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 and installed on a main body of the walking equipment. The height adjusting device comprises a swing mechanism and a driving mechanism. The swinging mechanism is rotatably arranged on the main body, the driving mechanism is in transmission connection with the swinging mechanism, the driving mechanism is used for driving the swinging mechanism to rotate so as to drive the main body to ascend and descend relative to the horizontal base plane, the driving mechanism is provided with an elastic piece, and the elastic piece is used for buffering rigid stress conducted by the swinging mechanism. According to the height adjusting device provided by the embodiment of the utility model, the elastic piece is arranged on the driving mechanism, so that the elastic piece is used for buffering the rigid stress conducted by the swinging mechanism, the service life of the driving piece is prolonged, and the running stability of the walking equipment is improved.

Description

Technical Field

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

[0002] In the existing height adjustment device, when the driving mechanism drives the main body of the walking device to rise or fall or the ground exerts an impact force on the walking device, the rigid stress generated on the swing mechanism will be transmitted to the driving mechanism, thereby causing the driving mechanism to be easily damaged. 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 driving mechanism of the height adjustment device in the prior art is easy to be damaged.

[0004] In the first aspect, the utility model provides a height adjustment device, which is applied to a walking device and installed on the main body of the walking device. The height adjustment device includes a swing mechanism and a driving mechanism. The swing mechanism is rotatably arranged on the main body, and the driving mechanism is connected to the swing mechanism in a transmission manner. The driving mechanism is used to drive the swing mechanism to rotate so as to drive the main body to rise and fall relative to a horizontal base surface. The driving mechanism is provided with an elastic member, and the elastic member is used to buffer the rigid stress transmitted by the swing mechanism.

[0005] In combination with the first aspect, in a possible implementation, the driving mechanism includes a driving member, a transmission member and a pivot member, one end of the transmission member is transmission-connected to the driving member via the pivot member, the other end of the transmission member is transmission-connected to the swing mechanism, and at least one of the transmission member and the pivot member is provided with the elastic member.

[0006] In combination with the first aspect, in a possible implementation, the swing mechanism includes a first swing structure and / or a second swing structure, and in the length direction of the walking device, the first swing structure is arranged at the rear end of the main body, and the second swing structure is arranged at the front end of the main body.

[0007] In combination with the first aspect, in a possible implementation, the swing mechanism includes a first swing structure and a second swing structure, the transmission member includes a first transmission rod and a second transmission rod, the first transmission rod and the second transmission rod are both transmission-connected to the driving member through the pivot member, the end of the first transmission rod facing away from the pivot member is transmission-connected to the first swing structure, and the end of the second transmission rod facing away from the pivot member is transmission-connected to the second swing structure.

[0008] In combination with the first aspect, in a possible implementation, the pivot member includes a first pivot axis and a second pivot axis, the first transmission rod is transmission-connected to the driving member via the first pivot axis, the second transmission rod is transmission-connected to the driving member via the second pivot axis, and the first pivot axis and the second pivot axis are independently arranged.

[0009] In combination with the first aspect, in a possible implementation manner, at least one of the first pivot axis and the second pivot axis is configured as a flexible axis and serves as the elastic member.

[0010] In combination with the first aspect, in a possible implementation manner, at least one of the first transmission rod and the second transmission rod is provided with the elastic member.

[0011] In combination with the first aspect, in a possible implementation manner, at least one of the first transmission rod and the second transmission rod includes a first transmission segment and a second transmission segment, and the elastic member is connected between the first transmission segment and the second transmission segment.

[0012] In combination with the first aspect, in a possible implementation, at least one of the first transmission segment and the second transmission segment is provided with a guide rod, and in the length direction of the walking device, the sum of the extension lengths of all the guide rods is less than the distance between the first transmission segment and the second transmission segment, and the elastic member is sleeved on the guide rod.

[0013] In combination with the first aspect, in a possible implementation manner, the number of the elastic members includes a plurality, and the plurality of elastic members are arranged at intervals along a height direction of the walking device.

[0014] In combination with the first aspect, in a possible implementation manner, the driving mechanism further includes a support frame, and at least one of the elastic members is installed between the first transmission section and the second transmission section through the support frame.

[0015] In combination with the first aspect, in a possible implementation manner, the support frame is arranged to protrude relative to the transmission member in a height direction of the walking device.

[0016] In combination with the first aspect, in a possible implementation manner, the elastic member is configured as at least one of a spring, a spring sheet, an elastomer, and a gas spring.

[0017] In combination with the first aspect, in a possible implementation, the driving member includes a driving motor and a push rod, one end of the push rod is transmission-connected to the driving motor, the other end of the push rod is hinged to the transmission member, and the driving motor is used to drive the push rod to push and pull the transmission member.

[0018] In combination with the first aspect, in a possible implementation, the swing mechanism includes a first swing structure, the first swing structure includes a first swing arm and a first rotating shaft, the free end of the first swing arm is transmission-connected to the driving mechanism via the first rotating shaft, the non-free end of the first swing arm is rotationally connected to the walking wheel of the walking device, the first rotating shaft is used to be rotationally connected to the main body, the central axis of the first rotating shaft is spaced from the central axis of the walking wheel, and the driving mechanism is used to drive the first swing arm together with the walking wheel to rotate around the central axis of the first rotating shaft.

[0019] In combination with the first aspect, in a possible implementation, the first swing structure further includes a rocker arm, which is spaced apart from the first swing arm, one end of the rocker arm is hinged to the transmission member, and the other end of the rocker arm is connected to the first rotating shaft.

[0020] In combination with the first aspect, in a possible implementation, the swing mechanism includes a second swing structure, the second swing structure includes a second swing arm and a second rotating shaft, the free end of the second swing arm is transmission-connected to the drive mechanism via the second rotating shaft, the non-free end of the second swing arm is rotationally connected to the walking wheel of the walking device, the second rotating shaft is used to be rotationally connected to the main body, the central axis of the second rotating shaft is spaced from the central axis of the walking wheel, and the driving mechanism is used to drive the second swing arm together with the walking wheel to rotate around the central axis of the second rotating shaft.

[0021] 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 installed on the main body and is used to drive the main body to rise and fall relative to the horizontal base surface.

[0022] The height adjustment device and walking equipment provided by the utility model are based on the arrangement of elastic parts on the driving mechanism, so that the elastic parts can be used to buffer the rigid stress transmitted by the swinging mechanism, thereby increasing the service life of the driving mechanism and improving the driving stability of the walking equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a bottom view of the walking device provided by the embodiment of the utility model.

[0024] Figure 2 yes Figure 1 A structural schematic diagram of a first embodiment of a height adjustment device for a walking device in FIG.

[0025] Figure 3 yes Figure 1 A schematic structural diagram of a second embodiment of the height adjustment device for a walking device in FIG.

