating shaft, the second wheel axle and the second connecting rod are respectively connected to the second swing arm, the second wheel axle is used to install the second walking wheel, the axis of the second walking wheel is spaced apart from the rotation axis of the second rotating shaft, and the driving member is used to drive the second connecting rod to drive the second swing arm to rotate around the central axis of the second rotating shaft.

[0016] In a second aspect, the present application provides a walking robot, comprising a frame, a first walking wheel and a walking wheel adjustment device as described in any one of the above items, wherein the walking wheel adjustment device is installed on the frame, and the walking wheel adjustment device is used to install the first walking wheel.

[0017] In combination with the second aspect, in some implementations of the second aspect, the walking robot further includes a collecting piece connected to the frame.

[0018] In the walking wheel adjustment device and walking robot provided by the present application, based on the hinge connection between the driving structure and the first mounting module, the partition is located at the hinge between the driving structure and the first mounting module, and is located between the driving structure and the first mounting module. When the driving structure drives the first mounting module to rotate, the partition separates the driving structure and the first mounting module to avoid direct contact between the driving structure and the first mounting module, thereby reducing the wear at the hinge between the driving structure and the first mounting module and improving the service life of the walking wheel adjustment device and the walking robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 It is a schematic diagram of the structure of the walking robot provided in the embodiment of the present application.

[0021] Figure 2 It is a structural schematic diagram of the walking wheel adjustment device provided in an embodiment of the present application.

[0022] Figure 3 yes Figure 2 Enlarged view of point I in the middle.

[0023] Figure 4 It is an exploded view of the walking wheel adjustment device provided in an embodiment of the present application.

[0024] Figure 5 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.

[0025] 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 removing other parts of the structure.

[0026] Figure 7 It is a schematic diagram of the structure of a walking robot provided in some embodiments of the present application.

[0027] Description of main reference numerals: walking robot 1000; walking wheel adjustment device 100; first mounting module 10; first rotating shaft 11; fixing seat 111; first wheel shaft module 12; first wheel shaft 121; first swing arm 1222; first walking wheel 123; partition 132; first surface 1321; second surface 1322; driving structure 20; driving member 21; telescopic part 211; driving part 212; first connecting rod 22; second connecting hole 2201; second connecting surface 2202; first connecting rod segment 221; second connecting rod segment 222; second connecting rod 23; first segment 231; second segment 232; third segment 233; rocker 24; first connecting hole 2401; first connecting surface 2 402; connecting seat 25; second mounting module 30; second rotating shaft 31; second wheel shaft module 32; second wheel shaft 321; second swing arm 322; base 3221; convex portion 3222; reinforcing portion 3223; second walking wheel 323; mounting base 33; accommodating space 331; connecting hole 332; mounting hole 333; first sliding member 341; second sliding member 342; guide groove 3421; guide rod 343; rotating shaft 35; fixing hole 351; first sleeve 352; second sleeve 353; elastic member 361; fixing member 362; frame 200; casing 300; cutting member 400; anti-collision member 500; collecting member 600; length direction X; width direction Y; height direction Z.

[0028] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of the walking robot 1000 provided in the embodiment of the present application. Figure 1 For reference, 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, width direction Y, and 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 indicated 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 indicated by the arrow) is the direction of the walking robot 1000 off the ground.

[0033] Please also read Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 2 is a schematic structural diagram of a walking wheel adjustment device 100 provided in an embodiment of the present application; Figure 3 yes Figure 2 The enlarged view of point I in the middle; Figure 4 : is an exploded view of a walking robot 1000 provided in an embodiment of the present application. The walking robot 1000 includes a walking wheel adjustment device 100, a frame 200 and a housing 300. The walking wheel adjustment device 100 is mounted on the frame 200. The housing 300 is mounted on the frame 200. The walking wheel adjustment device 100 is used to install a first walking wheel 123 and a second walking wheel 323. The walking wheel adjustment device 100 is also used to adjust the height of the frame 200 from the ground.

[0034] 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, the structure of the walking robot 1000 is described in detail by taking the walking robot 1000 configured as a lawn mowing walking robot as an example. The walking robot 1000 also includes a cutting member 400, which is mounted on the frame 200. The cutting member 400 is used to mow the lawn.

[0035] The walking wheel adjustment device 100 includes a first mounting module 10, a driving structure 20 and a separator 132. The first mounting module is rotatably connected to the frame 200. The first mounting module 10 is used to install the first walking wheel 123. The driving structure 20 is hinged to the first mounting module 10. The driving structure 20 is used to drive the first mounting module 10 to rotate so as to adjust the relative position between the axis of the first walking wheel 123 and the frame 200. The axis of the first walking wheel 123 is a position point located on the rotation axis of the first walking wheel 123 and passing through the midpoint of the axial length of the first walking wheel 123. The separator 132 is located at the hinge of the driving structure 20 and the first mounting module 10, and is located between the driving structure 20 and the first mounting module 10. In this way, when the driving structure 20 drives the first installation module 10 to rotate, the partition 132 can separate the driving structure 20 and the first installation module 10 to avoid direct contact between the driving structure 20 and the first installation module 10, thereby reducing the wear at the hinge between the driving structure 20 and the first installation module 10 and improving the service life of the walking wheel adjustment device 100 and the walking robot 1000.

[0036] In some embodiments, the first mounting module 10 includes a first rotating shaft 11 and a first axle module 12. The first rotating shaft 11 is used to connect to the frame 200. The axial direction of the first rotating shaft 11 is parallel to the width direction Y of the walking robot 1000. The first axle module 12 is connected to the first rotating shaft 11. The first axle module 12 is used to install the first walking wheel 123. The axis of the first walking wheel 123 is spaced apart from the rotation axis of the first rotating shaft 11. The driving structure 20 includes a driving member 21 and a first connecting rod 22. The driving member 21 is connected to the frame 200 and the first connecting rod 22, respectively. The first connecting rod 22 is hinged to the first axle module 12. The partition 132 is located between the first connecting rod 22 and the first axle module 12. The driving member 21 is used to drive the first connecting rod 22 to drive the first wheel axle module 12 and the first running wheel 123 to rotate around the rotation axis of the first rotating shaft 11, so that the first rotating shaft 11 drives the frame 200 to move relative to the ground, thereby adjusting the height of the frame 200 from the ground. Among them, the hinge can be a pivot connection or a ball joint connection. The partition 132 can be configured as a pivot assembly or a ball joint assembly. The first connecting rod 22 and the first wheel axle module 12 can be pivotally connected or ball-jointed through the partition 132.

