Height adjusting device and walking equipment

Abstract

The utility model provides a height adjusting device and walking equipment. The height adjusting device is applied to the walking equipment. The walking equipment comprises a main body and walking wheels, and the height adjusting device comprises a swing mechanism and a driving mechanism. The swinging mechanism comprises a rotating shaft and a swinging arm, one end of the swinging arm is connected with the walking wheel, the other end of the swinging arm is connected with the rotating shaft, and the rotating shaft is rotatably arranged on the main body. The driving mechanism is in transmission connection with the swinging mechanism and used for driving the swinging arm to rotate around the central axis of the rotating shaft so as to drive the body to ascend and descend relative to the horizontal base plane. The driving mechanism is further used for driving the swing arm to rotate to a preset position, so that the extension direction of the swing arm is parallel to the gravity direction of the walking equipment, and the extension direction of the swing arm is the direction of a connecting line of connecting points of the swing arm, the walking wheel and the rotating shaft. According to the height adjusting device, the risk that the driving mechanism is damaged due to the fact that the gravity of the walking equipment generates counter torque on the driving mechanism is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic machinery, in particular to a height adjustment device and a walking device. Background Art

[0002] The support force of the running wheels of the existing running equipment based on the ground will be transmitted to the driving mechanism through the swing arm, causing the driving mechanism to generate a reaction torque, which is likely to cause damage to the driving mechanism. Utility Model Content

[0003] The utility model provides a height adjustment device and a walking device, so as to solve the technical problem that the walking device in the prior art easily causes damage to the driving mechanism.

[0004] In the first aspect, the utility model provides a height adjustment device, which is applied to a walking device. The walking device includes a main body and a walking wheel, and the height adjustment device includes a swing mechanism and a driving mechanism. The swing mechanism includes a rotating shaft and a swing arm, one end of the swing arm is connected to the walking wheel, and the other end of the swing arm is connected to the rotating shaft, and the rotating shaft can be rotatably arranged on the main body. The driving mechanism is transmission-connected to the swing mechanism, and is used to drive the swing arm to rotate around the central axis of the rotating shaft to drive the main body to rise and fall relative to a horizontal base surface. The driving mechanism is also used to drive the swing arm to rotate to a preset position so that the extension direction of the swing arm is parallel to the gravity direction of the walking device, wherein the extension direction of the swing arm is the direction of the line connecting the connection points of the swing arm, the walking wheel and the rotating shaft.

[0005] In combination with the first aspect, in a possible implementation, when the plane where the main body is located is parallel to the horizontal base plane and the swing arm is rotated to the highest limit position or the lowest limit position, the extension direction of the swing arm is parallel to the gravity direction of the walking device.

[0006] In combination with the first aspect, in a possible implementation, the height adjustment device also includes an acceleration adjustment mechanism, the rotating shaft includes a first shaft segment and a second shaft segment, the acceleration adjustment mechanism is arranged between the first shaft segment and the second shaft segment, the end of the first shaft segment facing away from the acceleration adjustment mechanism is transmission connected to the walking wheel and is rotatably arranged on the main body, the end of the second shaft segment facing away from the acceleration adjustment mechanism is transmission connected to the driving mechanism, and the acceleration adjustment mechanism is used to adjust the rotation angle range of the swing arm.

[0007] In combination with the first aspect, in a possible implementation, the acceleration adjustment mechanism includes a sun gear, a planetary gear set, a planetary carrier and a ring gear, the planetary gear set is mounted on the planetary carrier and meshes with the sun gear and the ring gear, the sun gear is fixedly connected to the first shaft segment, the planetary carrier is fixedly connected to the second shaft segment, and the ring gear is fixed to the main body.

[0008] In combination with the first aspect, in a possible implementation, the planetary gear set includes a plurality of planetary gears, and a diameter of the planetary gears is smaller than a diameter of the sun gear.

[0009] In combination with the first aspect, in a possible implementation, the acceleration adjustment mechanism further includes a mounting shell, the mounting shell is provided with a mounting cavity, and the sun gear, the planetary gear set and the planetary carrier are rotatably accommodated in the mounting cavity.

[0010] In combination with the first aspect, in a possible implementation, the mounting shell includes a first shell and a second shell, the ring gear is clamped between the first shell and the second shell, and together with the first shell and the second shell form the mounting cavity; or, the ring gear is arranged in the mounting cavity formed by the first shell and the second shell.

[0011] In combination with the first aspect, in a possible implementation, the acceleration adjustment mechanism also includes a first bearing and a second bearing, the first bearing is arranged between the first housing and the sun gear, and is rotatably mounted on the first shaft segment, and the second bearing is arranged between the second housing and the planetary carrier, and is rotatably mounted on the second shaft segment.

[0012] In combination with the first aspect, in a possible implementation, the driving mechanism includes a driving member, a transmission member and a connecting arm, the connecting arm is spaced apart from the swing arm, one end of the connecting arm is hinged to the transmission member, the other end of the connecting arm is connected to the rotating shaft, and the length of a line connecting the connecting arm with the connection point of the transmission member and the rotating shaft is equal to or less than the length of a line connecting the swing arm with the connection point of the rotating shaft and the walking wheel.

[0013] In a second aspect, the utility model provides a walking device, comprising a main body and the height adjustment device as described above, wherein the height adjustment device is arranged on the main body and is used to drive the main body to rise and fall relative to a horizontal base surface.

[0014] The height adjustment device and walking equipment provided by the utility model, on the one hand, are based on setting a driving mechanism and a swinging mechanism for transmission connection, and are used to drive the swinging arm to rotate around the central axis of the rotating shaft, so as to drive the main body to rise and fall relative to the horizontal base surface, so that the walking equipment can meet the walking requirements of different working conditions; on the other hand, the driving mechanism is also used to drive the swinging arm to rotate to a preset position, so that the extension direction of the swinging arm is parallel to the gravity direction of the walking equipment, wherein the extension direction of the swinging arm is the line direction of the connection point between the swinging arm, the walking wheel and the rotating shaft, so that most of the supporting force generated by the ground on the walking wheel can be transmitted to the main body through the swinging arm, so as to reduce the effect of the swinging arm transmitting the supporting force generated by the ground on the walking wheel to the driving mechanism, thereby reducing the risk of the walking equipment's own gravity generating a counter torque on the driving mechanism and causing damage to the driving mechanism, and extending the service life of the driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a partial structural schematic diagram of the walking device provided by the embodiment of the utility model.

[0016] Figure 2 yes Figure 1 Schematic diagram of the exploded view of the local structure of the height adjustment device of the walking equipment.

[0017] Figure 3 yes Figure 1 A schematic diagram showing that the height adjustment device omits the second shell and drives the main body to rise to the highest limit position.

[0018] Figure 4 yes Figure 1 A schematic diagram showing that the height adjustment device omits the second shell and drives the main body to rise to the lowest limit position.

[0019] Figure 5 yes Figure 1 An exploded view of the second swing structure of the height adjustment device of the walking equipment.

[0020] Main component symbol description: walking device-1000; main body-100; walking wheel-200; first wheel-210; second wheel-220; height adjustment device-500; swing mechanism-1; first swing structure-10; first wheel shaft-11; rotating shaft-12; first shaft section-121; second shaft section-122; swing arm-13; driving mechanism-2; driving member-20; driving part-21; telescopic part-22; guide seat-23; connecting seat-25; transmission member-30, first transmission rod-31; first transmission part-311; second transmission part-312; second transmission rod-32; first transmission section-321; second transmission section-322; connecting arm-40; second swing structure-50; second wheel shaft-5 1; rotating shaft-52; rotating arm-53; first sliding member-541; second sliding member-542; guide groove-5401; mounting base-56; accommodating space-5601; limiting hole-5602; mounting hole-5603; mounting member-561; guide rod-57; transmission shaft-58; bushing-59; acceleration adjustment mechanism-6; sun gear-61; planetary gear set-62; planetary gear-621; planetary carrier-63; connecting plate-631; connecting shaft-632; gear ring-64; mounting shell-65; mounting cavity-650; first shell-651; second shell-652; first bearing-661; second bearing-662; length direction-X; width direction-Y; height direction-Z; gravity direction-G.

[0021] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0022] The following embodiments of the present invention are described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0023] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be detachably connected or non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative position relationship after connection remains unchanged. "Rotational connection" can be connected to each other and can rotate relative to each other after connection. The term "integrated molding" means that in the process of forming one of the multiple components, the component is connected to other components, and there is no need to connect the two components together by reprocessing (such as bonding, welding, snap connection, screw connection). The orientation terms mentioned in the embodiments of the present utility model, such as "top", "bottom", "inside", "outside", "side", etc., are only reference directions of the drawings. Therefore, the orientation terms used are for better and clearer explanation and understanding of the embodiments of the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present utility model.