[0026] Figure 4 yes Figure 1 A schematic structural diagram of a third embodiment of the height adjustment device for a walking device in FIG.

[0027] Figure 5 yes Figure 2 A schematic structural diagram of another embodiment of the first transmission rod of the height adjustment device of the walking equipment.

[0028] Figure 6 yes Figure 3 Schematic diagram of the structure of part I of the height adjustment device of the walking equipment.

[0029] Figure 7 yes Figure 2 Schematic diagram of the partial structure of the height adjustment device of the walking equipment.

[0030] Description of the main component symbols: walking device-1000; main body-100; frame-101; housing-102; walking wheel-200; first wheel-201; second wheel-202; cutting device-300; height adjustment device-500; swing mechanism-10; first swing structure-110; first swing arm-11; first rotating shaft-12; rocker-13; bearing seat-15; second swing structure-120; second swing arm-51; second rotating shaft-52; guide groove-5401; first sliding member-541; second sliding member-542; mounting base-56; accommodating space-5601; limiting hole-5602; mounting hole-5603; mounting member-561 ; Guide rod-57; Rotating shaft-58; Bushing-59; Driving mechanism-20; Elastic member-21; Driving member-22; Driving motor-221; Push rod-222; Transmission member-23; First transmission part-2301; Second transmission part-2302; Third transmission part-2303; Gap-2304; First transmission rod-231; Second transmission rod-232; First transmission section-235; Second transmission section-236; Pivot member-25; First pivot axis-251; Second pivot axis-252; Pivot seat-26; First pivot part-261; Second pivot part-262; Guide rod-27; Support frame-28; Length direction-X; Width direction-Y; Height direction-Z.

[0031] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0032] The following embodiments of the present invention are described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] 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.

[0034] See also Figure 1 , Figure 1 It is a schematic diagram of the partial structure of the 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 installed on the main body 100, and is used to drive the main body 100 to rise and fall relative to the horizontal base surface. Specifically, the main body 100 includes a frame 101 and a casing 102. The casing 102 is installed on the frame 101. The height adjustment device 500 is installed on the frame 101, and is used to adjust the height of the frame 101 from the ground. As a result, the walking device 1000 can meet the walking requirements of different working conditions.

[0035] 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 can be 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 structure independent of the walking wheel 200.

[0036] 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 device 300 disposed on the main body 100. The cutting device 300 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 device 300 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.

[0037] It should be noted that the horizontal base plane refers to a surface perpendicular to the height direction of the walking device 1000, such as the ground. 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 control panel, a safety protection structure, and the like.

[0038] Please also read Figure 1 and Figure 2 , Figure 2 yes Figure 1 A schematic structural diagram of a first embodiment of a 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 10 and a driving mechanism 20. The swing mechanism 10 is rotatably arranged on the main body 100. The driving mechanism 20 is used to drive the swing mechanism 10 to rotate, so as to drive the main body 100 to rise and fall relative to the horizontal base surface. The driving mechanism 20 is provided with an elastic member 21, and the elastic member 21 is used to buffer the rigid stress transmitted by the swing mechanism 10.

[0039] It is understandable that under the action of gravity, the weight of the walking device 1000 itself will act on the walking wheel 200, and the walking wheel 200 will generate torque on the swing mechanism 10, and the swing mechanism 10 will act on the drive mechanism 20, so that the drive mechanism 20 is easily damaged. When the walking device 1000 travels on an uneven ground, the walking device 1000 produces bumps and vibrations, causing the rigid stress generated on the swing mechanism 10 to be transmitted to the drive mechanism 20, so that the drive mechanism 20 is easily damaged. The height adjustment device 500 provided by the utility model is based on the elastic member 21 provided on the drive mechanism 20, so that the elastic member 21 can be used to buffer the rigid stress transmitted by the swing mechanism 10. On the one hand, the rigid stress transmitted by the swing mechanism 10 is reduced to prevent the drive mechanism 20 from being damaged, thereby improving the service life of the drive mechanism 20; on the other hand, the elastic member 21 can also absorb the impact force generated by the ground on the walking device 1000 when elastic deformation occurs, thereby improving the stability of the walking device 1000 when traveling on an uneven road surface.

[0040] For the accuracy of description, please refer to the directions in this article. Figure 2 For reference, the term "length direction X" refers to the direction of travel of the walking device 1000, that is, Figure 2 The term "width direction Y" refers to the arrangement direction of the left and right wheels in the walking device 1000, that is, Figure 2 The term "height direction Z" refers to the direction of the arrangement of the walking wheels of the walking device 1000 against the support plane and the highest protruding part of the walking device 1000, that is, Figure 2 The up and down directions (where the positive direction of the Z axis is upward). 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 and down, left and right, and front and back directions in the utility model are relative positions and do not constitute a restriction on the implementation. The length direction X, width direction Y and height direction Z of the walking device 1000 can be customized according to the specific structure of the product and the accompanying drawings to present the perspective, and the utility model does not make specific restrictions. Among them, the length direction X of the height adjustment device 500 is parallel to the length direction X of the walking device 1000, the width direction Y of the height adjustment device 500 is parallel to the width direction Y of the walking device 1000, and the height direction Z of the height adjustment device 500 is parallel to the height direction Z of the walking device 1000.

[0041] The driving mechanism 20 includes a driving member 22, a transmission member 23 and a pivot member 25. One end of the transmission member 23 is transmission-connected to the driving member 22 through the pivot member 25, and the other end of the transmission member 23 is transmission-connected to the swing mechanism 10. At least one of the transmission member 23 and the pivot member 25 is provided with an elastic member 21. Thus, the transmission member 23 and / or the pivot member 25 provided with the elastic member 21 can buffer the rigid stress transmitted by the swing mechanism 10, thereby reducing the rigid stress transmitted by the swing mechanism 10 to prevent the driving mechanism 20 from being damaged, thereby improving the service life of the driving mechanism 20, and improving the driving stability of the walking device 1000.

[0042] In the length direction X of the walking device 1000, the swing mechanism 10 is arranged at least one of the front and rear ends of the main body 100. Exemplarily, in the present embodiment, the adjustment device includes two swing mechanisms 10, and in the length direction X of the walking device 1000, the two swing mechanisms 10 are respectively arranged at the front end and the rear end of the main body 100. Specifically, exemplarily, in the present embodiment, the two swing mechanisms 10 are respectively a first swing structure 110 and a second swing structure 120. In the length direction X of the walking device 1000, the first swing structure 110 is arranged at the front end of the main body 100, and the second swing structure 120 is arranged at the rear end of the main body 100. Of course, in some embodiments, the height adjustment device 500 only includes the first swing structure 110 or the second swing structure 120. For the convenience of description, the height adjustment device 500 includes two swing mechanisms 10 as an example for explanation, and the number and setting position of the swing mechanism 10 can be set according to actual needs, and the embodiment of the utility model is not specifically limited.