[0037] In some embodiments, the first mounting module 10 includes a first rotating shaft 11, a first wheel axle module 12 and a rocker 24. The axial direction of the first rotating shaft 11 is parallel to the width direction Y of the walking robot 1000. The first wheel axle module 12 is connected to the first rotating shaft 11. The first wheel axle module 12 is used to install the first walking wheel 123. The axis of the first walking wheel 123 is spaced apart from the rotation axis of the first rotating shaft 11. The driving structure 20 includes a driving member 21 and a first connecting rod 22. The driving member 21 is connected to the frame 200 and the first connecting rod 22 respectively. The rocker 24 is connected to the first rotating shaft 11 and is fixed relative to the first wheel axle module 12. The first connecting rod 22 is hinged to the rocker 24. The first connecting rod 22 is used to drive the rocker 24 together with the first wheel axle module 12 to rotate around the rotation axis of the first rotating shaft 11 under the drive of the driving member 21. The partition 132 is located between the first connecting rod 22 and the rocker 24. When the driving member 21 drives the first connecting rod 22 to drive the rocker 24 to rotate around the rotation axis of the first rotating shaft 11, the partition 132 can separate the first connecting rod 22 from the rocker 24, avoiding direct contact between the first connecting rod 22 and the rocker 24, thereby reducing the wear of the first connecting rod 22 and the rocker 24, and improving the service life of the walking wheel adjustment device 100 and the walking robot 1000.

[0038] The rocker 24 has a first connection surface 2402. The first connecting rod 22 has a second connection surface 2202. The first connection surface 2402 is arranged opposite to the second connection surface 2202. The separator 132 is located between the first connection surface 2402 and the second connection surface 2202. In this way, by setting the separator 132, the first connection surface 2402 and the second connection surface 2202 can be prevented from contacting each other, thereby preventing the first connection surface 2402 and the second connection surface 2202 from directly rubbing against each other when the first connecting rod 22 rotates relative to the rocker 24. In some embodiments, the separator 132 is detachably connected to the first connecting rod 22 and the rocker 24 to facilitate maintenance or replacement of the separator 132.

[0039] The hinge connection between the first connecting rod 22 and the rocker 24 can be a pivot connection or a ball joint connection between the first connecting rod 22 and the rocker 24. The walking wheel adjustment device 100 also includes a connecting piece. One of the first connecting rod 22 and the rocker 24 is provided with a first connecting hole 2401, and the connecting piece is inserted into the first connecting hole 2401; the other of the first connecting rod 22 and the rocker 24 is provided with a second connecting hole 2201, and the connecting piece is inserted into the second connecting hole 2201, or the other of the first connecting rod 22 and the rocker 24 is fixedly connected to the connecting piece.

[0040] Exemplarily, the connecting member can be configured as a pivot, and the first connecting rod 22 and the rocker 24 are pivotally connected. The first connecting surface 2402 is parallel to the second connecting surface 2202 and is perpendicular to the rotation axis of the pivot. In some embodiments, one of the first connecting rod 22 and the rocker 24 is provided with a first connecting hole 2401, the connecting member is rotatably inserted into the first connecting hole 2401, and the other of the first connecting rod 22 and the rocker 24 is fixedly connected to the connecting member. In some embodiments, one of the first connecting rod 22 and the rocker 24 is provided with a first connecting hole 2401, the other of the first connecting rod 22 and the rocker 24 is provided with a second connecting hole 2201, and the connecting member is rotatably inserted into the first connecting hole 2401 and the second connecting hole 2201, respectively.

[0041] The separator 132 and the connecting member can be independently arranged. A connecting hole is provided on the separator 132, and the separator 132 is sleeved on the connecting member. The separator 132 can be rotatably arranged relative to the connecting member. The separator 132 includes a first surface 1321 and a second surface 1322 opposite to the first surface 1321. The first surface 1321 is opposite to the first connecting surface 2402. The second surface 1322 is opposite to the second connecting surface 2202. When the first connecting rod 22 and / or the rocker 24 rotates relative to the connecting member, the first connecting rod 22 and / or the rocker 24 can drive the separator 132 to rotate relative to the connecting member. Compared with the solution in which the first connection surface 2402 and the second connection surface 2202 are in direct contact, the first connection surface 2402 and the second connection surface 2202 are separated by the separator 132. When the first connecting rod 22 and / or the rocker 24 rotate relative to the connecting member, the friction generated when the first connection surface 2402 and the second connection surface 2202 rotate relative to each other can be distributed as the friction when the first surface 1321 and the first connection surface 2402 and the second surface 1322 and the second connection surface 2202 rotate relative to each other, thereby reducing the wear of the first connection surface 2402 and the second connection surface 2202, reducing the friction loss between the first connecting rod 22 and the rocker 24, and improving the service life of the walking wheel adjustment device 100. In some embodiments, the separator 132 and the connecting member can be set as an integrated structure.

[0042] In some embodiments, the separator 132 can be configured as a bearing, one of the driving structure 20 and the first mounting module 10 is connected to the inner ring of the bearing, and the other of the driving structure 20 and the first mounting module 10 is connected to the outer ring of the bearing, so that the wear between the driving structure 20 and the first mounting module 10 can be greatly reduced, and the service life of the walking wheel adjustment device 100 can be improved. Exemplarily, the separator 132 can be configured as a plane bearing, so that the friction between the first surface 1321 and the first connecting surface 2402 and the friction between the second surface 1322 and the second connecting surface 2202 is rolling friction, thereby greatly reducing the wear of the first connecting surface 2402 and the second connecting surface 2202.

[0043] In some embodiments, the partition 132 may be spaced apart from the first link 22 and / or the rocker 24. At least one of the first surface 1321 and the first connecting surface 2402 and the second surface 1322 and the second connecting surface 2202 is spaced apart to reduce contact wear.

[0044] In some embodiments, the partition 132 can be configured as a ball joint assembly, which is connected between the drive structure 20 and the first mounting module 10. The first connecting rod 22 and the rocker 24 are connected by a ball joint. The ball joint assembly includes a ball head and a spherical bushing. One of the first connecting rod 22 and the rocker 24 is provided with a first connecting hole 2401, and the first connecting hole 2401 is configured as a spherical groove. The ball head can be rotatably accommodated in the spherical groove, and the other of the first connecting rod 22 and the rocker 24 is fixedly connected to the ball head. The spherical bushing is sleeved on the ball head and accommodated in the spherical groove. One of the inner wall surface of the spherical groove and the outer wall surface of the ball head is configured as a first connecting surface 2402, and the other of the inner wall surface of the spherical groove and the outer wall surface of the ball head is configured as a second connecting surface 2202. In this way, the first connection surface 2402 and the second connection surface 2202 can be prevented from directly contacting each other by the separator 132, and the wear of the first connection surface 2402 and the second connection surface 2202 can be reduced when the first connecting rod 22 and the rocker 24 rotate relative to each other. In some embodiments, the spherical bushing can be slidably arranged in the spherical groove. In some embodiments, the spherical bushing can be fixed in the spherical groove.