[0024] See also Figure 1 , Figure 1 1 is a schematic diagram of a partial structure of a walking device 1000 provided in an embodiment of the utility model. The walking device 1000 includes a main body 100 and a height adjustment device 500. The height adjustment device 500 is arranged on the main body 100 and is used to drive the main body 100 to perform lifting activities. Thus, the walking device 1000 can meet the walking requirements of different working conditions.

[0025] The walking device 1000 may include but is not limited to handheld, riding and fully automatic intelligent walking devices 1000, etc., and the utility model does not limit this. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground under the push of the user. For another example, the walking device 1000 itself has the ability to move. Specifically, the walking device 1000 also includes a walking wheel 200. The walking wheel 200 is configured as a driving wheel, and the walking device 1000 can automatically move on the ground through the driving wheel. The driving wheel can be configured as a wheel with an integrated hub motor, thereby reserving a larger layout space for the main body 100, thereby improving the space utilization of the walking device 1000. The driving wheel can drive the walking wheel 200 to rotate through a driving motor independent of the walking wheel 200.

[0026] The walking device 1000 can be configured as, but not limited to, a mowing device, a pesticide spraying device, a crop harvesting device, a sweeping device, a transport device, and the like. In the present embodiment, the walking device 1000 can be configured as a mowing device. The walking device 1000 includes a cutting mechanism disposed on the main body 100. The cutting mechanism is used to trim the lawn or other vegetation. The height adjustment device 500 can be adjusted by raising and lowering the main body 100 to drive the cutting mechanism to raise and lower, thereby meeting the requirements of the mowing height. Of course, in some embodiments, the walking device 1000 can also be, but not limited to, a sweeper or other intelligent devices.

[0027] It should be noted that Figure 1 The purpose is only to schematically describe the arrangement between the main body 100 and the height adjustment device 500, and it is not to make specific limitations on the connection position, connection relationship and specific structure of each component. Figure 1 The structure of the walking device 1000 is only shown in the embodiment of the present invention, and does not constitute a specific limitation on the walking device 1000. In other embodiments of the present invention, the walking device 1000 may include Figure 1 More or fewer components as shown, or a combination of certain components, or different components, for example, the walking device 1000 may also include but is not limited to a safety protection structure and the like.

[0028] Please also read Figure 1 and Figure 2 , Figure 2 yes Figure 1 Schematic diagram of the structure of the connecting parts of the height adjustment device 500 of the walking device 1000 in the embodiment of the utility model. The height adjustment device 500 provided in the embodiment of the utility model is applied to the walking device 1000. The height adjustment device 500 includes a swing mechanism 1 and a driving mechanism 2. The swing mechanism 1 includes a rotating shaft 12 and a swing arm 13, one end of the swing arm 13 is connected to the walking wheel 200, and the other end of the swing arm 13 is connected to the rotating shaft 12, and the rotating shaft 12 can be rotatably arranged on the main body 100. The driving mechanism 2 is connected to the swing mechanism 1 in a transmission manner, and is used to drive the swing arm 13 to rotate around the central axis of the rotating shaft 12 to drive the main body 100 to rise and fall relative to the horizontal base surface. The driving mechanism 2 is also used to drive the swing arm 13 to rotate to a preset position so that the extension direction of the swing arm 13 is parallel to the gravity direction G of the walking device 1000. Among them, the extension direction of the swing arm 13 is the direction of the line connecting the connection points of the swing arm 13, the walking wheel 200 and the rotating shaft 12.

[0029] It should be noted that the preset position can be a position corresponding to the highest limit position or the lowest limit position driven by the driving mechanism 2 when the plane where the main body 100 is located is parallel to the horizontal base plane; or, the preset position is a position where the driving mechanism 2 drives the swing arm 13 to swing to a position where the extension direction of the swing arm 13 is parallel to the gravity direction G of the walking device 1000 when the plane where the main body 100 is located is set at an angle. The term "highest limit position" refers to the position where the swing end of the swing arm 13 swings to the highest position from the horizontal base plane, that is, the position where the distance between the main body 100 and the ground reaches the maximum value. Among them, the swing end of the swing arm 13 refers to the end of the swing arm 13 connected to the rotating shaft 12. The term "lowest limit position" refers to the position where the swing end of the swing arm 13 swings to the lowest position from the horizontal base plane, that is, the position where the distance between the main body 100 and the ground reaches the minimum value.

[0030] It is understandable that when the walking device 1000 is on flat ground, under the action of gravity, the weight of the walking device 1000 itself will act on the walking wheel 200. Among them, the gravity direction G of the walking device 1000 is parallel to the height direction Z of the walking device 1000. When the extension direction of the swing arm 13 is set at an angle to the height direction Z of the walking device 1000, the walking wheel 200 will generate a torque centered on the central axis of the rotating shaft 12 on the swing arm 13, so that the swing arm 13 tends to rotate, and the torque is applied to the drive mechanism 2 through the swing arm 13, so that the drive mechanism 2 generates a counter torque, which can easily cause the drive mechanism 2 to be damaged under the action of the counter torque, shortening the service life of the drive mechanism 2.

[0031] When the walking device 1000 is on a slope, under the action of gravity, the weight of the walking device 1000 itself will act on the walking wheel 200. Among them, the gravity direction G of the walking device 1000 is set at an angle with the height direction Z of the walking device 1000. When the extension direction of the swing arm 13 is set at an angle with the gravity direction G of the walking device 1000, the walking wheel 200 will generate a torque centered on the central axis of the rotating shaft 12 on the swing arm 13, so that the swing arm 13 tends to rotate, and the torque is applied to the drive mechanism 2 through the swing arm 13, so that the drive mechanism 2 generates a counter torque, which can easily cause the drive mechanism 2 to be damaged under the action of the counter torque, shortening the service life of the drive mechanism 2.

[0032] The height adjustment device 500 provided by the utility model, on the one hand, is based on the setting of a driving mechanism 2 and a transmission connection with the swing mechanism 1, and is used to drive the swing arm 13 to rotate around the central axis of the rotating shaft 12, so as to drive the main body 100 to rise and fall relative to the horizontal base surface, so that the walking device 1000 can meet the walking requirements of different working conditions; on the other hand, the connecting line of the connecting point of the walking wheel 200 of the swing arm 13 and the rotating shaft 12 is parallel to the gravity direction G of the walking device 1000, and the height adjustment device 500 can drive the main body 100 to rise and fall, so that the walking device 1000 can meet the walking requirements of different working conditions; on the other hand, the driving mechanism 2 is also used to drive the swing arm 1 3 is rotated to a preset position so that the extension direction of the swing arm 13 is parallel to the gravity direction of the walking device 1000, wherein the extension direction of the swing arm 13 is the line direction of the connection points of the swing arm 13, the walking wheel 200 and the rotating shaft 12, so that most of the support force generated by the ground on the walking wheel 200 can be transmitted to the main body 100 through the swing arm 13, so as to reduce the swing arm 13 to transmit the support force generated by the ground on the walking wheel 200 to the driving mechanism 2, thereby reducing the risk of the walking device 1000's own gravity generating a counter torque on the driving mechanism 2 and causing damage to the driving mechanism, thereby extending the service life of the driving mechanism, and extending the service life of the driving mechanism 2.

[0033] Exemplarily, when the plane where the main body 100 is located is parallel to the horizontal base plane, and the swing arm 13 rotates to the highest limit position or the lowest limit position, the extension direction of the swing arm 13 is parallel to the gravity direction G of the walking device 1000. As a result, most of the support force generated by the ground on the walking wheel 200 can be transmitted to the main body 100 through the swing arm 13, so as to reduce the swing arm 13 transmitting the support force generated by the ground on the walking wheel 200 to the driving mechanism 2, thereby reducing the risk of the walking device 1000's own gravity generating a counter torque on the driving mechanism 2 and causing damage to the driving mechanism, thereby extending the service life of the driving mechanism and the service life of the driving mechanism 2. It can be understood that when the walking device 1000 receives a preset instruction, it determines that the walking device 1000 is in a preset working state. The preset instruction includes at least one of a charging instruction, a mowing instruction, a grass collecting instruction, or a stop working instruction. For example, when the walking device 1000 receives a charging instruction, the walking device 1000 enters a charging state, and at this time, the plane where the main body 100 is located is parallel to the horizontal base plane.

[0034] For the accuracy of description, please refer to the directions in this article. Figure 1For reference, the term "length direction X" refers to the direction of travel of the walking device 1000, that is, the front-to-back direction (where the positive direction of the X axis is the front). The term "width direction Y" refers to the arrangement direction of the left and right wheels in the walking device 1000, that is, the left-right direction (where the positive direction of the Y axis is the right). The term "height direction Z" refers to the arrangement direction of the wheels of the walking device 1000 that are against the support plane and the highest protruding part of the walking device 1000, that is, the up-down direction (where the positive direction of the Z axis is up). Among them, the length direction X, the width direction Y and the height direction Z together constitute the three orthogonal directions of the walking device 1000. For the convenience of description, the up-down, left-right, and front-to-back directions in the utility model are relative positions and do not constitute a limitation to the implementation. The length direction X, the width direction Y and the height direction Z of the walking device 1000 can be customized according to the specific structure of the product and the perspective of the drawings, and the utility model does not make specific limitations.