[0043] Specifically, the running wheel 200 includes a first wheel 201 and a second wheel 202. The first wheel 201 serves as the rear wheel of the running device 1000, and the second wheel 202 serves as the front wheel of the running device 1000. The first swing structure 110 is used to connect with the first wheel 201, and the second swing structure 120 is used to connect with the second wheel 202. The driving mechanism 20 is used to adjust the relative position of the running wheel 200 and the frame 101, so as to adjust the ground clearance of the frame 101.

[0044] like Figure 2In the first embodiment, the pivot member 25 may be provided with an elastic member 21, and the transmission member 23 may not be provided with an elastic member 21. Therefore, on the one hand, since the pivot member 25 is provided with an elastic member 21, the pivot member 25 generates a certain elastic deformation when subjected to external vibration or impact, thereby reducing the impact of vibration and impact on the driving member 22 and the transmission member 23, protecting the normal operation of the driving member 22, and improving the service life of the driving mechanism 20 and the stability of the running of the walking device 1000; on the other hand, the driving mechanism 20 does not need to be provided with an additional elastic member 21, which simplifies the overall structure of the driving mechanism 20, makes the structure compact, and reduces the cost. Specifically, in this embodiment, the pivot member 25 can be, but is not limited to, a pin, a rivet, etc.

[0045] It should be noted that a pin is a transmission element that transmits power between mechanical parts and other components, and is used at the hinge of two parts to form a hinge connection. A rivet is a nail-shaped object used to connect two mechanical parts with through holes, and a part (or component) with a cap at one end.

[0046] Specifically, exemplarily, in the present embodiment, the pivot 25 can be configured as a flexible shaft and serve as an elastic member 21, whereby the material of the pivot 25 can absorb the rigid stress transmitted by the buffer swing mechanism 10 when elastic deformation occurs. The material of the pivot 25 can include but is not limited to silicone, rubber, etc. Of course, in some embodiments, the pivot 25 includes a pivot body and an elastic member 21 disposed on the pivot body, and the material of the pivot body includes but is not limited to metal, alloy, etc. The pivot body can be configured as a rigid structure. Thus, the pivot body can increase the rigidity of the pivot 25 to meet the requirements of a high-precision transmission system and increase the service life of the pivot 25. For example, the pivot 25 can be configured as but is not limited to an elastic pin coupling.

[0047] Please also read Figure 2 and Figure 3 , Figure 3 yes Figure 1 FIG. 1 is a schematic diagram of a second embodiment of a height adjustment device 500 of a walking device 1000. Figure 3As shown, in the second embodiment, the transmission member 23 and the pivot member 25 are both provided with an elastic member 21. Therefore, on the one hand, since the transmission member 23 and the pivot member 25 are both provided with the elastic member 21, the transmission member 23 and the pivot member 25 produce a certain elastic deformation when subjected to external vibration or impact, thereby further reducing the impact of vibration and impact on the driving member 22 and the transmission member 23, protecting the normal operation of the driving member 22, improving the service life of the driving mechanism 20, and improving the stability of the travel device 1000; on the other hand, the transmission member 23 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the transmission member 23, reducing the rigidity transmission of the transmission member 23, avoiding excessive pressure or tension on the transmission member 23, causing the transmission member 23 to bend under pressure or crack under tension, and extending the service life of the transmission member 23. Of course, in some other embodiments, the transmission member 23 may be provided with an elastic member 21, and the pivot member 25 may not be provided with an elastic member 21.

[0048] Please also read Figure 2 and Figure 4 , Figure 4 yes Figure 1 Schematic diagram of the structure of the third embodiment of the height adjustment device 500 of the walking device 1000 in FIG. Exemplarily, in the third embodiment, the swing mechanism 10 includes a first swing structure 110 and a second swing structure 120. The transmission member 23 includes a first transmission rod 231 and a second transmission rod 232. The first transmission rod 231 and the second transmission rod 232 are both transmission-connected to the driving member 22 through the pivot member 25, and the end of the first transmission rod 231 facing away from the pivot member 25 is transmission-connected to the first swing structure 110, and the end of the second transmission rod 232 facing away from the pivot member 25 is transmission-connected to the second swing structure 120. Therefore, on the one hand, based on the fact that the first swing structure 110 and the second swing structure 120 are respectively arranged at the front and rear ends of the main body 100, it is convenient for the height adjustment device 500 to adjust the lifting and lowering of the main body 100, thereby improving the driving comfort of the walking device 1000 and achieving better passability of the walking device 1000 under complex road conditions, such as wading, climbing and other working conditions; on the other hand, based on the fact that the first transmission rod 231 and the second transmission rod 232 are connected to the driving member 22 through the same pivot member 25, the overall structure of the height adjustment device 500 is simplified and the cost is reduced.

[0049] In the third embodiment, the number of the first transmission rod 231 is one. The first transmission rod 231, the driving member 22 and the second transmission rod 232 are arranged along the width direction Y of the walking device 1000. Therefore, based on the first transmission rod 231 and the second transmission rod 232 being located on different sides of the driving member 22, interference between the first transmission rod 231 and the second transmission rod 232 during the transmission process is avoided. Of course, in some embodiments, the first transmission rod 231 and the second transmission rod 232 are located on the same side of the driving member 22, and the utility model does not make specific limitations.

[0050] Please refer again Figure 2 and Figure 3 As shown, in the first embodiment and the second embodiment, the number of the first transmission rods 231 is two. Along the width direction Y of the walking device 1000, a driving member 22 is arranged between the two first transmission rods 231. Along the length direction X of the walking device 1000, the second transmission rod 232 and the driving member 22 are arranged. Exemplarily, in this embodiment, the two first transmission rods 231 are both provided with an elastic member 21, thereby further improving the buffering capacity of the elastic member 21 to the rigid force transmitted by the swing mechanism 10. The two first transmission rods 231 are pivoted by the same pivot member 25; alternatively, the two first transmission rods 231 can also be pivoted by different pivot members 25. Of course, in some embodiments, one of the two first transmission rods 231 is provided with an elastic member 21. It should be noted that the number of the first transmission rods 231 can also be one, three or more than three, and the utility model does not make specific limitations.