[0045] In some embodiments, the separator 132 is configured as an elastic structure. When the first connecting rod 22 and / or the rocker 24 apply pressure to the separator 132, the separator 132 can be elastically deformed to absorb part of the pressure. In this way, on the one hand, the separator 132 can reduce the pressure between the first surface 1321 and the first connecting surface 2402, and between the second surface 1322 and the second connecting surface 2202 by elastic deformation, thereby reducing the wear between the first surface 1321 and the first connecting surface 2402, and between the second surface 1322 and the second connecting surface 2202 when the first connecting rod 22 and the rocker 24 rotate relative to each other; on the other hand, it can also avoid the first connecting rod 22 and the rocker 24 errors in the production, processing and other processes that cause the first connecting rod 22 and the rocker 24 to be difficult to assemble, thereby improving the production yield and assembly efficiency.

[0046] The first connecting rod 22 can be set to multiple. Multiple first connecting rods 22 are respectively hinged to the driving member 21. Along the width direction Y of the walking robot 1000, multiple first connecting rods 22 are arranged at intervals and distributed on both sides of the driving member 21. The first connecting rod 22 is set to multiple to improve the uniformity of the force of the first connecting rod 22 on the rocker 24, and improve the force balance of the rocker 24 and the first rotating shaft 11. Among them, along the width direction Y of the walking robot 1000, the driving member 21 is set at the middle or near the middle of the frame 200 to improve the balance when the driving member 21 drives the first connecting rod 22 to drive the rocker 24 to rotate around the rotation axis of the first rotating shaft 11. Among them, the rocker 24 can be set to multiple. The number of rockers 24 is the same as the number of first connecting rods 22. Multiple first connecting rods 22 and multiple rockers 24 are connected one by one. A partition 132 can be set between each first connecting rod 22 and the corresponding rocker 24. In some embodiments, the first connecting rod 22 can be set to one.

[0047] The first wheel axle module 12 includes a first wheel axle 121 and a first swing arm 1222. The first rotating shaft 11 and the first wheel axle 121 are respectively connected to the first swing arm 1222. The first wheel axle 121 is used to install the first running wheel 123. The rotation axis of the first wheel axle 121 is spaced apart from the rotation axis of the first rotating shaft 11. The rotation axis of the first wheel axle 121 and the rotation axis of the first running wheel 123 can be arranged in a colinear manner. The rocker 24 is fixedly arranged relative to the first swing arm 1222. The driving member 21 is used to drive the first connecting rod 22 to drive the rocker 24 together with the first swing arm 1222 and the first wheel axle 121 to rotate around the rotation axis of the first rotating shaft 11, so that the first wheel axle 121 drives the first running wheel 123 to move relative to the frame 200, so that the first rotating shaft 11 drives the frame 200 to move relative to the ground, thereby adjusting the height of the frame 200 from the ground.

[0048] Exemplarily, the first swing arm 1222 can be configured as a rod. The opposite ends of the first swing arm 1222 along the length direction are respectively connected to the first rotating shaft 11 and the first wheel axle 121. The rocker 24 can be independently arranged relative to the first swing arm 1222, and the rocker 24 and the first swing arm 1222 are respectively fixedly connected to the first rotating shaft 11, and the rocker 24 is fixed relative to the first swing arm 1222 through the first rotating shaft. The driving member 21 is used to drive the first connecting rod 22 to drive the rocker 24 to rotate around the rotation axis of the first rotating shaft 11, and the rocker 24 drives the first rotating shaft 11 to rotate, so that the first rotating shaft 11 drives the first swing arm 1222 together with the first wheel axle 121 to rotate around the rotation axis of the first rotating shaft 11. Among them, the walking wheel adjustment device 100 also includes a fixed seat 111 and a bearing. The fixed seat 111 is fixedly connected to the frame 200. The bearing is installed on the fixed seat 111. The first rotating shaft 11 is penetrated on the bearing. The first rotating shaft 11 is rotatable relative to the frame 200 through a bearing to reduce the rotation resistance of the first rotating shaft 11. In some embodiments, the rocker 24 is fixedly connected to the first swing arm 1222, or the rocker 24 is fixedly connected to the first swing arm 1222 through a connecting structure. Among them, the rocker 24 and the first swing arm 1222 are both rotatable relative to the first rotating shaft 11. In some embodiments, the rocker 24 and the first swing arm 1222 can be integrally formed. For example, the first swing structure 122 can be constructed as a plate-like member, and the rocker 24 and the first swing arm 1222 are respectively configured as partial structures on the plate-like member.

[0049] The length of the rocker 24 is less than the length of the first swing arm 1222. The distance between the connection point of the rocker 24 and the first connecting rod 22 and the first rotating shaft 11 is less than the distance between the connection point of the first swing arm 1222 and the first wheel axle 121 and the first rotating shaft 11. In this way, when the first connecting rod 22 drives the rocker 24 to drive the first swing arm 1222 and the first wheel axle 121 to rotate relative to the rotation axis of the first rotating shaft 11 through the first rotating shaft 11, the rocker 24 moves a smaller stroke to make the first wheel axle 121 move a larger stroke, thereby amplifying the adjustment stroke of the rocker 24 on the first wheel axle 121, improving the adjustment speed and adjustment efficiency of the first wheel axle 121, and further improving the adjustment speed and adjustment efficiency of the height above the ground of the frame 200. Among them, the distance between the connection point of the rocker 24 and the first connecting rod 22 and the first rotating shaft 11 can refer to the distance between the rotation center of the rocker 24 relative to the first connecting rod 22 and the rotation axis of the first rotating shaft 11. The distance between the connection point of the first swing arm 1222 and the first axle 121 and the first rotation axis 11 may refer to the distance between the rotation axis of the first axle 121 and the rotation axis of the first rotation axis 11. In some embodiments, the length of the rocker 24 is equal to the length of the first swing arm 1222. The distance between the connection point of the rocker 24 and the first link 22 and the first rotation axis 11 is equal to the distance between the connection point of the first swing arm 1222 and the first axle 121 and the first rotation axis 11.

[0050] In some embodiments, the first mounting module 10 may not include the rocker 24. The first connecting rod 22 is hingedly arranged with the first swing arm 1222 in the first wheel axle module 12. The driving member 21 is used to drive the first connecting rod 22 to drive the first swing arm 1222 to rotate together with the first wheel axle 121 around the rotation axis of the first rotation axis 11. The partition 132 is located between the first connecting rod 22 and the first swing arm 1222. When the driving member 21 drives the first connecting rod 22 to drive the first swing arm 1222 to rotate around the rotation axis of the first rotation axis 11, the partition 132 can separate the first connecting rod 22 from the first swing arm 1222, avoiding direct contact between the first connecting rod 22 and the first swing arm 1222, thereby reducing the wear of the first connecting rod 22 and the first swing arm 1222, and improving the service life of the walking wheel adjustment device 100 and the walking robot 1000. The partition 132 may be configured as a pivot assembly or a ball joint assembly, and the first connecting rod 22 and the first swing arm 1222 may be pivotally connected or ball-jointed via the partition 132 .