[0035] Please also read Figure 1 and Figure 2 , Figure 2 yes Figure 1 Schematic diagram of the partial structure of the height adjustment device 500 of the walking device 1000 in FIG. In some embodiments, the height adjustment device 500 also includes an acceleration adjustment mechanism 6, and the rotating shaft 12 includes a first shaft section 121 and a second shaft section 122. The acceleration adjustment mechanism 6 is arranged between the first shaft section 121 and the second shaft section 122, and the end of the first shaft section 121 facing away from the acceleration adjustment mechanism 6 is transmission-connected to the walking wheel 200, and can be rotatably arranged on the main body 100. The end of the second shaft section 122 facing away from the acceleration adjustment mechanism 6 is transmission-connected to the driving mechanism 2, and the acceleration adjustment mechanism 6 is used to adjust the rotation angle range of the swing arm 13. As a result, the driving mechanism 2 can transmit acceleration through the acceleration adjustment mechanism 6, and the height of the overall lifting and lowering of the main body 100 driven by the height adjustment device 500 is increased without lengthening the driving arc of the driving mechanism 2, and the swing range of the swing arm 13 is increased.

[0036] For example, in this embodiment, the height adjustment device 500 includes two acceleration adjustment mechanisms 6, and the rotating shaft 12 includes two first shaft sections 121 and one second shaft section 122. The two ends of each first shaft section 121 are respectively fixedly connected to the swing arm 13 and the corresponding acceleration adjustment mechanism 6, and the two ends of the second shaft section 122 are respectively fixedly connected to the two acceleration adjustment mechanisms 6. Of course, in some embodiments, the height adjustment device 500 may also include more than two acceleration adjustment mechanisms 6, so as to further improve the transmission speed of the first shaft section 121 and realize the rapid rotation of the swing arm 13 to a preset position. The acceleration adjustment mechanism 6 can be designed according to actual conditions, and the utility model does not make specific limitations.

[0037] The acceleration adjustment mechanism 6 includes a sun gear 61, a planetary gear set 62, a planetary carrier 63 and a ring gear 64. The planetary gear set 62 is mounted on the planetary carrier 63 and meshes with the sun gear 61 and the ring gear 64. The sun gear 61 is fixedly connected to the first shaft section 121, and the planetary carrier 63 is fixedly connected to the second shaft section 122. The ring gear 64 is fixed to the main body 100. Thus, the driving mechanism 2 drives the second shaft section 122 to drive the planetary carrier 63 connected to the planetary gear set 62 to rotate, and the rotation of the planetary gear set 62 drives the sun gear 61 together with the first shaft section 121 and the swing arm 13 to rotate; on the one hand, the planetary gear set 62 can exist as an accelerator, increase the speed ratio during rotation, and utilize the higher transmission ratio characteristics of the planetary gear set 62 to increase the swing range of the swing arm 13, and in the process of driving the swing arm 13 to rotate quickly, it is more labor-saving and less noisy; on the other hand, the planetary gear set 62 is arranged between the sun gear 61 and the ring gear 64, so that the acceleration adjustment mechanism 6 has the advantages of small size, compact structure, high load-bearing capacity, large transmission power, smooth transmission, and strong ability to resist impact and vibration.

[0038] Exemplarily, in the present embodiment, the input end of the acceleration adjustment mechanism 6 is connected to the driving mechanism 2, and the output end of the acceleration adjustment mechanism 6 is connected to the swing arm 13. Specifically, the input end of the acceleration adjustment mechanism 6 is connected to the first shaft segment 121, and the output end of the acceleration adjustment mechanism 6 is connected to the second shaft segment 122. Specifically, the ends of the first shaft segment 121 and the second shaft segment 122 are configured as a waist-shaped structure, and the sun gear 61 and the planetary carrier 63 are respectively provided with waist-shaped holes that match the waist-shaped structure, so that the second shaft segment 122 is fixedly arranged relative to the planetary carrier 63 and rotates synchronously, and the first shaft segment 121 is fixedly arranged relative to the sun gear 61 and rotates synchronously.

[0039] The planetary gear set 62 includes a plurality of planetary gears 621. The diameter of the planetary gear 621 is smaller than the diameter of the sun gear 61. Thus, by reducing the diameter of the planetary gear 621, the speed ratio between the input end and the output end can be increased, thereby increasing the speed of the output end. The plurality of planetary gears 621 mesh between the sun gear 61 and the ring gear 64. In this embodiment, the specifications of the plurality of planetary gears 621 are the same, thereby facilitating accurate calculation of the transmission ratio. The number of the planetary gears 621 is three, and the three planetary gears 621 are coaxially arranged with the sun gear 61, thereby improving the transmission stability of the acceleration adjustment mechanism 6. The three planetary gears 621 are distributed around the sun gear 61 at an angle of 120 degrees. The number of the planetary gears 621 can also be one, two, four or more than four, etc. The number of the planetary gears 621 can be set according to actual conditions, and the embodiment of the utility model does not make specific restrictions.

[0040] More specifically, in this embodiment, the number of teeth of the ring gear 64 is 48, the number of teeth of the sun gear 61 is 24, and the number of teeth of the planetary gear 621 is 12. Therefore, by reasonably setting the number of teeth of the sun gear 61, the planetary gear 621 and the ring gear 64, the transmission ratio of the acceleration adjustment mechanism 6 is less than 1, thereby realizing the accelerated rotation of the swing arm 13, so that the planetary gear 621 can drive the sun gear 61 to rotate at a larger angle when the planetary gear 621 revolves around the sun gear 61 at a smaller angle, thereby increasing the rotation angle range of the swing arm 13 and shortening the telescopic stroke of the drive unit 21 driving the telescopic unit 22, thereby increasing the occupied space of the overall structure of the height adjustment device 500. It should be noted that the number of teeth of the planetary gear 621 is an integer multiple of the number of teeth of the sun gear 61, thereby ensuring the smooth transmission of the gear parts during the meshing process of the planetary gear 621 and the sun gear 61. The number of the sun gear 61 , the planetary gear 621 and the ring gear 64 can be set according to factors such as the specification and lifting adjustment range of the walking device 1000 , and the embodiment of the utility model does not make any specific limitation.

[0041] The planet carrier 63 includes a connecting plate 631 and a plurality of connecting shafts 632. The connecting plate 631 is fixedly connected to the second shaft section 122. The connecting shaft 632 can be arranged on the connecting plate 631 or on the planet gear 621. Specifically, a plurality of connecting shafts 632 are fixed on the connecting plate 631, and each connecting shaft 632 is connected to a corresponding planet gear 621. Exemplarily, in this embodiment, the number of connecting shafts 632 corresponds to the number of planet gears 621 one by one. The number of connecting shafts 632 and the number of planet gears 621 are both three. The connecting plate 631 is configured as a triangular plate, and three connecting shafts 632 are fixed to the three corners of the connecting plate 631 and are connected to the three planet gears 621 one by one. Thus, the connecting plate 631 is configured as a triangular structure, which can triangularly position the sun gear 61, and make the planet carrier 63 have high structural strength, good stability in use, convenient assembly and disassembly of the planet carrier 63 and the planet gear 621, and convenient for repair and maintenance of the components.

[0042] In this embodiment, the contour area of ​​the line connecting the axes of the three planetary gears 621 can be an equilateral triangle, so that the planet carrier 63 can withstand a large reversal torque and impact load, and the transmission between the planetary gears 621 and the sun gear 61 is relatively stable. The contour area of ​​the line connecting the axes of the three planetary gears 621 can also be a non-equilateral triangle.

[0043] The acceleration adjustment mechanism 6 includes a mounting shell 65. The mounting shell 65 is provided with a mounting cavity 650, and the sun gear 61, the planetary gear set 62 and the planetary carrier 63 are rotatably accommodated in the mounting cavity 650. Therefore, the mounting shell 65 can protect the sun gear 61, the planetary gear set 62 and the planetary carrier 63, and provide more mounting sites for various parts of the acceleration adjustment mechanism 6. In some embodiments, the ring gear 64 is fixed to the main body 100 through the mounting shell 65, thereby avoiding the need to set a fixing structure fixedly connected to the main body 100 on the ring gear 64, thereby improving the structural strength of the ring gear 64. Of course, in some embodiments, the ring gear 64 can also be directly fixedly connected to the main body 100.