[0051] Specifically, in the present embodiment, the pivot member 25 includes a first pivot shaft 251 and a second pivot shaft 252. The first transmission rod 231 is transmission-connected to the driving member 22 via the first pivot shaft 251, and the second transmission rod 232 is transmission-connected to the driving member 22 via the second pivot shaft 252. The first pivot shaft 251 and the second pivot shaft 252 are independently arranged. Thus, on the one hand, based on the transmission connection between the first transmission rod 231 and the second transmission rod 232 and the driving member 22 via different pivot members 25, the height adjustment accuracy of the height adjustment device 500 is improved, and the stability of lifting is improved; on the other hand, the durability of the first pivot shaft 251 and the second pivot shaft 252 is improved, and the structural layout is reasonable.

[0052] At least one of the first pivot shaft 251 and the second pivot shaft 252 is configured as a flexible shaft and serves as the elastic member 21. For example, in this embodiment, the first pivot shaft 251 and the second pivot shaft 252 are both configured as flexible shafts, so that the first pivot shaft 251 can absorb the rigid stress transmitted from one of the swing mechanisms 10 to the first transmission rod 231, and the second pivot shaft 252 can absorb the rigid stress transmitted from the other swing mechanism 10 to the second transmission rod 232, thereby improving the service life of the drive mechanism 20 and improving the travel stability of the walking device 1000. Of course, in some embodiments, one of the first pivot shaft 251 and the second pivot shaft 252 can be configured as a flexible shaft, and the other of the first pivot shaft 251 and the second pivot shaft 252 can be configured as a rigid shaft.

[0053] The central axis of the first pivot shaft 251 and the central axis of the second pivot shaft 252 can be parallel to the width direction Y of the walking device 1000. The first pivot shaft 251 and the second pivot shaft 252 are arranged at intervals along the length direction X of the walking device 1000, so as to facilitate the assembly efficiency of the first transmission rod 231 and the second transmission rod 232 and the pivot member 25.

[0054] The driving member 22 includes a driving motor 221 and a push rod 222. One end of the push rod 222 is connected to the driving motor 221 by transmission, and the other end of the push rod 222 is hinged to the transmission member 23. The driving motor 221 is used to drive the push rod 222 to push and pull the transmission member 23. Since at least one of the pivoting member 25 or the transmission member 23 is provided with an elastic member 21, it is prevented that the driving motor 221 is damaged and cannot drive the swing mechanism 10 to rotate to drive the main body 100 to rise and fall relative to the horizontal base surface, thereby improving the service life of the driving motor 221 and ensuring the normal operation of the height adjustment device 500. Specifically, the first transmission rod 231 is pivoted to the push rod 222 through the first pivot shaft 251, and the second transmission rod 232 is pivoted to the push rod 222 through the second pivot shaft 252, so that the driving force output by the driving motor 221 can be transmitted to the swing mechanism 10 through the first transmission rod 57 and the second transmission rod 232.

[0055] In some embodiments, the driving mechanism 20 further includes a pivot seat 26. The pivot seat 26 is fixedly connected to the driving member 22. Specifically, the pivot seat 26 is fixed to the end of the push rod 222 facing away from the driving motor 221. The pivot seat 26 includes a first pivot portion 261 and a second pivot portion 262. The first pivot portion 261 is fixed to the end of the push rod 222 facing away from the driving motor 221, and is used to be pivotally connected to the first transmission rod 231 through a first pivot axis. The second pivot portion 262 is protruded toward the second transmission rod 232 relative to the first pivot portion 261, and is used to be pivotally connected to the second transmission rod 232 through a second pivot axis.

[0056] Of course, in some other embodiments, the first pivoting portion 261 can also be pivoted to the first transmission rod 231 through a ball joint structure, and the second pivoting portion 262 can also be pivoted to the second transmission rod 232 through a ball joint structure, which is not specifically limited in the embodiments of the present utility model. For example, one of the first pivoting portion 261 and the first transmission rod 231 is provided with a spherical protrusion, and the other of the first pivoting portion 261 and the first transmission rod 231 is provided with a spherical groove that matches the spherical protrusion, so that the first transmission rod 231 and the first pivoting portion 261 can respectively rotate in any direction around the ball center of the spherical protrusion. One of the second pivoting portion 262 and the second transmission rod 232 is provided with a spherical protrusion, and the other of the second pivoting portion 262 and the second transmission rod 232 is provided with a spherical groove that matches the spherical protrusion, so that the second transmission rod 232 and the second pivoting portion 262 can respectively rotate in any direction around the ball center of the spherical protrusion. In some cases, when the walking device 1000 is affected by external interference and causes the output direction of the driving force of the driving member 22 to deviate, the ball joint connection setting between the first transmission rod 231 and the first pivot part 261 and the second transmission rod 232 and the second pivot part 262 can enable the first transmission rod 231 and the first pivot part 261 and the second transmission rod 232 and the second pivot part 262 to maintain normal connection, 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.

[0057] At least one of the first transmission rod 231 and the second transmission rod 232 is provided with an elastic member 21. Exemplarily, in this embodiment, the first transmission rod 231 is provided with an elastic member 21. Of course, in some embodiments, the second transmission rod 232 may also be provided with an elastic member 21; or, the first transmission rod 231 and the second transmission rod 232 are both provided with an elastic member 21. Thus, the first transmission rod 231 and / or the second transmission rod 232 provided with the elastic member 21 can absorb the rigid stress transmitted to the first transmission rod 231 and / or the second transmission rod 232 by the swing mechanism 10, thereby improving the service life of the driving mechanism 20 and improving the stability of the travel of the walking device 1000. The first transmission rod 231 and the second transmission rod 232 are configured as rigid members, so as to facilitate the assembly of the first transmission rod 231 and the second transmission rod 232 with the driving member 22 and the swing mechanism 10, and ensure that the first transmission rod 231 and the second transmission rod 232 can transmit the driving force applied by the driving member 22 to the swing mechanism 10, so as to realize that the swing mechanism 10 drives the main body 100 to rise and fall.

[0058] Specifically, at least one of the first transmission rod 231 and the second transmission rod 232 includes a first transmission section 235 and a second transmission section 236, and the elastic member 21 is connected between the first transmission section 235 and the second transmission section 236. Therefore, on the one hand, it is convenient to assemble the first transmission section 235 and the second transmission section 236 with the swing mechanism 10, the driving member 22 and the pivot member 25, and to install the elastic member 21; on the other hand, it is convenient to improve the buffering capacity of the elastic member 21 to the rigid stress transmitted by the swing mechanism 10. Among them, the elastic member 21 is configured as at least one of a spring, a spring, an elastomer and a gas spring. Exemplarily, in this embodiment, the elastic member 21 is configured as a spring. Therefore, on the one hand, the spring has good durability and can withstand long-term repeated use without being easily damaged; on the other hand, the spring has high resilience, and the spring after stretching or compression can quickly restore its original shape, absorb impact force, and reduce the impact of vibration on the walking device 1000. In some embodiments, the elastic member 21 is integrally formed with the first transmission segment 235 and the second transmission segment 236, thereby facilitating the processing and forming of the transmission member 23, and facilitating the assembly, maintenance and replacement of the transmission member 23 and other parts.