[0051] Please also read Figure 2 , Figure 4 and Figure 5, the walking wheel adjustment device 100 also includes a second installation module 30. The second installation module 30 includes a second rotating shaft 31 and a second wheel axle module 32. The second rotating shaft 31 is used to connect to the frame 200. The second wheel axle module 32 is used to install the second walking wheel 323. The axis of the second walking wheel 323 is spaced apart from the rotation axis of the second rotating shaft 31. Among them, the axis of the second walking wheel 323 is located on the rotation axis of the second walking wheel 323 and passes through the midpoint of the axial length of the second walking wheel 323. The driving structure 20 also includes a second connecting rod 23 connected to the driving member 21. The driving member 21 is rotationally connected to the second connecting rod 23. The second connecting rod 23 is connected to the second wheel axle module 32. The driving member 21 is also used to drive the second connecting rod 23 to drive the second wheel axle module 32 and the second running wheel 323 to rotate around the rotation axis of the second rotating shaft 31 to adjust the relative position between the axis of the second running wheel 323 and the frame 200, so that the second rotating shaft 31 drives the frame 200 to move relative to the ground to adjust the height of the frame 200 from the ground. The driving structure 20 drives the first wheel axle module 12 and the second wheel axle module 32 to rotate, so as to adjust the overall height of the frame 200 from the ground.

[0052] The second wheel shaft module 32 includes a second wheel shaft 321 and a second swing arm 322. The second rotating shaft 31, the second wheel shaft 321 and the second connecting rod 23 are respectively connected to the second swing arm 322. The second wheel shaft 321 is used to install the second running wheel 323. The rotation axis of the second wheel shaft 321 can be arranged colinearly with the rotation axis of the second running wheel 323. The driving member 21 is used to drive the second connecting rod 23 to drive the second swing arm 322 and the second wheel shaft 321 to rotate around the rotation axis of the second rotating shaft 31.

[0053] In some embodiments, the second rotating shaft 31 and the second swing arm 322 can be rotatably connected. In some embodiments, the second rotating shaft 31 and the second swing arm 322 are fixedly connected, and the second rotating shaft 31 can rotate relative to the frame 200 along the circumferential direction of the second rotating shaft 31. Among them, the second rotating shaft 31 and the second swing arm 322 can be set independently of each other, and the second rotating shaft 31 and the second swing arm 322 can be fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fasteners, etc., or the second rotating shaft 31 and the second swing arm 322 can also be integrally formed.

[0054] The second axle 321 and the second swing arm 322 can be rotatably connected or fixedly connected. Exemplarily, the second axle 321 and the second swing arm 322 are fixedly connected. The second axle 321 and the second swing arm 322 can be set independently of each other, and the second axle 321 and the second swing arm 322 can be fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fasteners, etc. In some embodiments, the second axle 321 and the second swing arm 322 can also be integrally formed. At least one of the first walking wheel 123 and the second walking wheel 323 can be installed with a hub motor to make the structure of the walking robot 1000 compact.

[0055] The number of the second wheel-axle modules 32 is two, and the two second swing arms 322 in the two second wheel-axle modules 32 are located near the middle position of the walking robot 1000 along the width direction Y. The second walking wheel 323 and the second swing arm 322 are spaced apart 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 322. Along the width direction Y of the walking robot 1000, the distance between the second swing arm 322 and the midpoint of the walking robot 1000 along the width direction Y is smaller than the distance between the second swing arm 322 and the second walking wheel 323. The housing 300 and the frame 200 are enclosed to form a receiving space, and the second swing arm 322 , the second rotating shaft 31 and the driving structure 20 are all located in the receiving space to prevent grass from being entangled on the second swing arm 322 , the second rotating shaft 31 and the driving structure 20 .

[0056] The walking wheel adjustment device 100 also includes a first sliding member 341. The first sliding member 341 is connected to the second swing arm 322. The second connecting rod 23 is connected to the second swing arm 322 through the first sliding member 341. The second connecting rod 23 is used to drive the first sliding member 341 to move along the length direction X of the walking robot 1000, so that the first sliding member 341 drives the second swing arm 322 to rotate around the rotation axis of the second rotating shaft 31. The two opposite ends of the first sliding member 341 along the axial direction are respectively connected to the two second swing arms 322 in the two first wheel axle modules 12, so that the driving structure 20 can drive the two second swing arms 322 to rotate synchronously through the first sliding member 341, which simplifies the connection between the driving structure 20 and the two second swing arms 322. Among them, the first sliding member 341 and the second swing arm 322 can be rotatably connected or fixedly connected.

[0057] The second swing arm 322 can be configured as a swing plate. The second swing arm 322 includes a base 3221 and a convex portion 3222 convexly arranged on the base 3221 along the width direction Y of the walking robot 1000. The base 3221 is arranged in a plate shape. A connecting hole is provided on the convex portion 3222. There are three convex portions 3222, and the three convex portions 3222 correspond to the second rotating shaft 31, the second wheel shaft 321 and the first sliding member 341 one by one, and the second rotating shaft 31, the second wheel shaft 321 and the first sliding member 341 are respectively inserted into the connecting holes on the corresponding convex portions 3222. The convex portion 3222 can increase the connection length of the second rotating shaft 31, the second wheel shaft 321 and the first sliding member 341 with the second swing arm 322, and improve the connection stability. Among them, the base 3221 can be roughly triangular, and the three convex portions 3222 are respectively arranged at the three corners of the base 3221.

[0058] In some embodiments, the second swing arm 322 further includes a reinforcing portion 3223 protruding from the base 3221. The reinforcing portion 3223 may be connected between the protruding portion 3222 and the base 3221 to improve the connection stability between the protruding portion 3222 and the base 3221, and to improve the anti-bending ability of the base 3221. The reinforcing portion 3223 may be provided in plurality. The plurality of reinforcing portions 3223 may be arranged side by side and spaced apart.

[0059] The walking wheel adjustment device 100 also includes a mounting base 33, a second sliding member 342 and a guide rod 343. The mounting base 33 is fixed relative to the frame 200. A receiving space 331 is provided on the mounting base 33. The first sliding member 341, the second sliding member 342 and the guide rod 343 are all located in the receiving space 331. The axial direction of the guide rod 343 is perpendicular to the width direction Y of the walking robot 1000. The axial direction of the guide rod 343 can be perpendicular to the axial direction of the second rotating shaft 31. The second sliding member 342 is slidably mounted on the guide rod 343.

[0060] The first sliding member 341 is in sliding contact with the second sliding member 342. A guide groove 3421 is provided on one of the first sliding member 341 and the second sliding member 342, and the other of the first sliding member 341 and the second sliding member 342 is inserted into the guide groove 3421 and can slide in the guide groove 3421. Exemplarily, the second sliding member 342 may be provided with a guide groove 3421, and the first sliding member 341 is inserted into the guide groove 3421. The guide groove 3421 is arranged in a long strip shape. The guide groove 3421 extends 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 3421 is greater than the height dimension of the first sliding member 341. In some embodiments, the first sliding member 341 may be provided with a guide groove 3421, and the second sliding member 342 is inserted into the guide groove 3421. The guide groove 3421 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 3421 is greater than the width of the second sliding member 342 .