[0044] Exemplarily, in this embodiment, the mounting shell 65 includes a first shell 651 and a second shell 652, and the gear ring 64 is sandwiched between the first shell 651 and the second shell 652, and is surrounded by the first shell 651 and the second shell 652 to form a mounting cavity 650, thereby reducing the volume of the mounting shell 65, increasing the distance from the ground when the main body 100 is lowered to the lowest limit position, avoiding the problem of interference between the mounting shell 65 and external obstacles, improving the passability of the walking device 1000, and facilitating the installation of the gear ring 64 on the mounting shell 65. The outer wall of the gear ring 64 is connected and flush with the outer wall of the mounting shell 65, thereby improving the aesthetics of the acceleration adjustment mechanism 6 and facilitating the alignment and assembly of the gear ring 64 and the mounting shell 65. Of course, in some embodiments, the gear ring 64 can also be arranged in the mounting cavity 650 formed by the first shell 651 and the second shell 652.

[0045] In some embodiments, the acceleration adjustment mechanism 6 further includes a first bearing 661 and a second bearing 662, wherein the first bearing 661 is disposed between the first housing 651 and the sun gear 61, and is rotatably sleeved on the first shaft segment 121, and the second bearing 662 is disposed between the second housing 652 and the planetary carrier 63, and is rotatably sleeved on the second shaft segment 122. Thus, when the first shaft segment 121 and the second shaft segment 122 rotate, the wear of the first shaft segment 121 and the second shaft segment 122 is reduced, thereby increasing the service life.

[0046] The driving mechanism 2 includes a driving member 20, a transmission member 30 and a connecting arm 40. The connecting arm 40 is arranged at intervals with the swing arm 13, and one end of the connecting arm 40 is hinged with the transmission member 30. The other end of the connecting arm 40 is connected to the rotating shaft 12, and the length of the line connecting the connecting arm 40 with the connecting point of the transmission member 30 and the rotating shaft 12 is equal to or less than the length of the line connecting the connecting point of the swing arm 13 with the rotating shaft 12 and the walking wheel 200. Thus, by shortening the force arm of the swing arm 13, the rotation range of the swing arm 13 is increased, the transmission efficiency is improved, and the space occupied by the swing arm 13 is reduced, which is conducive to the lifting, transportation and installation of the height adjustment device. When the driving member 20 drives the connecting arm 40 to drive the rotating shaft 12 and the swing arm 13 to rotate, the connecting arm 40 moves a smaller stroke under the action of the acceleration adjustment mechanism 6, so that the swing arm 13 moves a larger stroke, thereby enlarging the adjustment stroke of the connecting arm 40 on the swing arm 13, and increasing the swing range of the swing arm 13, and then the height of the height adjustment device 500 driving the main body 100 to rise and fall as a whole. Of course, in some embodiments, the length of the line connecting the swing arm 13 and the connection point between the rotating shaft 12 and the walking wheel 200 may also be slightly greater than the length of the line connecting the connection point between the connecting arm 40 and the rotating shaft 12 and the first transmission rod 31. Specifically, the walking wheel 200 includes a first wheel 210 and a second wheel 220. The swing mechanism 1 includes a first swing structure 10 and a second swing structure 50. The two ends of the first swing structure 10 are respectively connected to the two first wheels 210, and are arranged at the rear end of the main body 100 in the length direction X of the walking device 1000, and the two ends of the second swing structure 50 are respectively connected to the two second wheels 220, and are arranged at the front end of the main body 100 in the length direction X of the walking device 1000.

[0047] Please also read Figures 2 to 4 , Figure 3 yes Figure 1 A schematic diagram showing that the height adjustment device 500 omits the second housing 652 and drives the main body 100 to rise to the highest limit position; Figure 4 yes Figure 1 The height adjustment device 500 in the embodiment omits the second housing 652 and drives the main body 100 to rise to the lowest limit position. Figure 3 As shown, when the driving mechanism 2 drives the main body 100 to rise to the lowest limit position, the extension direction of the swing arm 13 is parallel to the height direction Z of the walking device 1000. At this time, the swing arm 13 is located directly above the rotating shaft 12. The extension direction of the connecting arm 40 is parallel to the extension direction of the swing arm 13. The walking device 1000 is in a scene with the front lower and the back higher, that is, in the height direction Z of the walking device 1000, the center axis of the first wheel 210 is higher than the center axis of the second wheel 220. Figure 4As shown, when the driving mechanism 2 drives the main body 100 to rise to the highest limit position, the extension direction of the swing arm 13 is parallel to the height direction Z of the walking device 1000. At this time, the swing arm 13 is located directly below the rotating shaft 12. The extension direction of the connecting arm 40 is set at an angle to the extension direction of the swing arm 13, that is, the swing angle of the connecting arm 40 is different from the swing angle of the swing arm 13. The walking device 1000 is in a scene where the front is high and the back is low, that is, in the height direction Z of the walking device 1000, the center axis of the first wheel 210 is lower than the center axis of the second wheel 220. Therefore, in the embodiment of the utility model, based on the acceleration adjustment mechanism 6 being arranged on the rotating shaft 12, when the driving mechanism 2 drives the swing arm 13 to rotate between the highest limit position and the lowest limit position, the swing angle of the swing arm 13 is greater than the rotation angle of the connecting arm 40. Therefore, compared with the height adjustment device 500 without the acceleration adjustment mechanism 6, the height adjustment device 500 provided with the acceleration adjustment mechanism 6 can reduce the rotation stroke of the connecting arm 40 and shorten the telescopic stroke of the telescopic part 22 driven by the driving part 21, thereby increasing the occupied space of the overall structure of the height adjustment device 500. It should be noted that the telescopic stroke of the telescopic part 22 refers to the maximum displacement of the telescopic part 22 during the telescopic process.

[0048] Specifically, when the driving mechanism 2 drives the main body 100 to rise to the lowest limit position, the height of the hinge point of the connecting arm 40 and the transmission member 30 in the height direction of the walking device 1000 to the hinge point of the driving member 20 and the transmission member 30 is a first height, and when the driving mechanism 2 drives the main body 100 to rise to the highest limit position, the height of the hinge point of the connecting arm 40 and the transmission member 30 in the height direction of the walking device 1000 to the hinge point of the driving member 20 and the transmission member 30 is a second height, wherein the first height is less than the second height. When the height adjustment device 500 is provided with an acceleration adjustment mechanism 6, the difference between the second height and the second height is a first difference, and when the height adjustment device 500 is not provided with an acceleration adjustment mechanism 6, the difference between the second height and the second height is a second difference, and the first difference is less than the second difference. Due to the setting of the acceleration adjustment mechanism 6, the swing arm 13 can be accelerated to rotate, so that the height difference from the hinge point of the connecting arm 40 and the transmission member 30 to the hinge point of the driving member 20 and the transmission member 30 in the height direction of the walking device 1000 is smaller, thereby reducing the rotation stroke of the connecting arm 40.

[0049] The driving member 20 is configured as an electric push rod structure, a screw nut structure, a gear rack structure or a cylinder structure. The driving member 20 includes a driving part 21 and a telescopic part 22. One end of the telescopic part 22 is connected to the driving part 21 in a transmission connection, and the other end of the telescopic part 22 is connected to the transmission member 30. The driving part 21 is used to drive the telescopic part 22 to telescope to push and pull the transmission member 30 to drive the connecting arm 40 to rotate. Exemplarily, in this embodiment, the driving member 20 is configured as an electric push rod structure, wherein the telescopic part 22 is a push rod and the driving part 21 is a driving motor. In some embodiments, when the driving member 20 can also be configured as a screw nut structure, one of the telescopic part 22 and the driving part 21 is configured as a screw, and the other of the telescopic part 22 and the driving part 21 is configured as a nut. In some embodiments, when the driving member 20 can be configured as a gear rack structure, the telescopic part 22 is configured as a rack, and the driving part 21 is configured as a gear. In some embodiments, when the driving member 20 can be configured as a cylinder structure, the telescopic portion 22 is configured as a piston rod, and the driving portion 21 is configured as a cylinder body.

[0050] In some embodiments, the driving member 20 further includes a guide seat 23, and the telescopic portion 22 is movably disposed in the guide seat 23. Thus, the guide seat 23 can guide and support the movement of the telescopic portion 22, thereby preventing the telescopic portion 22 from deforming, protecting the telescopic portion 22, and extending the service life of the driving member 20. The guide seat 23 is fixedly connected to the main body 100, thereby improving the stability and reliability of the connection between the driving member 20 and the main body 100, and ensuring the smoothness and stability of the telescopic activity of the driving portion 21 driving the telescopic portion 22.