[0059] In this embodiment, the first transmission rod 231 and / or the second transmission rod 232 can be configured as a bent rod structure, thereby improving the compression and tensile resistance of the first transmission rod 231 and / or the second transmission rod 232. Specifically, the first transmission rod 231 and the second transmission rod 232 each include a first transmission part 2301 and a second transmission part 2302, the first transmission part 2301 is in transmission connection with the driving member 22, one end of the second transmission part 2302 is connected to the first transmission part 2301, and the other end of the second transmission part 2302 is in transmission connection with the swing mechanism 10. The extension direction of the first transmission part 2301 is parallel or substantially parallel to the horizontal base plane, and the second transmission part 2302 is inclined relative to the first transmission part 2301 toward the horizontal base plane, thereby increasing the ground clearance of the first transmission part 2301, avoiding the problem of the first transmission part 2301 being scratched by ground obstacles or entangled with grass poles, and avoiding damage to the driving member 22.

[0060] In some embodiments, the first transmission part 2301 is provided with an elastic member 21. Specifically, the first transmission part 2301 is provided with a gap 2304 to form a first transmission section 235 and a second transmission section 236. Thus, when the swing mechanism 10 drives the main body 100 to swing to the position where the ground clearance of the main body 100 is the smallest, the ground clearance of the end of the second transmission part 2302 facing away from the first transmission part 2301 is smaller than the ground clearance of the end of the second transmission part 2302 close to the first transmission part 2301, thereby avoiding the problem of the elastic member 21 being entangled with grass or other impurities when the swing mechanism 10 drives the main body 100 to swing to the position where the ground clearance of the main body 100 is the smallest. Of course, in some embodiments, the second transmission part 2302 is provided with an elastic member 21. Specifically, the second transmission part 2302 is provided with a gap 2304 to form a first transmission section 235 and a second transmission section 236, thereby avoiding the problem of interference between the driving member 22 and the elastic member 21 when the driving member 22 moves. Of course, in other embodiments, both the first transmission part 2301 and the second transmission part 2302 may be provided with an elastic member 21; or, one end of the elastic member 21 is connected to the first transmission part 2301, and the other end of the elastic member 21 is connected to the second transmission part 2302.

[0061] In this embodiment, the second transmission rod 232 further includes a third transmission part 2303, which is bent relative to the second transmission part, and the extension direction of the third transmission part 2303 is opposite to the extension direction of the first transmission part 2301. The third transmission part 2303 of the second transmission rod 232 may also be provided with an elastic member 21.

[0062] In some other embodiments, the first transmission rod 231 and / or the second transmission rod 232 may also be configured as a straight rod structure. For example, the extension direction of the first transmission part 2301 is the same as the extension direction of the second transmission part 2302, and is parallel to the push-pull direction of the push rod 222, so that the angle between the push-pull direction of the push rod 222 and the transmission direction of the first transmission rod 231 is almost zero, thereby improving the utilization rate of the driving force applied by the push rod 222 to the first transmission rod 231, and reducing the vertical component force applied by the first transmission rod 231 to the push rod 222, avoiding the problem of bending and damage of the push rod 222 under the action of the vertical component force, and extending the service life of the driving member 22.

[0063] Please also read Figure 2 and Figure 5 , Figure 5 yes Figure 2A structural schematic diagram of another embodiment of the first transmission rod 231 of the height adjustment device 500 of the walking device 1000 in FIG. In some embodiments, at least part of the structure of the first transmission rod 231 and the second transmission rod 232 is configured as a curved structure to form an elastic member 21, and the curved structure is bent along the width direction Y of the walking device 1000, thereby avoiding the problem of assembly interference between the first transmission rod 231 and the main body 100 or other components in the main body 100, thereby improving the compactness of the first transmission rod 231. The first transmission rod 231 can be made of a metal material, which, on the one hand, facilitates the processing and forming of the first transmission rod 231, and enables the first transmission rod 231 to better withstand pressure, tension and bending force, thereby extending the service life of the first transmission rod 231; on the other hand, it avoids the problem of aging of the first transmission rod 231 due to environmental influences. The curved structure can be configured as, but not limited to, a wavy structure, an arc structure or a broken line structure.

[0064] Please also read Figure 2 , Figure 3 and Figure 6 , Figure 6 yes Figure 3 Schematic diagram of the structure of part I of the height adjustment device 500 of the walking device 1000 in FIG. In some embodiments, at least one of the first transmission section 235 and the second transmission section 236 is provided with a guide rod 27. In the length direction X of the walking device 1000, the sum of the extension lengths of all the guide rods 27 is less than the distance between the first transmission section 235 and the second transmission section 236, and the elastic member 21 is sleeved on the guide rod 27. Therefore, on the one hand, the guide rod 27 guides the deformation of the elastic member 21, avoiding the problem of excessive deformation of the elastic member 21 and interference with other elements or external obstacles; on the other hand, it facilitates the assembly of the elastic member 21, and improves the reliability and stability of the connection between the elastic member 21 and the first transmission section 235 and the second transmission. It should be noted that the sum of the extension lengths of all the guide rods 27 refers to the sum of the extension lengths of all the guide rods 27 sleeved in the same elastic member 21.

[0065] For example, in this embodiment, the first transmission section 235 and the second transmission section 236 are respectively provided with guide rods 27, and the guide rods 27 of the first transmission section 235 and the guide rods 27 of the second transmission section 236 are arranged at intervals, so as to avoid the problem that the guide rods 27 of the first transmission section 235 and the guide rods 27 of the second transmission section 236 interfere with each other when the elastic member 21 is compressed, and the elastic member 21 can be directly sleeved in the two guide rods 27 without providing an additional mounting structure, so as to facilitate the alignment assembly of the elastic member 21 and avoid the displacement of the elastic member 21. Of course, in some embodiments, the two ends of the elastic member 21 are respectively fixedly connected to the guide rods 27 of the first transmission section 235 and the guide rods 27 of the second transmission section 236, so as to improve the connection reliability and stability between the elastic member 21 and the first transmission section 235 and the second transmission section 236, and avoid the displacement of the elastic member 21. One of the first transmission section 235 and the second transmission section 236 can be provided with a guide rod 27. One end of the elastic member 21 is fixedly mounted on the first transmission section 235 or the second transmission section 236, and the other end of the elastic member 21 can be movably sleeved on the guide rod 27, thereby simplifying the assembly between the elastic member 21 and the first transmission section 235 or the second transmission section 236. In some embodiments, the number of elastic members 21 includes multiple elastic members 21, and the multiple elastic members 21 are arranged at intervals along the height direction Z of the walking device 1000, thereby improving the buffering capacity of the elastic member 21 to the rigid stress transmitted by the swing mechanism 10. Exemplarily, in this embodiment, the number of elastic members 21 includes three, and the three elastic members 21 are arranged at intervals along the height direction Z of the walking device 1000. The telescopic directions of the three elastic members 21 are arranged in parallel in pairs. In other embodiments, the number of elastic members 21 can also include one, two or more than three, which is not specifically limited in the embodiments of the utility model.