[0061] The first sliding member 341 can be configured as a columnar body, and the cross section of the first sliding member 341 can be configured as a circle to reduce the contact area between the side wall of the first sliding member 341 and the groove wall of the guide groove 3421, thereby reducing the sliding resistance when the first sliding member 341 slides. In some embodiments, the cross section of the first sliding member 341 can also be configured as a square, an ellipse, a regular polygon, etc. The rotation axis of the first sliding member 341 passes through the geometric center of the cross section of the first sliding member 341.

[0062] In some embodiments, at least one of the first sliding member 341 and the second sliding member 342 is provided with a lubricating structure to reduce the wear of the first sliding member 341 and the second sliding member 342 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 341, or grease is coated on the inner wall of the guide groove 3421, or grease is coated on the outer surface of the first sliding member 341 and the inner wall of the guide groove 3421. Grease is coated on the outer surface of the first sliding member 341 and the inner wall of the guide groove 3421. In some embodiments, the first sliding member 341 can be configured as a self-lubricating structure, and / or the second sliding member 342 can be configured as a self-lubricating structure. The lubricating structure can be configured as the outer wall surface of the first sliding member 341 and / or the inner wall surface of the guide groove 3421. Wherein, the material made of the self-lubricating structure may include a plastic structure with a self-lubricating function.

[0063] The second connecting rod 23 is rotatably connected to the second sliding member 342 to drive the second sliding member 342 to slide along the guide rod 343, so that the second sliding member 342 pushes or pulls the first sliding member 341 to drive the second swing arm 322 to rotate around the rotation axis of the second rotating shaft 31, and the second swing arm 322 drives the second wheel axle 321 together with the second walking wheel 323 to rotate around the second rotating shaft 31.

[0064] A connecting hole 332 is provided on the mounting base 33. The connecting hole 332 is connected to the accommodating space 331. The second connecting rod 23 is inserted into the connecting hole 332. In some cases, the connecting hole 332 can limit the second connecting rod 23, thereby reducing or avoiding the shaking of the second connecting rod 23. The mounting base 33 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 331 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 33 is located between the two second swing arms 322.

[0065] The number of guide rods 343 can be set to multiple. The rotation axes of multiple guide rods 343 are parallel to each other and spaced from each other. For example, the number of guide rods 343 can be set to four. Four guide rods 343 are distributed in an array. Through holes are provided on the four corners of the second sliding member 342, and the four guide rods 343 are correspondingly penetrated in the four through holes. The connecting hole 332 can also make the connection between the second connecting rod 23 and the second sliding member 342 located at the geometric center of the line connecting the four guide rods 343, so that when the second connecting rod 23 drives the second sliding member 342 to slide, the uniformity of the limiting force of the four guide rods 343 on the second sliding member 342 is improved, thereby reducing the sliding resistance between the second sliding member 342 and the guide rod 343, reducing the wear of the second sliding member 342 and the guide rod 343, and improving the service life. In some embodiments, the number of guide rods 343 can also be one, two, three, five, six, etc., and those skilled in the art can set it specifically 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 31 is rotatable relative to the frame 200 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 31 can swing up and down relative to the middle of the second rotating shaft 31 along the height direction Z of the walking robot 1000. Among them, the second rotating shaft 31 is rotatable relative to the frame 200 along the height direction Z of the walking robot 1000, which means that the rotation plane of the second rotating shaft 31 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 31 swings up and down relative to the frame 200, it can drive the second swing arm 322 and the second wheel shaft 321 to swing relative to the frame 200. In this way, when the walking robot 1000 passes through an uneven road surface, the up and down rotation of the second rotating shaft 31 can offset the influence of the uneven road surface on the frame 200, so that the frame 200 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 3421 is extended along the rotation plane formed when the second rotation axis 31 rotates relative to the frame 200 along the height direction Z of the walking robot 1000. When the second rotation axis 31 rotates relative to the frame 200 along the height direction Z of the walking robot 1000, the second rotation axis 31 can drive the second swing arm 322 together with the first sliding member 341 to rotate relative to the frame 200, and the first sliding member 341 rotates relative to the second sliding member 342 in the guide slot 3421. Exemplarily, the rotation plane of the second rotation axis 31 relative to the frame 200 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 35. The rotating shaft 35 is used to connect with the frame 200. The second rotating shaft 31 is connected to the rotating shaft 35. The rotation axis of the rotating shaft 35 is perpendicular to the rotation axis of the second rotating shaft 31. The second rotating shaft 31 is rotatable around the rotation axis of the rotating shaft 35. When the walking robot 1000 travels on an uneven ground, the second walking wheel 323 can adaptively drive the second rotating shaft 31 to rotate relative to the rotation axis of the rotating shaft 35 according to the ups and downs of the ground, so that the frame 200 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 rotation axis of the rotation shaft 35 may be parallel to the length direction X of the walking robot 1000. The axial direction of the second rotation shaft 31 is perpendicular to the length direction X of the walking robot 1000. When the second rotation shaft 31 rotates around the rotation axis of the rotation shaft 35, the rotation plane formed by the second rotation shaft 31 is parallel to the height direction Z of the walking robot 1000. In some embodiments, the rotation axis of the rotation shaft 35 may also be set at an angle to the length direction X of the walking robot 1000. The rotation axis of the rotation shaft 35 is located in a plane perpendicular to the width direction Y of the walking robot 1000. When the second rotation shaft 31 rotates around the rotation axis of the rotation shaft 35, the rotation plane formed by the second rotation shaft 31 is set at an acute angle to the height direction Z of the walking robot 1000.

[0070] In some embodiments, the rotating shaft 35 is rotatable relative to the frame 200 around the rotating axis of the rotating shaft 35. The rotating shaft 35 is rotatably connected to the mounting base 33. The mounting base 33 is provided with a mounting hole 333. The rotating shaft 35 is inserted into the mounting hole 333. Exemplarily, the walking wheel adjustment device 100 also includes a first sleeve 352. The first sleeve 352 is sleeved on the rotating shaft 35 and inserted into the mounting hole 333 on the mounting base 33. The first sleeve 352 is used to reduce the wear of the rotating shaft 35 and the mounting base 33 when the rotating shaft 35 rotates relative to the mounting base 33, thereby increasing the service life.