[0051] Exemplarily, in the present embodiment, the transmission member 30 includes a first transmission rod 31. One end of the first transmission rod 31 is hinged to the driving member 20, and the other end of the first transmission rod 31 is transmission-connected to the first swing structure 10. In some embodiments, the input end of the telescopic portion 22 is connected to the driving portion 21, and is located between the output end of the telescopic portion 22 and the swing arm 13. The output end of the telescopic portion 22 is hinged to one end of the first transmission rod 31 facing away from the swing arm 13, and the driving portion 21 is used to drive the telescopic portion 22 to pull or push the first transmission rod 31 along the length direction X of the walking device 1000, so as to drive the swing arm 13 together with the rotating shaft 12 and the main body 100 to perform lifting and lowering movements. Therefore, based on the setting that the input end of the telescopic part 22 is connected to the driving part 21 and is located between the output end of the telescopic part 22 and the swing arm 13, the output end of the telescopic part 22 is hinged to the end of the first transmission rod 31 facing away from the swing arm 13, and the driving part 21 is used to drive the telescopic part 22 to pull or push the first transmission rod 31 along the length direction X of the walking device 1000, so as to drive the swing arm 13 together with the rotating shaft 12 and the main body 100 to perform lifting and lowering movements. On the one hand, the output end of the telescopic part 22 is farther away from the swing arm 13 than the input end of the telescopic part 22, so that the distance between the first transmission rod 31 and the two hinge points of the telescopic part 22 and the swing arm 13 is relatively long, and The angle between the telescopic direction of the telescopic part 22 and the transmission direction of the first transmission rod 31 is relatively small, thereby improving the utilization rate of the driving force applied by the telescopic part 22 to the first transmission rod 31, and in the process of the height adjustment device 500 driving the front wheel axle and the rear wheel axle to rise and fall, most of the gravity of the main body 100 acts on the telescopic part 22 along the telescopic direction parallel to the telescopic direction of the telescopic part 22, thereby reducing the load of the driving member 20 and preventing the driving member 20 from being damaged, thereby extending the service life of the height adjustment device 500; on the other hand, the height adjustment device 500 can drive the main body 100 to rise and fall, so that the walking equipment 1000 can meet the walking requirements of different working conditions.

[0052] It should be noted that the term "articulated" includes two elements being pivotally connected or two elements being spherically connected. For example, in the present embodiment, the two ends of the first transmission rod 31 are pivotally connected to the swing arm 13 and the telescopic portion 22, respectively. Specifically, the first transmission rod 31, the swing arm 13, and the telescopic portion 22 are respectively provided with pivot holes for the pivot shaft to pass through, so that the first transmission rod 31, the swing arm 13, and the telescopic portion 22 can rotate around the central axis of the pivot shaft. The central axis of the pivot shaft is parallel to the width direction Y of the walking device 1000. Of course, in some embodiments, the pivot shaft can be fixed to the first transmission rod 31 and rotatably penetrated on the swing arm 13 and the telescopic portion 22; or, the pivot shaft can be fixed to the swing arm 13 and the telescopic portion 22, and rotatably penetrated on the first transmission rod 31, thereby simplifying the assembly operation of the pivot shaft.

[0053] In some embodiments, the two ends of the first transmission rod 31 are respectively connected to the swing arm 13 and the telescopic part 22 by ball joints. The first transmission rod 31 is provided with a spherical protrusion, and the swing arm 13 and the telescopic part 22 are provided with a spherical groove that matches the spherical protrusion; or, the first transmission rod 31 is provided with a spherical groove, and the swing arm 13 and the telescopic part 22 are provided with a spherical protrusion that matches the spherical groove. The spherical protrusion is rotatably accommodated in the spherical groove. The first transmission rod 31, the swing arm 13, and the telescopic part 22 can respectively rotate in any direction around the center of the spherical protrusion. In some cases, when the walking device 1000 is disturbed by external interference, causing the output direction of the driving force of the driving member 20 to deflect, the ball-joint connection between the first transmission rod 31 and the swing arm 13 and the telescopic part 22 can keep the first transmission rod 31 in normal connection with the swing arm 13 and the telescopic part 22, so that the height adjustment device 500 can still work normally, improve the anti-interference ability of the height adjustment device 500, and simplify the structure of the height adjustment device 500 for easy assembly. Of course, in other embodiments, one end of the first transmission rod 31 is connected to the swing arm 13 by a ball joint, and the other end of the first transmission rod 31 is pivotally connected to the telescopic part 22; or one end of the first transmission rod 31 is connected to the telescopic part 22 by a ball joint, and the other end of the first transmission rod 31 is pivotally connected to the swing arm 13.

[0054] The driving part 21 is used to drive the telescopic part 22 to perform telescopic movement along the length direction X of the vehicle. The telescopic direction of the telescopic part 22 is parallel or colinear with the extension direction of the telescopic part 22, and is parallel to the length direction X of the vehicle, so that the driving part 21 has strong tensile and compressive resistance. Exemplarily, in the present embodiment, the driving part 21 is arranged on the side close to the first swing structure 10 relative to the telescopic part 22, so that the input end of the telescopic part 22 is closer to the first swing structure 10 than the output end of the telescopic part 22. The telescopic direction of the telescopic part 22 is parallel to the length direction X of the walking device 1000, so as to facilitate the installation of the driving member 20, and simplify the calculation of the transmission parameters of the first transmission rod 31 and the swing arm 13, so as to facilitate the driving member 20 to accurately control the lifting height of the main body 100.

[0055] The first swing structure 10 also includes a first axle 11, and the first axle 11 is used to connect with the first wheel 210. The rotating shaft 12 is spaced apart from the first axle 11. The central axis of the rotating shaft 12 and the central axis of the first axle 11 are both parallel to the width direction Y of the walking device 1000. The swing arm 13 is connected to the first axle 11 and the rotating shaft 12 to form an integral structure. The first axle 11 is coaxially arranged with the first wheel 210, and the rotating shaft 12 is eccentrically arranged with the first wheel 210. Exemplarily, in this embodiment, the first wheel 210 includes two, and serves as the rear wheel of the walking device 1000.

[0056] Exemplarily, in the present embodiment, the swing arm 13 and the first transmission rod 31 can be pivotally connected. The swing arm 13 and the connecting arm 40 are both fixedly connected to the rotating shaft 12. Of course, in some embodiments, the swing arm 13 and the first transmission rod 31 can also be connected by a ball joint. The swing arm 13 and / or the connecting arm 40 are both rotatably connected to the rotating shaft 12. The driving part 21 is used to drive the telescopic part 22 to pull or push the first transmission rod 31, so that the swing arm 13 drives the rotating shaft 12 to rotate, and the rotating shaft 12 drives the connecting arm 40 to rotate around the central axis of the first wheel axle 11. The swing arm 13 and the connecting arm 40 are configured as a rod-shaped structure. The number of the connecting arms 40 is two, and the two connecting arms 40 are connected to the opposite ends of the rotating shaft 12. Of course, in some embodiments, the number of the connecting arm 40 can also be one.

[0057] For example, in this embodiment, when the height adjustment device 500 drives the main body 100 to rise to the highest limit position, the swing arm 13 and the connecting arm 40 are both located directly below the rotating shaft 12. When the height adjustment device 500 drives the main body 100 to lower to the lowest limit position, the swing arm 13 and the connecting arm 40 are both located directly above the rotating shaft 12. Thus, the ground clearance between the first connecting rod and the ground is increased, thereby preventing the first transmission rod 31 from colliding with grass or other ground obstacles during the process of the height adjustment device 500 driving the main body 100. Of course, in some other embodiments, when the height adjustment device 500 drives the main body 100 to rise to the highest limit position, the swing arm 13 and the connecting arm 40 are both located directly above the rotating shaft 12. When the height adjustment device 500 drives the main body 100 to lower to the lowest limit position, the swing arm 13 and the connecting arm 40 are both located directly below the rotating shaft 12, which is not specifically limited in the embodiment of the utility model.

[0058] In this embodiment, the swing arm 13 and the connecting arm 40 are respectively configured as straight rod structures and are extended along the radial direction of the rotating shaft 12. Therefore, on the one hand, the processing and forming of the swing arm 13 and the connecting arm 40 are facilitated, and the cost is saved; on the other hand, the swing arm 13 and the connecting arm 40 are prevented from interfering with the main body or ground obstacles during the swinging process, and the smoothness and reliability of the swinging movement of the swing arm 13 and the connecting arm 40 are improved; on the other hand, the force uniformity of the swing arm 13 and the connecting arm 40 is improved, and the service life of the swing arm 13 and the connecting arm 40 is extended. Of course, in some embodiments, at least one of the swing arm 13 and the connecting arm 40 can also be configured as a plate-like structure, a bent rod structure or a structure of other shapes, which is not specifically limited in the embodiments of the utility model.

[0059] In some embodiments, the height adjustment device 500 also includes a controller connected to the drive member 20. The controller is used to control the drive member 20 to drive the swing arm 13 to swing to a preset area when it is determined that the walking device 1000 is in a preset working state. The preset area refers to the area formed after the swing curve of the swing arm 13 is deflected to the left and right by a preset angle relative to the height direction Z of the walking device 1000 at the highest limit position or the lowest limit position, so that most of the support force generated by the ground on the first wheel 210 can be transmitted to the main body 100 through the swing arm 13, so as to reduce the effect of the swing arm 13 transmitting the support force generated by the ground on the wheel 210 to the drive member 20, thereby reducing the damage to the drive member 20 caused by the stress generated by the gravity of the walking device 1000 itself, and extending the service life of the drive member 20.