[0066] The elastic member 21 can be fixedly connected with the first transmission rod 231 and the second transmission rod 232 by means of but not limited to bonding, clamping, screwing, welding, etc., or fixedly connected together by means of fasteners, etc.; alternatively, the elastic member 21 can also be integrally formed with the first transmission rod 231 and the second transmission rod 232.

[0067] In some embodiments, the driving mechanism 20 further includes a support frame 28, and at least one elastic member 21 is installed between the first transmission section 235 and the second transmission section 236 through the support frame 28. As a result, the support frame 28 can provide a more suitable installation position for the elastic member 21, thereby facilitating the assembly efficiency of the elastic member 21 and the transmission member 23. Specifically, one elastic member 21 is directly installed between the first transmission section 235 and the second transmission section 236, and the remaining two elastic members 21 are indirectly installed between the first transmission section 235 and the second transmission section 236 through the support member. Of course, in some embodiments, all elastic members 21 are installed between the first transmission section 235 and the second transmission section 236 through the support frame 28; or, the support frame 28 can be omitted, and all elastic members 21 are directly installed on the first transmission section 235 and the second transmission section 236 and directly fixedly connected.

[0068] In this embodiment, the support frame 28 is protruded relative to the transmission member 23 in the height direction Z of the walking device 1000, thereby providing sufficient space for the deformation of the multiple elastic members 21, avoiding the problem of interference between the elastic members 21 during the deformation process, and reducing the difficulty of assembling the multiple elastic members 21 and the transmission member 23, thereby improving the assembly efficiency. Of course, in some embodiments, the support frame 28 can also be flush with the transmission member 23 in the height direction Z of the walking device 1000, which is not specifically limited in the embodiment of the utility model.

[0069] The swing mechanism 10 includes a first swing structure 110, and the first swing structure 110 includes a first swing arm 11 and a first rotating shaft 12. The free end of the first swing arm 11 is connected to the driving mechanism 20 through the first rotating shaft 12, and the non-free end of the first swing arm 11 is connected to the walking wheel 200 of the walking device 1000. The first rotating shaft 12 is used to be connected to the main body 100, and the central axis of the first rotating shaft 12 is spaced from the central axis of the walking wheel 200. The driving mechanism 20 is used to drive the first swing arm 11 to rotate together with the walking wheel 200 around the central axis of the first rotating shaft 12. Specifically, the end of the first swing arm 11 facing away from the first rotating shaft 12 is connected to the axle of the first wheel 201. Therefore, the driving mechanism 20 can drive the first swing arm 11 to rotate to adjust the relative position of the first wheel 201 and the frame 101, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0070] It is understandable that, under the action of gravity, the weight of the walking device 1000 itself will act on the axle of the first wheel 201, and the axle of the first wheel 201 will generate a torque centered on the central axis of the first rotating shaft 12 on the first swing arm 11. The first rotating shaft 12 applies the torque to the first transmission rod 231 through the first swing arm 11, so that the first swing arm 11 generates pressure or tension on the first transmission rod 231. When the walking device 1000 travels on an uneven surface, the walking device 1000 generates bumps and vibrations, resulting in excessive pressure or tension on the first transmission rod 231 by the first swing arm 11, which easily causes the first transmission rod 231 to bend under pressure or crack under tension. The height adjustment device 500 provided by the utility model is based on the elastic member 21 being arranged on the first transmission rod 231 and / or the first pivot shaft 251. On the one hand, the elastic member 21 can be elastically deformed when the first transmission rod 231 is subjected to pressure or tension, thereby buffering the pressure or tension acting on the first transmission rod 231, reducing the rigidity force transmitted by the free end of the first swing arm 11 through the first transmission rod 231, avoiding damage to the first transmission rod 231 and the driving member 22, and extending the service life of the first transmission rod 231 and the driving member 22; on the other hand, when the first transmission rod 231 is elastically deformed, it can absorb the impact force of the first swing arm 11 acting on the first transmission rod 231, reduce the impact of the first transmission rod 231 on the driving member 22, and extend the service life of the driving member 22; on the other hand, when the first transmission rod 231 is elastically deformed, it can also absorb the impact force generated by the ground on the walking device 1000, thereby improving the stability of the walking device 1000 when traveling on uneven roads.

[0071] In some embodiments, the first swing structure 110 further includes a rocker 13, the rocker 13 is spaced apart from the first swing arm 11, one end of the rocker 13 is hinged to the transmission member 23, and the other end of the rocker 13 is connected to the rotating shaft. The driving mechanism 20 is used to drive the rocker 13 to drive the first swing arm 11 and the first wheel 201 to rotate around the central axis of the first rotating shaft 12 to adjust the relative position of the second wheel 202 and the frame 101, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0072] It should be noted that the term "articulated" includes two elements being pivotally connected or two elements being ball-jointed. For example, in the present embodiment, the rocker 13 is pivotally connected to the first transmission rod 231. The rocker 13 and the first transmission rod 231 are pivotally connected via a pivot 25, and the central axis of the pivot 25 is parallel to the width direction Y of the walking device 1000. The pivot axis can be independently arranged from the rocker 13 and the first transmission rod 231. The pivot axis can also be transitionally connected to the rocker 13 or the first transmission rod 231, thereby simplifying the assembly operation of the pivot 25. Of course, in some embodiments, the rocker 13 and the first transmission rod 231 can also be ball-jointed via a ball-jointed structure.

[0073] In some embodiments, the first swing structure 110 further includes a bearing seat 15. The first rotating shaft 12 is connected to the main body 100 through the bearing seat 15. Specifically, the bearing seat 15 is fixed to the main body 100, and the first rotating shaft 12 is rotatably arranged on the bearing seat 15. Thus, the first rotating shaft 12 is rotatably arranged relative to the main body 100 through the bearing seat 15 to reduce the rotation resistance of the first rotating shaft 12. Exemplarily, in this embodiment, the bearing seat 15 is arranged close to the end of the first rotating shaft 12, so as to facilitate the assembly of the main body 100 and the bearing seat 15, and avoid the problem of distortion and deformation of the main body 100 during the process of adjusting the ground clearance.