[0071] A fixing hole 351 may be provided on the rotating shaft 35, and the second rotating shaft 31 is inserted into the fixing hole 351. The rotating shaft 35 and the second rotating shaft 31 may be rotatably connected. Exemplarily, the walking wheel adjustment device 100 further includes a second sleeve 353. The second sleeve 353 is sleeved on the second rotating shaft 31 and inserted into the fixing hole 351. The second sleeve 353 is used to reduce the wear between the second rotating shaft 31 and the rotating shaft 35 when the second rotating shaft 31 rotates relative to the rotating shaft 35, thereby improving the service life. The second sleeve 353 includes a first sleeve portion located in the fixing hole 351 and a second sleeve portion connected to the first sleeve portion. The second sleeve portion is located outside the fixing hole 351 and between the second swing arm 322 and the rotating shaft 35. The second sleeve portion is used to reduce the wear between the second swing arm 322 and the rotating shaft 35 when the second swing arm 322 rotates around the rotation axis of the second rotating shaft 31, thereby improving the service life of the walking wheel adjustment device 100. In some embodiments, the rotating shaft 35 may be fixedly connected to the second rotating shaft 31. The rotating shaft 35 and the second rotating shaft 31 may be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 35 and the second rotating shaft 31 may be integrally formed.

[0072] In some embodiments, a fixing hole 351 may be provided on the second rotating shaft 31, the rotating shaft 35 is inserted into the fixing hole 351, and the second rotating shaft 31 is rotatable relative to the rotating shaft 35. The rotating shaft 35 is rotatable or fixed relative to the frame 200. The rotating shaft 35 and the mounting base 33 may be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 35 and the mounting base 33 may be integrally formed. In some embodiments, a fixing hole 351 may be provided on the second rotating shaft 31, the rotating shaft 35 is inserted into the fixing hole 351, the second rotating shaft 31 is fixed relative to the rotating shaft 35, and the rotating shaft 35 is rotatable relative to the frame 200.

[0073] In some embodiments, the walking wheel adjustment device 100 further includes an elastic member 361. One end of the elastic member 361 is connected to the mounting base 33, and the other end of the elastic member 361 is connected to one of the second rotating shaft 31, the second swing arm 322, and the second wheel shaft 321. The elastic member 361 is used to buffer the rotation of the second rotating shaft 31 when the second rotating shaft 31 swings relative to the frame 200 along the height direction Z of the walking robot 1000, slow down the rotation speed of the second rotating shaft 31, reduce the impact force generated by the second rotating shaft 31 on the vehicle body, improve the driving stability of the walking robot 1000, and provide a reset force for the second rotating shaft 31 so that the second rotating shaft 31 is reset in time.

[0074] Exemplarily, the elastic member 361 is connected to the second rotating shaft 31. Along the width direction Y of the walking robot 1000, the second rotating shaft 31 passes through the second swing arm 322, and the end of the second rotating shaft 31 along the axial direction protrudes relative to the second swing arm 322. The end of the second rotating shaft 31 protruding relative to the second swing arm 322 may be provided with a slot, and the elastic member 361 is snapped into the slot to prevent the elastic member 361 from slipping off the second rotating shaft 31. Two elastic members 361 are provided, and the two elastic members 361 are correspondingly connected to the two ends of the second rotating shaft 31 opposite to each other along the axial direction. Among them, the elastic member 361 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 362. The fixing member 362 is connected to the mounting base 33. The end of the fixing member 362 protrudes relative to the mounting base 33 along the width direction Y of the walking robot 1000. The elastic member 361 is connected to the end of the fixing member 362. Among them, the fixing member 362 is used to prevent the elastic member 361 from interfering with other structures and facilitate the installation of the elastic member 361. The fixing member 362 can be constructed as a fixing rod. A snap-fit ​​groove can be provided at the end of the fixing member 362, and the elastic member 361 is snap-fitted into the snap-fit ​​groove to prevent the elastic member 361 from slipping off the fixing member 362.

[0076] The first connecting rod 22 is at least partially configured as an elastic structure, and / or the second connecting rod 23 is at least partially configured as an elastic structure. In some embodiments, the first connecting rod 22 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 11 on the first swing arm 1222, and the first rotating shaft 11 acts on the first connecting rod 22 through the rocker 24. The rocker 24 generates pressure or tension on the first connecting rod 22. In some cases, when the first walking wheel 123 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension exerted by the rocker 24 on the first connecting rod 22 is too large, which easily causes the first connecting rod 22 to bend under the pressure or crack under the tension. In the embodiment of the present application, the first connecting rod 22 is at least partially configured as an elastic structure. On the one hand, the rigid transmission between the first connecting rod 22 and the driving member 21 can be reduced. The first connecting rod 22 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the first connecting rod 22, avoiding damage to the first connecting rod 22, and increasing the service life of the first connecting rod 22; on the other hand, when the first connecting rod 22 is elastically deformed, it can absorb the impact force of the rocker arm 24 on the first connecting rod 22, reduce the impact of the first connecting rod 22 on the driving member 21, and increase the service life of the driving structure 20; on the other hand, when the first connecting rod 22 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.

[0077] Exemplarily, the first connecting rod 22 is arranged in a bent or curved shape. The first connecting rod 22 may include a first connecting rod segment 221 and a second connecting rod segment 222 connected to the first connecting rod segment 221. One end of the first connecting rod segment 221 away from the second connecting rod segment 222 is connected to the rocker 24. One end of the second connecting rod segment 222 away from the first connecting rod segment 221 is connected to the driving member 21. The first connecting rod segment 221 and the second connecting rod segment 222 are arranged at an angle. In some embodiments, the first connecting rod 22 may also be arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, the first connecting rod 22 may also be arranged partially in a bent shape, for example, at least one of the first connecting rod segment 221 and the second connecting rod segment 222 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 22 is configured as a spring. For example, a part or the whole of at least one of the first connecting rod segment 221 and the second connecting rod segment 222 is configured as a spring. In some embodiments, a part or the whole of the first connecting rod 22 is made of an elastic material, such as rubber, plastic, etc.

[0078] In some embodiments, the second connecting rod 23 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 321, and the second wheel axle 321 will generate a torque centered on the rotation axis of the second rotating shaft 31 on the second swing arm 322, and the torque acts on the second connecting rod 23 through the first sliding member 341 and the second sliding member 342, and generates pressure or tension on the second connecting rod 23. When the walking robot 1000 travels on an uneven ground, the second walking wheel 323 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 321 on the second swing arm 322 becoming larger or smaller, and the pressure of the second sliding member 342 on the second connecting rod 23 increasing or decreasing. In some cases, when the second walking wheel 323 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 342 on the second connecting rod 23 is too large, which may easily cause the second connecting rod 23 to bend under the pressure or crack under the tension. In the embodiment of the present application, the second connecting rod 23 is at least partially configured as an elastic structure. On the one hand, the second connecting rod 23 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the second connecting rod 23, avoiding damage to the second connecting rod 23, and improving the service life of the second connecting rod 23; on the other hand, when the second connecting rod 23 is elastically deformed, it can absorb the impact force acting on the second connecting rod 23, reduce the impact of the second connecting rod 23 on the driving member 21, and improve the service life of the driving member 21; on the other hand, when the second connecting rod 23 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.