[0060] In some embodiments, the height adjustment device 500 further includes a stress detector 81 connected to the controller. The stress detector 81 is used to detect the stress parameters of the driving member 20. The controller is used to obtain the stress parameters of the driving member 20 detected by the stress detector 81. The controller is used to control the driving member 20 to drive the swing arm 13 to swing to a preset area when the stress parameter is greater than or equal to a preset threshold. Therefore, if a heavy object is pressed on the top of the walking device 1000 or the grass collecting device of the walking device 1000 collects more grass clippings, the stress on the driving member 20 will exceed the threshold. Therefore, the utility model sets a stress detector 81 to detect the stress of the driving member 20, and when the stress parameter is greater than or equal to the preset threshold, the driving member 20 is controlled to drive the swing arm 13 to swing to a preset area, so as to reduce the swing arm 13 from transmitting the supporting force generated by the ground to the wheel 210 to the driving member 20, thereby reducing the damage to the driving member 20 caused by the stress generated by the gravity of the walking device 1000 itself, and extending the service life of the driving member 20.

[0061] Please also read Figure 1 and Figure 5 , Figure 5 yes Figure 1 1 is an exploded view of the second swing structure 50 of the height adjustment device 500 of the walking device 1000. By way of example, in this embodiment, the second swing structure 50 includes a rotating shaft 52 and a rotating arm 53. One end of the rotating arm 53 is connected to the walking wheel 200, and the other end of the rotating arm 53 is connected to the rotating shaft 52. The rotating shaft 52 is rotatably arranged on the main body 100. The driving mechanism 2 is also in transmission connection with the second swing structure 50, and is used to drive the rotating arm 53 to rotate around the central axis of the rotating shaft 52.

[0062] The driving mechanism 2 further includes a second transmission rod 32. One end of the second transmission rod 32 is connected to the second swing structure 50, and the other end of the second transmission rod 32 is hinged to the driving member 20. The first swing structure 10 is located at the rear end of the walking device 1000, and the second swing structure 50 is located at the front end of the walking device 1000. It can be understood that when a grass collecting device is provided at the rear end of the walking device 1000, the center of gravity of the walking device 1000 is closer to the first swinging structure 10, and the gravity stress applied by the main body 100 to the first swinging structure 10 is greater than the gravity stress applied by the main body 100 to the second swinging structure 50, and the force generated by the first transmission rod 31 on the driving member 20 is greater than the force generated by the second transmission rod 32 on the driving member 20, and the vertical component of the first transmission rod 31 acting on the driving member 20 is too large to easily form a torque on the driving member 20, causing damage to the driving member 20. Therefore, the embodiment of the utility model sets the position relationship of the extension direction of the swing arm 13 relative to the gravity direction G of the walking device, so that when the driving member 20 drives the main body 100 to swing to the highest limit position or the lowest limit position, the gravity stress of the walking device 1000 is prevented from causing damage to the driving member 20, thereby extending the service life of the driving member 20.

[0063] In this embodiment, the distance from the hinge point of the first transmission rod 31 and the telescopic part 22 to the rotation axis 12 of the first swing structure 10 is the first distance, and the distance from the hinge point of the second transmission rod 32 and the telescopic part 22 to the rotation axis 52 of the second swing structure 50 is the second distance, and the second distance is smaller than the first distance. Therefore, on the one hand, the first swing structure 10 and the second swing structure 50 share a driving member 20, which improves the compactness of the height adjustment device 500 and reduces the cost; on the other hand, when the rear end of the walking device 1000 is provided with a grass collecting device, the center of gravity of the walking device 1000 is closer to the first swing structure 10, and the gravity stress applied by the main body 100 to the first swing structure 10 is greater than the gravity stress applied by the main body 100 to the second swing structure 50, and the force generated by the first transmission rod 31 on the telescopic part 22 is greater than the force generated by the second transmission rod 32 on the telescopic part 22, and the vertical component of the first transmission rod 31 acting on the telescopic part 22 is too large to easily form a torque on the telescopic part 22, causing the telescopic part 22 to be deformed. Part 22 is damaged, therefore, in the embodiment of the utility model, the output end of the telescopic part 22 is arranged close to one side of the second swing structure 50, and the distance from the hinge point of the second transmission rod 32 and the telescopic part 22 to the second swing structure 50 is arranged to be smaller than the distance from the hinge point of the first transmission rod 31 and the telescopic part 22 to the first swing structure 10, so as to extend the length of the two hinge points of the first transmission rod 31 and the telescopic part 22 and the swing arm 13, thereby increasing the horizontal component of the first transmission rod 31 and reducing the vertical component of the first transmission rod 31, thereby improving the utilization rate of the driving force of the driving member 20, reducing the load of the driving member 20, preventing the driving member 20 from being damaged, and extending the service life of the height adjustment device 500.

[0064] The second swing structure 50 also includes a second axle 51. The rotating arm 53 is connected to the second axle 51 and the rotating shaft 52, and the rotating shaft 52 is used to connect to the main body 100. The end of the second transmission rod 32 facing away from the telescopic part 22 is connected to the rotating arm 53. The second transmission rod 32, the second axle 51 and the rotating shaft 52 are arranged in pairs. The driving member 20 is used to drive the rotating arm 53 to rotate around the central axis of the rotating shaft 52, so that the rotating arm 53 drives the second axle 51 to rotate around the rotating shaft 52. In this way, the rotating arm 53 is eccentrically arranged relative to the rotating shaft 52, and the second telescopic part 22 is driven by the driving member 20 to pull or push the rotating arm 53 to drive the second axle 51 to rotate around the central axis of the rotating shaft 52, so that the height of the main body 100 from the ground can be adjusted. When the second axle 51 rotates toward the side close to the ground relative to the rotating shaft 52, the rotating shaft 52 drives the main body 100 to move in the direction away from the ground, so that the height of the main body 100 from the ground is increased. When the second axle 51 rotates relative to the rotation axis 52 toward the side away from the ground, the rotation axis 52 drives the main body 100 to move toward the direction close to the ground, so that the height of the main body 100 from the ground is reduced. In addition, when the driving member 20 drives the rotating arm 53 to drive the second axle 51 to rotate around the rotation axis 52, the distance between the second axle 51 and the center of gravity of the walking device 1000 along the length direction X of the walking device 1000 can also be adjusted. For example, when the second axle 51 rotates toward the direction close to the center of gravity of the walking device 1000, the distance between the second axle 51 and the center of gravity of the walking device 1000 along the length direction X of the walking device 1000 is reduced, so that the mass distribution of the walking device 1000 can be concentrated toward the center of gravity, the rotational inertia of the walking device 1000 is reduced, the rotational resistance of the walking device 1000 when the walking device 1000 rotates is reduced, the turning radius of the walking device 1000 is reduced, and the flexibility of the walking device 1000 is improved. For another example, when the second axle 51 rotates in a direction away from the center of gravity of the walking device 1000, the distance between the second axle 51 and the center of gravity of the walking device 1000 along the length direction X of the walking device 1000 increases, which can increase the driving stability of the walking device 1000. In some cases, when a grass collector for collecting grass clippings, fallen leaves and other debris is installed on the rear side of the walking device 1000, the second axle 51 moves in a direction away from the center of gravity of the walking device 1000, and the overall center of gravity of the walking device 1000 can also be moved in a direction away from the grass collector, thereby increasing the load capacity of the walking device 1000, increasing the collection capacity of the grass collector, and reducing the risk of the walking device 1000 tilting.

[0065] It should be noted that, in this embodiment, the distance from the hinge point of the first transmission rod 31 and the telescopic part 22 to the first swing structure 10 refers to the distance from the hinge point of the first transmission rod 31 and the telescopic part 22 to the center of the rotation axis 12 on the projection plane perpendicular to the width direction Y of the walking device 1000. The distance from the hinge point of the second transmission rod 32 and the telescopic part 22 to the second swing structure 50 refers to the distance from the hinge point of the second transmission rod 32 and the telescopic part 22 to the center of the rotation axis 52 of the second swing structure 50 on the projection plane perpendicular to the width direction Y of the walking device 1000.

[0066] The length of the first transmission rod 31 in the length direction X of the walking device 1000 is greater than the length of the second transmission rod 32 in the length direction X of the walking device 1000. The length of the first transmission rod 31 in the length direction X of the walking device 1000 refers to the distance between the two ends of the first transmission rod 31 on the projection plane perpendicular to the walking device 1000. The length of the second transmission rod 32 in the length direction X of the walking device 1000 refers to the distance between the two ends of the second transmission rod 32 on the projection plane perpendicular to the walking device 1000.

[0067] In this embodiment, the hinge point between the first transmission rod 31 and the telescopic part 22 coincides with the hinge point between the second transmission rod 32 and the telescopic part 22. Therefore, on the one hand, it is convenient to assemble the telescopic part 22 with the first transmission rod 31 and the second transmission rod 32; on the other hand, it is convenient to calculate the relationship between the telescopic distance of the telescopic part 22 and the transmission parameter of the first transmission rod 31, thereby improving the accuracy of the height adjustment device 500 in adjusting the ground clearance of the main body 100; on the other hand, the output end of the telescopic part 22 has good structural strength, making the overall structure of the height adjustment device 500 more compact. Of course, in some embodiments, the hinge point between the first transmission rod 31 and the telescopic part 22 may not coincide with the hinge point between the second transmission rod 32 and the telescopic part 22.