[0074] The swing mechanism 10 also includes a second swing structure 120. The second swing structure 120 includes a second swing arm 51 and a second rotating shaft 52. The free end of the second swing arm 51 is connected to the driving mechanism 20 through the second rotating shaft 52. The non-free end of the second swing arm 51 is connected to the walking wheel 200 of the walking device 1000. The second rotating shaft 52 is used to be connected to the main body 100. The central axis of the second rotating shaft 52 is spaced from the central axis of the walking wheel 200. The driving mechanism 20 is used to drive the second swing arm 51 to rotate together with the walking wheel 200 around the central axis of the second rotating shaft 52. Specifically, one end of the second swing arm 51 facing away from the second rotating shaft 52 is connected to the axle of the second wheel 202. Thus, the driving mechanism 20 can drive the second swing arm 51 to rotate to adjust the relative position of the second wheel 202 and the frame 101, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0075] Under the action of gravity, the weight of the walking robot itself will act on the axle of the second wheel 202, and the axle of the second wheel 202 will generate a torque centered on the central axis of the second rotating shaft 52 on the second swing arm 51. The second rotating shaft 52 applies the torque to the second transmission rod 232 through the second swing arm 51, so that the second swing arm 51 generates pressure or tension on the second transmission rod 232. In some cases, when the first walking wheel 200 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension exerted by the second swing arm 51 on the second transmission rod 232 is too large, which can easily cause the second transmission rod 232 to bend under the pressure or crack under the tension. In the embodiment of the present application, based on the elastic member 21 being arranged on the second transmission rod 232 and / or the second pivot shaft 252, on the one hand, the elastic member 21 can be elastically deformed when the second transmission rod 232 is subjected to pressure or tension, thereby buffering the pressure or tension acting on the second transmission rod 232, reducing the rigidity force transmitted by the free end of the second swing arm 51 through the second transmission rod 232, avoiding damage to the second transmission rod 232 and the driving member 22, and extending the service life of the second transmission rod 232 and the driving member 22; on the other hand, when the second transmission rod 232 is elastically deformed, it can absorb the impact force of the second swing arm 51 acting on the second transmission rod 232, reduce the impact effect of the second transmission rod 232 on the driving member 22, and extend the service life of the driving member 22; on the other hand, when the second transmission rod 232 is elastically deformed, it can also absorb the impact force generated by the ground on the walking device 1000, thereby improving the stability of the walking device 1000 when traveling on uneven roads.

[0076] Exemplarily, in this embodiment, the structure and arrangement of the first swing structure 110 are different from the structure and arrangement of the second swing structure 120. Of course, in some embodiments, the structure of the first swing structure 110 and the structure of the second swing structure 120 are similar or identical.

[0077] Please also read Figure 2 , Figure 4 and Figure 7 , Figure 7 yes Figure 2Schematic diagram of the partial structure of the height adjustment device 500 of the walking device 1000 in FIG. The number of the first swing structures 110 is two. The two first swing structures 110 are connected to the two axial ends of the second rotating shaft 52. The second swing structure 120 also includes a first sliding member 541. The first sliding member 541 is connected to the second swing arm 51. The driving member 22 is used to drive the second transmission rod 232 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 second swing arm 51 to rotate around the central axis of the second rotating shaft 52. The two opposite ends of the first sliding member 541 along the axial direction are respectively connected to the two second swing arms 51, so that the driving member 22 can drive the two second swing arms 51 to rotate synchronously through the first sliding member 541, which simplifies the connection between the driving member 22 and the two second swing arms 51. Among them, the first sliding member and the second swing arm 51 can be rotatably connected or fixedly connected.

[0078] The second swing structure 120 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 frame 101. 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 second rotating shaft 52. The second sliding member 542 is slidably sleeved on the guide rod 57.

[0079] The first sliding member 541 is arranged to slide and abut against the second sliding member 542. A guide slide 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 slide groove 5401 and can slide in the guide slide groove 5401. Exemplarily, the second sliding member 542 may be provided with a guide slide groove 5401, and the first sliding member 541 is penetrated in the guide slide groove 5401. The guide slide groove 5401 is arranged in a long strip shape. The guide slide groove 5401 is extended along the rotation plane formed when the second rotation axis 52 rotates relative to the frame 101 along the height direction Z of the walking device 1000. Among them, the rotation plane of the second rotation axis 52 relative to the frame 101 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 slide groove 5401 can be extended along the height direction Z of the walking device 1000. When the second rotating shaft 52 rotates relative to the frame 101 along the height direction Z of the walking device 1000, the second rotating shaft 52 drives the second swing arm 51 and the first sliding member 541 to rotate relative to the frame 101, and the first sliding member 541 rotates relative to the second sliding member 542 in the guide groove 5401.

[0080] 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.

[0081] The second transmission rod 232 is connected to the second sliding member 542. The second transmission rod 232 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 second swing arm 51 to rotate around the central axis of the second rotating shaft 52, and the second swing arm 51 drives the axle of the second wheel 202 to rotate around the second rotating shaft 52. The second transmission rod 232 is hinged to the second sliding member 542.

[0082] 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 232 is inserted into the limiting hole. The limiting hole can limit the second transmission rod 232, thereby reducing or avoiding the shaking of the second transmission rod 232. 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 second swing arms 51. The second swing arm 51 is configured as a swing plate, and can also protect the first sliding member 541, the second sliding member 542, the second rotating shaft 52 and the rotating shaft 58 described below, which are located or partially located in the accommodation space 5601, thereby reducing or avoiding the problem of grass entanglement.

[0083] 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 232 and the second sliding member 542 located at the geometric center of the four guide rods 57, so that when the second transmission rod 232 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.

[0084] The second swing structure 120 also includes a rotating shaft 58. The rotating shaft 58 is used to connect with the frame 101. The central axis of the rotating shaft 58 is arranged perpendicular to the central axis of the second rotating shaft 52. The second rotating shaft 52 is connected to the rotating shaft 58. The second rotating shaft 52 is rotatably arranged around the central axis of the rotating shaft 58. When the walking device 1000 travels on an uneven ground, the second wheel 202 can adaptively drive the second rotating shaft 52 to rotate relative to the central axis of the rotating shaft 58 according to the ups and downs of the ground, so that the frame 101 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.

[0085] Exemplarily, the center axis of the rotating shaft 58 can be set parallel to the length direction X of the walking device 1000. When the second rotating shaft 52 rotates around the center axis of the rotating shaft 58, the rotation plane formed by the second rotating shaft 52 is parallel to the height direction Z of the walking device 1000. In some embodiments, the center axis of the rotating shaft 58 can also be set at an angle to the length direction X of the walking device 1000. The center axis of the rotating 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 second rotating shaft 52 rotates around the center axis of the rotating shaft 58, the rotation plane formed by the second rotating shaft 52 is set at an acute angle to the height direction Z of the walking device 1000.