[0079] The second connecting rod 23 may be arranged in a curved shape. For example, the second connecting rod 23 is arranged in a wave shape. The second connecting rod 23 may include a first segment 231, a second segment 232 and a third segment 233 connected end to end in sequence. The first segment 231 is used to connect with the second sliding member 342. The third segment 233 is used to connect with the driving member 21. The first segment 231 and the second segment 232, and the second segment 232 and the third segment 233 are arranged at an angle respectively. The first segment 231, the second segment 232 and the third segment 233 are arranged in a wave shape. In some embodiments, the second connecting rod 23 may also be arranged in an arc shape, a broken line shape, etc. In some embodiments, the second connecting rod 23 may also be partially arranged in a curved shape, for example, at least one of the first segment 231, the second segment 232 and the third segment 233 is arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, a part or the whole of the second connecting rod 23 is configured as a spring. For example, at least one of the first segment 231, the second segment 232, and the third segment 233 is configured as a spring. In some embodiments, the material of a part or the whole of the second connecting rod 23 includes an elastic material, such as rubber, plastic, etc. In some embodiments, the first connecting rod 22 and the second connecting rod 23 are at least partially configured as an elastic structure to increase the service life of the driving structure 20 and improve the stability of the walking robot 1000 when traveling.

[0080] Please refer to Figure 2 , Figure 4 and Figure 6 The driving member 21 includes a telescopic portion 211 and a driving portion 212. The driving portion 212 is fixedly connected to the frame 200. The telescopic portion 211 is hinged to the first connecting rod 22 and the second connecting rod 23 respectively. The first connecting rod 22 and the second connecting rod 23 are rotatable relative to the telescopic portion 211 respectively. The driving portion 212 is used to drive the telescopic portion 211 to extend in a direction away from the first rotation axis 11 or retract in a direction close to the first rotation axis 11 relative to the driving portion 212. The extension direction D1 of the telescopic portion 211 is arranged parallel to or in line with the telescopic direction. The first wheel axle module 12 is arranged near the rear end of the walking robot 1000, and the first walking wheel 123 is configured as the rear walking wheel of the walking robot 1000. The second wheel axle module 32 is arranged near the front end of the walking robot 1000, and the second walking wheel 323 is configured as the front walking wheel of the walking robot 1000.

[0081] It can be understood that the extension direction D1 of the telescopic portion 211 and the extension direction of the line L1 between the connection point P1 of the telescopic portion 211 and the first connecting rod 22 and the rotation axis of the first rotating shaft 11 are set at an angle. The extension direction D1 of the telescopic portion 211 and the extension direction of the line L2 between the connection point P2 of the telescopic portion 211 and the second connecting rod 23 and the rotation axis of the second rotating shaft 31 are set at an angle. The force of the first connecting rod 22 acting on the telescopic portion 211 is along the extension direction of the line L1 between the connection point P1 of the telescopic portion 211 and the first connecting rod 22 and the rotation axis of the first rotating shaft 11. The force of the second connecting rod 23 acting on the telescopic portion 211 is along the extension direction of the line L2 between the connection point P2 of the telescopic portion 211 and the second connecting rod 23 and the rotation axis of the second rotating shaft 31. The force of the first link 22 and the second link 23 acting on the telescopic part 211 can be decomposed into a first component along the extension direction D1 of the telescopic part 211 and a second component perpendicular to the extension direction D1 of the telescopic part 211. The first component compresses or stretches the telescopic part 211. The second component will form a torque on the telescopic part 211, and tend to bend the telescopic part 211, and tend to increase the friction between the telescopic part 211 and the driving part 212, resulting in increased wear between the telescopic part 211 and the driving part 212, so that the service life of the driving member 21 is reduced. In some cases, when the walking robot 1000 travels over a pit or a protrusion on the ground, the first walking wheel 123 and the second walking wheel 323 impact the ground, causing the first link 22 and the second link 23 to impact the telescopic part 211. When the second component is too large, the second component is likely to cause the telescopic part 211 to bend, resulting in damage to the telescopic part 211. In this embodiment, based on the driving part 212 driving the telescopic part 211 to extend in a direction away from the first rotation axis 11 or retract in a direction close to the first rotation axis 11 relative to the driving part 212, the distance between the connection point P1 of the telescopic part 211 and the first connecting rod 22 and the rotation axis of the first rotation axis 11 can be increased, thereby reducing the angle θ formed by the extension direction D1 of the telescopic part 211 and the extension direction of the line L1 between the connection point P1 of the telescopic part 211 and the first connecting rod 22 and the rotation axis of the first rotation axis 11, thereby reducing the second component of the force of the first connecting rod 22 acting on the telescopic part 211, reducing the risk of bending damage of the telescopic part 211, reducing the friction between the telescopic part 211 and the driving part 212, reducing the wear between the telescopic part 211 and the driving part 212, and improving the service life of the driving member 21.

[0082] In some embodiments, a separator 132 is provided between the first connecting rod 22 and the telescopic portion 211. Thus, the first connecting rod 22 and the telescopic portion 211 are separated by the separator 132, thereby avoiding direct contact between the first connecting rod 22 and the telescopic portion 211, reducing the wear caused when the first connecting rod 22 rotates relative to the telescopic portion 211, and improving the service life of the driving structure 20. The first connecting rod 22 and the telescopic portion 211 can be connected by pivot rotation.

[0083] In some embodiments, the first connecting rod 22 and the telescopic portion 211 may be connected by a ball joint. The partition 132 is configured as a ball joint assembly. A ball head is provided at one of the first connecting rod 22 and the telescopic portion 211, and a spherical groove is provided at the other of the first connecting rod 22 and the telescopic portion 211. A spherical bushing is sleeved on the ball head and accommodated in the spherical groove to reduce the wear generated when the first connecting rod 22 rotates relative to the telescopic portion 211, thereby increasing the service life of the driving structure 20.

[0084] The driving member 21 may be provided as one or more. In some embodiments, the driving member 21 is provided as one, and the first connecting rod 22 and the second connecting rod 23 are connected to the driving member 21 together, so as to realize the common adjustment of the first wheel shaft 121 and the second wheel shaft 321, and reduce the structural complexity of the driving structure 20. In some embodiments, the driving member 21 is provided as two, one of the two driving members 21 is used to connect with the first connecting rod 22, and the other of the two driving members 21 is used to connect with the second connecting rod 23. In this way, the two driving members 21 can independently drive the first connecting rod 22 and the second connecting rod 23, so that the rotation of the first wheel shaft 121 relative to the rotation axis of the first rotating shaft 11 can be adjusted separately, and the rotation of the second wheel shaft 321 relative to the rotation axis of the second rotating shaft 31 can be adjusted separately, thereby improving the flexibility of adjusting the height of the frame 200 from the ground.