[0068] Of course, in some embodiments, the number of the driving members 20 includes two, one of which is connected to the first swing structure 10 and is used to drive the first swing structure 10 to rise and fall, and the other is connected to the second swing structure 50 and is used to drive the second swing structure 50 to rise and fall. In this way, the two driving members 20 can independently drive the first transmission rod 31 and the second transmission rod 32, so that the lifting height of the first swing structure 10 and the second swing structure 50 can be adjusted separately, thereby improving the height of the main body 100 from the ground and the flexibility of adjusting the rotational inertia of the walking device 1000.

[0069] The second axle 51 is used to connect with the second wheel 220. The second wheel 220 is connected to the second axle 51. Exemplarily, in the present embodiment, the second wheel 220 includes two, and serves as the front wheel of the walking device 1000. The number of the second axles 51 is two, and the two ends of each second axle 51 are respectively connected to the rotating arm 53 and the second wheel 220. The number of the rotating arms 53 is two. The two rotating arms 53 are independently arranged and spaced apart from each other. The rotating shaft 52 is connected between the two rotating arms 53. Of course, in some embodiments, the two rotating arms 53 can also be independently arranged and fixedly connected to each other; or, the two rotating arms 53 are integrated into an integral structure.

[0070] In this embodiment, the figure formed by the connection points between the rotating shaft 12, the second axle 51 and the connection position of the second transmission rod 32 and the swing arm 13 can be a triangle. Among them, the triangle can be an acute triangle, a right triangle, an obtuse triangle, etc. In some embodiments, the connection points between the rotating shaft 12, the second axle 51 and the connection position of the second transmission rod 32 and the swing arm 13 can also be arranged in a colinear manner. The rotating shaft 52 and the rotating arm 53 can be rotatably connected or fixedly connected. The second axle 51 and the rotating arm 53 can also be rotatably connected or fixedly connected. The second transmission rod 32 is hinged to the rotating arm 53.

[0071] Please also read Figure 1 and Figure 5 , Figure 5 yes Figure 1 The exploded view of the second swing structure 50 of the height adjustment device 500 of the walking device 1000 in FIG. The second swing structure 50 also includes a first sliding member 541. The first sliding member 541 is connected to the rotating arm 53. The driving member 20 is used to drive the second transmission rod 32 to push or pull the first sliding member 541 to move along the length direction X of the walking device 1000, so that the first sliding member 541 drives the rotating arm 53 to rotate around the central axis of the rotating shaft 52. The first sliding member 541 is connected to the two rotating arms 53 at two opposite ends along the axial direction, so that the driving member 20 can drive the two rotating arms 53 to rotate synchronously through the first sliding member, thereby simplifying the connection between the driving member 20 and the two rotating arms 53. Among them, the first sliding member and the rotating arm 53 can be rotatably connected or fixedly connected.

[0072] The height adjustment device 500 further includes a mounting base 56, a second sliding member 542 and a guide rod 57. The mounting base 56 is fixedly arranged relative to the main body 100. An accommodating space 5601 is arranged on the mounting base 56. The first sliding member 541, the second sliding member 542 and the guide rod 57 are all located in the accommodating space 5601. The axial direction of the guide rod 57 is perpendicular to the width direction Y. The axial direction of the guide rod 57 can be arranged perpendicular to the axial direction of the rotating shaft 52. The second sliding member 542 is slidably sleeved on the guide rod 57.

[0073] The first sliding member 541 is arranged to slide against the second sliding member 542. A guide groove 5401 is provided on one of the first sliding member 541 and the second sliding member 542, and the other of the first sliding member 541 and the second sliding member 542 is penetrated in the guide groove 5401 and can slide in the guide groove 5401. Exemplarily, the second sliding member 542 may be provided with a guide groove 5401, and the first sliding member 541 is penetrated in the guide groove 5401. The guide groove 5401 is arranged in a long strip shape. The guide groove 5401 is extended along the rotation plane formed when the rotating shaft 52 rotates relative to the main body 100 along the height direction Z of the walking device 1000. Among them, the rotation plane of the rotating shaft 52 relative to the main body 100 along the height direction Z of the walking device 1000 can be perpendicular to the length direction X of the walking device 1000, and the guide groove 5401 can be extended along the height direction Z of the walking device 1000. When the rotating shaft 52 rotates relative to the main body 100 along the height direction Z of the walking device 1000, the rotating shaft 52 drives the rotating arm 53 and the first sliding member 541 to rotate relative to the main body 100, and the first sliding member 541 rotates relative to the second sliding member 542 in the guide groove 5401.

[0074] For example, in this embodiment, the first sliding member 541 can be configured as a columnar body, and the cross section of the first sliding member 541 can be configured as a circle to reduce the contact area between the side wall of the first sliding member 541 and the groove wall of the guide groove 5401, thereby reducing the sliding resistance when the first sliding member 541 slides. In some embodiments, the cross section of the first sliding member 541 can also be configured as a square, an ellipse, a regular polygon, etc. The central axis of the first sliding member 541 passes through the geometric center of the cross section of the first sliding member 541.

[0075] The second transmission rod 32 is connected to the second sliding member 542. The second transmission rod 32 is also used to push or pull the second sliding member 542 to slide along the guide rod 57, so that the second sliding member 542 pushes or pulls the first sliding member 541 to drive the rotating arm 53 to rotate around the central axis of the rotating shaft 52, and the rotating arm 53 drives the second wheel shaft 51 to rotate around the rotating shaft 52. The second transmission rod 32 is hinged to the second sliding member 542.

[0076] A limiting hole 5602 is provided on the mounting base 56. The limiting hole is connected to the accommodation space 5601. The second transmission rod 32 is inserted into the limiting hole. The limiting hole can limit the second transmission rod 32, thereby reducing or avoiding the shaking of the second transmission rod 32. The mounting base 56 includes two mounting members 561, which are arranged at intervals along the length direction X of the walking device 1000. The accommodation space 5601 is located between the two mounting members 561. The two mounting members 561 can be independently arranged, or the two mounting members 561 can be integrally formed. Along the width direction Y of the walking device 1000, the mounting base 56 is located between the two rotating arms 53. The rotating arm 53 is configured as a swing plate, and can also protect the first sliding member 541, the second sliding member 542, the rotating shaft 52 and the transmission shaft 58 below, which are located or partially located in the accommodation space 5601, together with the mounting base 56, thereby reducing or avoiding the problem of grass entanglement.

[0077] The number of guide rods 57 can be set to multiple. The central axes of multiple guide rods 57 are parallel to each other and are arranged at intervals from each other. For example, the number of guide rods 57 can be set to four. Four guide rods 57 are distributed in an array. Through holes are provided on the four corners of the second sliding member 542, and the four guide rods 57 are correspondingly penetrated in the four through holes. The limiting hole 5602 can also make the connection between the second transmission rod 32 and the second sliding member 542 located at the geometric center of the four guide rods 57, so that when the second transmission rod 32 drives the second sliding member 542 to slide, the uniformity of the limiting force of the four guide rods 57 received by the second sliding member 542 is improved, thereby reducing the sliding resistance between the second sliding member 542 and the guide rod 57, reducing the wear of the second sliding member 542 and the guide rod 57, and improving the service life. In some embodiments, the number of guide rods 57 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.

[0078] The height adjustment device 500 also includes a transmission shaft 58. The transmission shaft 58 is used to connect with the main body 100. The central axis of the transmission shaft 58 is arranged perpendicular to the central axis of the rotating shaft 52. The rotating shaft 52 is connected to the transmission shaft 58. The rotating shaft 52 is rotatable around the central axis of the transmission shaft 58. When the walking device 1000 travels on an uneven ground, the second wheel 220 can adaptively drive the rotating shaft 52 to rotate relative to the central axis of the transmission shaft 58 according to the ups and downs of the ground, so that the main body 100 remains parallel or approximately parallel to the ground, which greatly reduces the bumps and vibrations of the walking device 1000 when traveling on uneven ground, and improves the stability of the walking device 1000 when traveling.

[0079] Exemplarily, the central axis of the transmission shaft 58 can be set parallel to the length direction X of the walking device 1000. When the rotating shaft 52 rotates around the central axis of the transmission shaft 58, the rotation plane formed by the rotating shaft 52 is parallel to the height direction Z of the walking device 1000. In some embodiments, the central axis of the transmission shaft 58 can also be set at an angle to the length direction X of the walking device 1000. The central axis of the transmission shaft 58 is located in a plane parallel to the height direction Z and the length direction X of the walking device 1000. When the rotating shaft 52 rotates around the central axis of the transmission shaft 58, the rotation plane formed by the rotating shaft 52 is set at an acute angle to the height direction Z of the walking device 1000.