[0086] In some embodiments, the rotating shaft 58 is rotatably arranged relative to the frame 101 around the central axis of the rotating shaft 58. The rotating shaft 58 is rotatably connected to the mounting base 56. The mounting base 56 is provided with a mounting hole 5603. The rotating shaft 58 is inserted into the mounting hole 5603. Exemplarily, the second swing structure 120 also includes a sleeve 59. The sleeve 59 is sleeved on the rotating 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 rotating shaft 58 and the mounting base 56 when the rotating shaft 58 rotates relative to the mounting base 56, thereby increasing the service life.

[0087] In this embodiment, the rotating shaft 58 and the second rotating shaft 52 can be rotatably connected. In some embodiments, the rotating shaft 58 and the second rotating shaft 52 can be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 58 and the second rotating shaft 52 can be integrally formed. The second rotating shaft 52 is inserted through the rotating shaft 58; or the rotating shaft 58 is inserted through the second rotating shaft 52.

[0088] The rotating shaft 58 may be provided with a through hole, and the second rotating shaft 52 is inserted into the through hole. In some embodiments, a bearing sleeve is provided at the connection between the second rotating shaft 52 and the rotating shaft 58. As a result, when the second rotating shaft 52 rotates relative to the rotating shaft 58, the wear between the second rotating shaft 52 and the rotating shaft 58 is reduced, and the service life is improved. The rotating shaft 58 can be rotatably arranged or fixedly arranged relative to the frame 101. Among them, the rotating shaft 58 and the mounting base 56 can be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 58 and the mounting base 56 can also be integrally formed. In some embodiments, the second rotating shaft 52 may be provided with a through hole, and the rotating shaft 58 is inserted into the through hole, the second rotating shaft 52 is fixedly arranged relative to the rotating shaft 58, and the rotating shaft 58 is rotatably arranged relative to the frame 101.

[0089] 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 and installed on the main body of the walking device, characterized in that: The height adjustment device comprises: A swing mechanism is rotatably disposed on the main body; The driving mechanism is connected to the swing mechanism in a transmission manner. The driving mechanism is used to drive the swing mechanism to rotate so as to drive the main body to rise and fall relative to a horizontal base surface. The driving mechanism is provided with an elastic member, and the elastic member is used to buffer the rigid stress transmitted by the swing mechanism.

2. The height adjustment device according to claim 1, characterized in that: The driving mechanism includes a driving member, a transmission member and a pivot member, one end of the transmission member is transmission-connected to the driving member via the pivot member, the other end of the transmission member is transmission-connected to the swing mechanism, and at least one of the transmission member and the pivot member is provided with the elastic member.

3. The height adjustment device according to claim 2, characterized in that: The swing mechanism includes a first swing structure and / or a second swing structure. In the length direction of the walking device, the first swing structure is arranged at the rear end of the main body, and the second swing structure is arranged at the front end of the main body.

4. The height adjustment device according to claim 3, characterized in that: The swing mechanism includes a first swing structure and a second swing structure, and the transmission member includes a first transmission rod and a second transmission rod. The first transmission rod and the second transmission rod are both transmission-connected to the driving member through the pivot member, and one end of the first transmission rod facing away from the pivot member is transmission-connected to the first swing structure, and one end of the second transmission rod facing away from the pivot member is transmission-connected to the second swing structure.

5. The height adjustment device according to claim 4, characterized in that: The pivot member includes a first pivot axis and a second pivot axis, the first transmission rod is connected to the driving member via the first pivot axis, the second transmission rod is connected to the driving member via the second pivot axis, and the first pivot axis and the second pivot axis are independently arranged.

6. The height adjustment device according to claim 5, characterized in that: At least one of the first pivot axis and the second pivot axis is configured as a flexible axis and serves as the elastic member.

7. The height adjustment device according to claim 4, characterized in that: At least one of the first transmission rod and the second transmission rod is provided with the elastic member.

8. The height adjustment device according to claim 7, characterized in that: At least one of the first transmission rod and the second transmission rod includes a first transmission section and a second transmission section, and the elastic member is connected between the first transmission section and the second transmission section.

9. The height adjustment device according to claim 8, characterized in that: At least one of the first transmission section and the second transmission section is provided with a guide rod, and in the length direction of the walking device, the sum of the extension lengths of all the guide rods is less than the distance between the first transmission section and the second transmission section, and the elastic member is sleeved on the guide rod.

10. The height adjustment device according to claim 8, characterized in that: The elastic members may be multiple in number, and the multiple elastic members are arranged at intervals along the height direction of the walking device.

11. The height adjustment device according to claim 10, characterized in that: The driving mechanism further comprises a support frame, and at least one of the elastic members is installed between the first transmission section and the second transmission section through the support frame.

12. The height adjustment device according to claim 11, characterized in that: The support frame is arranged to protrude relative to the transmission member in the height direction of the walking device.

13. The height adjustment device according to claim 7, characterized in that: The elastic member is configured as at least one of a spring, a spring sheet, an elastic body and a gas spring.

14. The height adjustment device according to claim 2, characterized in that: The driving member includes a driving motor and a push rod, one end of the push rod is drivingly connected to the driving motor, and the other end of the push rod is hinged to the driving member, and the driving motor is used to drive the push rod to push and pull the driving member.

15. The height adjustment device according to claim 3, characterized in that: The swing mechanism includes a first swing structure, which includes a first swing arm and a first rotating shaft. The free end of the first swing arm is transmission-connected to the driving mechanism via the first rotating shaft, and the non-free end of the first swing arm is rotationally connected to the walking wheel of the walking device. The first rotating shaft is used to be rotationally connected to the main body, and the central axis of the first rotating shaft is spaced from the central axis of the walking wheel. The driving mechanism is used to drive the first swing arm together with the walking wheel to rotate around the central axis of the first rotating shaft.

16. The height adjustment device according to claim 15, characterized in that: The first swing structure further includes a rocker, which is spaced apart from the first swing arm, one end of which is hinged to the transmission member, and the other end of which is connected to the first rotating shaft.

17. The height adjustment device according to claim 3, characterized in that: The swing mechanism includes a second swing structure, the second swing structure includes a second swing arm and a second rotating shaft, the free end of the second swing arm is transmission-connected to the driving mechanism via the second rotating shaft, the non-free end of the second swing arm is rotationally connected to the walking wheel of the walking device, the second rotating shaft is used to be rotationally connected to the main body, the central axis of the second rotating shaft is spaced from the central axis of the walking wheel, and the driving mechanism is used to drive the second swing arm together with the walking wheel to rotate around the central axis of the second rotating shaft.

18. 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 17, wherein the height adjustment device is installed on the main body and is used to drive the main body to rise and fall relative to the horizontal base surface.

Images