[0085] The driving member 21 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 21 can be configured as an electric push rod, the telescopic portion 211 is configured as a push rod, and the driving portion 212 is configured as a drive motor. In some embodiments, the driving member 21 can also be configured as a screw nut assembly, one of the telescopic portion 211 and the driving portion 212 is configured as a screw, and the other is configured as a nut. In some embodiments, the driving member 21 can be configured as a gear rack assembly, the telescopic portion 211 is configured as a rack, and the driving portion 212 is configured as a gear. In some embodiments, the driving member 21 can be configured as a piston cylinder member, the telescopic portion 211 is configured as a piston rod, and the driving portion 212 is configured as a cylinder body.

[0086] The walking wheel adjustment device 100 also includes a connecting seat 25. The connecting seat 25 is fixed relative to the frame 200. The driving unit 212 is installed on the connecting seat 25. There are multiple connecting seats 25. Exemplarily, there are two connecting seats 25. The two connecting seats 25 are located at the two ends of the driving unit 212 along the length direction X of the walking robot 1000, and the two ends of the driving unit 212 are connected to the two connecting seats 25 respectively, so that the driving unit 212 is fixedly connected to the frame 200.

[0087] See also Figure 7 In some embodiments, the walking robot 1000 further includes an anti-collision member 500. The anti-collision member 500 can be mounted on the frame 200 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 member 500 can be used to contact 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 member 500, and the touch sensor is used to identify the obstacle in a contact or non-contact manner, and the walking robot 1000 performs an obstacle avoidance operation when encountering an obstacle. In some embodiments, the walking robot 1000 further includes a collecting member 600. The collecting member 600 can be mounted on the frame 200 or the housing 300 and arranged on the rear side of the walking robot 1000. The collecting member 600 is used to collect grass clippings, fallen leaves, etc. on the lawn.

[0088] 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, characterized in that: include: A first mounting module is rotatably connected to the frame and is used to mount a first traveling wheel; A driving structure, the driving structure is hinged to the first mounting module and is used to drive the first mounting module to rotate so as to adjust the relative position between the axis of the first traveling wheel and the frame; A partition is located at a hinge between the driving structure and the first mounting module and between the driving structure and the first mounting module.

2. The walking wheel adjustment device according to claim 1, characterized in that: The first installation module includes a first rotating shaft and a first wheel axle module; the first rotating shaft is used to connect with the frame; the first wheel axle module is connected with the first rotating shaft, the first wheel axle module is used to install the first running wheel, and the axis of the first running wheel is spaced apart from the rotation axis of the first rotating shaft; The driving structure includes a driving member and a first connecting rod, wherein the driving member is connected to the frame and the first connecting rod respectively; the first connecting rod is hinged to the first wheel axle module, and the driving member is used to drive the first connecting rod to drive the first wheel axle module to rotate around the rotation axis of the first rotating shaft; The separator is located between the first connecting rod and the first axle module.

3. The walking wheel adjustment device according to claim 1, characterized in that: The first installation module includes a first rotating shaft, a first wheel axle module and a rocker; the first rotating shaft is used to connect with the frame; the first wheel axle module is connected with the first rotating shaft, the first wheel axle module is used to install the first walking wheel, the axis of the first walking wheel is spaced apart from the rotation axis of the first rotating shaft, the rocker is connected with the first rotating shaft and is fixed relative to the first wheel axle module; The driving structure includes a driving member and a first connecting rod, wherein the driving member is connected to the frame and the first connecting rod respectively, the first connecting rod is hinged to the rocker, and the first connecting rod is used to drive the rocker together with the first wheel shaft module to rotate around the rotation axis of the first rotating shaft; The spacer is located between the first link and the rocker.

4. The walking wheel adjustment device according to claim 3, characterized in that: It also includes a connecting piece, wherein one of the first connecting rod and the rocker has a first connecting hole, and the connecting piece is inserted into the first connecting hole; The other of the first connecting rod and the rocker is provided with a second connecting hole, and the connecting member is inserted into the second connecting hole, or the other of the first connecting rod and the rocker is fixedly connected to the connecting member.

5. The walking wheel adjustment device according to claim 4, characterized in that: The rocker has a first connecting surface, the first connecting rod has a second connecting surface, the first connecting surface is opposite to the second connecting surface, and the partition is located between the first connecting surface and the second connecting surface.

6. The travel wheel adjustment device according to claim 5, characterized in that: The connecting member is configured as a pivot, and the first connecting surface is parallel to the second connecting surface and perpendicular to the central axis of the pivot.

7. The walking wheel adjustment device according to claim 1, characterized in that: The partition is configured as a ball joint assembly, which is connected between the drive structure and the first mounting module; or, the partition is configured as a bearing, one of the drive structure and the first mounting module is connected to the inner ring of the bearing, and the other is connected to the outer ring of the bearing.

8. The travel wheel adjustment device according to claim 2 or 3, characterized in that: The first connecting rods are provided in plurality, and the plurality of the first connecting rods are respectively hinged to the driving member, and the plurality of the first connecting rods are arranged at intervals and distributed on both sides of the driving member.

9. The walking wheel adjusting device according to claim 3, characterized in that: The first wheel axle module includes a first wheel axle and a first swing arm, the first rotating shaft and the first wheel axle are respectively connected to the first swing arm, the first wheel axle is used to install the first walking wheel, and the rocker is fixed relative to the first swing arm.

10. The walking wheel adjusting device according to claim 9, characterized in that: The length of the rocker is less than or equal to the length of the first swing arm.

11. The travel wheel adjustment device according to claim 2 or 3, characterized in that: The driving member includes an extension portion and a driving portion, wherein the driving portion is connected to the frame, the extension portion is rotatably connected to the first connecting rod, and the driving portion is used to make the extension portion extend in a direction away from the first rotation axis or retract in a direction close to the first rotation axis relative to the driving portion.

12. The travel wheel adjustment device according to claim 1, characterized in that: The walking wheel adjustment device also includes a second installation module, the second installation module includes a second rotating shaft and a second wheel axle module, the second rotating shaft is used to connect to the frame, the second wheel axle module includes a second wheel axle and a second swing arm, the driving structure includes a driving member and a second connecting rod connected to the driving member, the second rotating shaft, the second wheel axle and the second connecting rod are respectively connected to the second swing arm, the second wheel axle is used to install the second walking wheel, the axis of the second walking wheel is spaced apart from the rotation axis of the second rotating shaft, and the driving member is used to drive the second connecting rod to drive the second swing arm to rotate around the central axis of the second rotating shaft.

13. A walking robot, characterized in that: The walking robot includes a frame, a first walking wheel and a walking wheel adjusting device as described in any one of claims 1 to 12, wherein the walking wheel adjusting device is installed on the frame, and the walking wheel adjusting device is used to install the first walking wheel.

14. The walking robot according to claim 13, characterized in that: The walking robot further comprises a collecting piece, and the collecting piece is connected to the frame.

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