[0080] In some embodiments, the transmission shaft 58 is rotatably arranged relative to the main body 100 around the central axis of the transmission shaft 58. The transmission shaft 58 is rotatably connected to the mounting base 56. The mounting base 56 is provided with a mounting hole 5603. The transmission shaft 58 is inserted into the mounting hole 5603. Exemplarily, the height adjustment device 500 further includes a sleeve 59. The sleeve 59 is sleeved on the transmission shaft 58 and inserted into the mounting hole 5603 on the mounting base 56. The sleeve 59 is used to reduce the wear of the transmission shaft 58 and the mounting base 56 when the transmission shaft 58 rotates relative to the mounting base 56, thereby increasing the service life.

[0081] In this embodiment, the transmission shaft 58 and the rotating shaft 52 can be rotatably connected. In some embodiments, the transmission shaft 58 and the rotating shaft 52 can be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the transmission shaft 58 and the rotating shaft 52 can be integrally formed. The rotating shaft 52 passes through the transmission shaft 58; or the transmission shaft 58 passes through the rotating shaft 52.

[0082] The transmission shaft 58 may be provided with a through hole, and the rotating shaft 52 is inserted into the through hole. In some embodiments, a bearing sleeve is provided at the connection between the rotating shaft 52 and the transmission shaft 58. As a result, when the rotating shaft 52 rotates relative to the transmission shaft 58, the wear between the rotating shaft 52 and the transmission shaft 58 is reduced, and the service life is improved. The transmission shaft 58 can be rotatably arranged or fixedly arranged relative to the main body 100. Among them, the transmission shaft 58 and the mounting base 56 can be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the transmission shaft 58 and the mounting base 56 can also be integrally formed. In some embodiments, the rotating shaft 52 may be provided with a through hole, and the transmission shaft 58 is inserted into the through hole, the rotating shaft 52 is fixedly arranged relative to the transmission shaft 58, and the transmission shaft 58 is rotatably arranged relative to the main body 100.

[0083] For example, in this embodiment, the first transmission rod 31, the telescopic portion 22 and the second transmission rod 32 are arranged along the width direction Y of the walking device 1000. Therefore, based on the first transmission rod 31 and the second transmission rod 32 being located on different sides of the telescopic portion 22, interference between the first transmission rod 31 and the second transmission rod 32 during the transmission process is avoided. Of course, in some embodiments, the first transmission rod 31 and the second transmission rod 32 are located on the same side of the telescopic portion 22, and the utility model does not make a specific limitation.

[0084] Exemplarily, in this embodiment, the first transmission rod 31 is configured as a bent rod structure, thereby improving the compression and tensile resistance of the first transmission rod 31. Specifically, the first transmission rod 31 includes a first transmission part 311 and a second transmission part 312. One end of the first transmission part 311 is hinged to the telescopic part 22, and the other end of the first transmission part 311 is connected to the second transmission part 312. One end of the second transmission part 312 facing away from the first transmission part 311 is hinged to the swing arm 13, and the second transmission part 312 is inclined relative to the first transmission part 311. The arm length of the swing arm 13 is shortened, so that the telescopic stroke of the telescopic part 22 can be reduced, the compactness of the height adjustment device 500 is improved, and the swing frequency of the swing arm 13 is increased to increase the rotation stroke of the connecting arm 40; and the risk of the swing arm 13 scratching the main body 100 when swinging around the rotation axis 12 is avoided. The arm length of the swing arm 13 refers to the distance between the two hinge points of the swing arm 13 and the first transmission rod 31 and the rotation axis 12.

[0085] For example, in this embodiment, the angle formed between the first transmission part 311 and the second transmission part 312 is an obtuse angle. The extension direction of the first transmission part 311 is parallel to the extension direction of the telescopic part 22, thereby increasing the ground clearance of the first transmission part 311 and avoiding the first transmission part 311 from scratching against ground obstacles or getting entangled with grass poles. Of course, in some embodiments, the extension direction of the first transmission part 311 and the extension direction of the telescopic part 22 can also be set at an angle.

[0086] In some embodiments, the first transmission rod 31 is configured as a straight rod structure. The extension direction of the first transmission rod 31 is parallel to the extension direction of the telescopic part 22, so that the angle between the extension direction of the telescopic part 22 and the transmission direction of the first transmission rod 31 is almost zero, thereby improving the utilization rate of the driving force applied by the telescopic part 22 to the first transmission rod 31, and reducing the vertical component force applied by the first transmission rod 31 to the telescopic part 22, avoiding the problem of bending and damage of the telescopic part 22 under the action of the vertical component force, and extending the service life of the driving member 20.

[0087] In some embodiments, the second transmission rod 32 is configured as a bent rod structure. The second transmission rod 32 may include a first transmission section 321 and a second transmission section 322 connected in sequence. The first transmission section 321 is used to be hinged with the driving member 20. The second transmission section 322 is used to be hinged with the second sliding member 542. The first transmission section 321 and the second transmission section 322 are arranged at an angle. In some embodiments, the second transmission rod 32 may also be arranged in an arc shape, a broken line shape, etc.

[0088] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A height adjustment device, applied to a walking device, the walking device comprising a main body and walking wheels, characterized in that: The height adjustment device comprises: A swing mechanism, comprising a rotating shaft and a swing arm, wherein one end of the swing arm is connected to the walking wheel, and the other end of the swing arm is connected to the rotating shaft, and the rotating shaft is rotatably arranged on the main body; A driving mechanism, the driving mechanism is in transmission connection with the swing mechanism and is used to drive the swing arm to rotate around the central axis of the rotating shaft, so as to drive the main body to rise and fall relative to the horizontal base surface; The driving mechanism is also used to drive the swing arm to rotate to a preset position so that the extension direction of the swing arm is parallel to the gravity direction of the walking device, wherein the extension direction of the swing arm is the direction of the line connecting the connection points of the swing arm, the walking wheel and the rotating shaft.

2. The height adjustment device according to claim 1, characterized in that: When the plane where the main body is located is parallel to the horizontal base plane, and the swing arm rotates to the highest limit position or the lowest limit position, the extension direction of the swing arm is parallel to the gravity direction of the walking device.

3. The height adjustment device according to claim 1, characterized in that: The height adjustment device also includes an acceleration adjustment mechanism, the rotating shaft includes a first shaft section and a second shaft section, the acceleration adjustment mechanism is arranged between the first shaft section and the second shaft section, the end of the first shaft section facing away from the acceleration adjustment mechanism is transmission connected to the walking wheel and can be rotatably arranged on the main body, the end of the second shaft section facing away from the acceleration adjustment mechanism is transmission connected to the driving mechanism, and the acceleration adjustment mechanism is used to adjust the rotation angle range of the swing arm.

4. The height adjustment device according to claim 3, characterized in that: The acceleration adjustment mechanism includes a sun gear, a planetary gear set, a planetary carrier and a ring gear. The planetary gear set is installed on the planetary carrier and meshes with the sun gear and the ring gear. The sun gear is fixedly connected to the first shaft segment, the planetary carrier is fixedly connected to the second shaft segment, and the ring gear is fixed to the main body.

5. The height adjustment device according to claim 4, characterized in that: The planetary gear set includes a plurality of planetary gears, and the diameter of the planetary gears is smaller than the diameter of the sun gear.

6. The height adjustment device according to claim 4, characterized in that: The acceleration adjustment mechanism also includes a mounting shell, the mounting shell is provided with a mounting cavity, and the sun gear, the planetary gear set and the planetary carrier are rotatably accommodated in the mounting cavity.

7. The height adjustment device according to claim 6, characterized in that: The mounting shell includes a first shell and a second shell, the ring gear is clamped between the first shell and the second shell, and together with the first shell and the second shell, forms the mounting cavity; or, the ring gear is arranged in the mounting cavity formed by the first shell and the second shell.

8. The height adjustment device according to claim 7, characterized in that: The acceleration adjustment mechanism also includes a first bearing and a second bearing, the first bearing is arranged between the first housing and the sun gear, and is rotatably mounted on the first shaft segment, and the second bearing is arranged between the second housing and the planetary carrier, and is rotatably mounted on the second shaft segment.

9. The height adjustment device according to claim 1, characterized in that: The driving mechanism includes a driving member, a transmission member and a connecting arm, the connecting arm and the swing arm are spaced apart, one end of the connecting arm is hinged to the transmission member, the other end of the connecting arm is connected to the rotating shaft, and the length of the line connecting the connecting arm, the transmission member and the rotating shaft is equal to or less than the length of the line connecting the swing arm, the rotating shaft and the walking wheel.

10. A walking device, characterized in that: It comprises a main body and a height adjustment device as described in any one of claims 1 to 9, wherein the height adjustment device is arranged on the main body and is used to drive the main body to rise and fall relative to a horizontal base surface.

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