Walking wheel adjusting device and walking robot

Abstract

The utility model provides a walking wheel adjusting device and a walking robot. The walking robot comprises a rack. The walking wheel adjusting device comprises a walking wheel module, a driving structure and an elastic module. The walking wheel module is rotationally connected with the rack and used for installing walking wheels. The driving structure is connected with the walking wheel module and used for driving the walking wheel module to rotate relative to the rack so as to adjust the relative positions of the walking wheels and the rack. The elastic module is connected with the rack and the walking wheel module and used for generating elastic deformation when the walking wheel module rotates relative to the rack, so that rigid conduction between the driving structure and the walking wheel module is reduced, and when the walking wheel module rotates relative to the rack, rigid conduction between the driving structure and the walking wheel module is reduced. The elastic module can buffer rigid force between the walking wheel module and the driving structure through elastic deformation, impact force borne by the driving structure is prevented from exceeding the working range, and the service life of the driving structure is prolonged.

Description

Technical Field

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

[0002] In the related art, the driving structure in the adjusting device of the walking wheel of the walking robot is rigidly connected to the walking wheel. When the driving mechanism drives the walking wheel to move, the walking wheel will generate a rigid impact force on the driving structure when it is subjected to internal or external forces, and the driving structure is easily damaged by the impact force. Utility Model Content

[0003] The present application provides a walking wheel adjustment device and a walking robot to solve the problem that the driving structure is easily damaged.

[0004] In a first aspect, the present application provides a walking wheel adjustment device, which is applied to a walking robot, and the walking robot includes a frame. The walking wheel adjustment device includes a walking wheel module, a driving structure and an elastic module. The walking wheel module is rotatably connected to the frame, and the walking wheel module is used to install the walking wheel. The driving structure is connected to the walking wheel module, and the driving structure is used to drive the walking wheel module to rotate relative to the frame to adjust the relative position of the walking wheel and the frame. The elastic module is respectively connected to the frame and the walking wheel module, and is used to undergo elastic deformation when the walking wheel module rotates relative to the frame.

[0005] In some embodiments, the walking wheel module includes a first rotating shaft and a first swinging structure, the first rotating shaft is connected to the frame, the axial direction of the first rotating shaft is perpendicular to the length direction of the walking robot, the first swinging structure is connected to the first rotating shaft, the first swinging structure is used to install the walking wheel, the rotation axis of the first rotating shaft is spaced apart from the rotation axis of the walking wheel, one end of the elastic module is connected to the frame, and the other end is connected to the first swinging structure, the driving structure is connected to the first swinging structure, and is used to drive the first swinging structure together with the walking wheel to rotate around the rotation axis of the first rotating shaft.

[0006] In some embodiments, the first swing structure includes a first axle and a first swing arm, the first rotating axis and the first axle are respectively connected to the first swing arm, the first axle is used to install the walking wheel, the elastic module is connected to the first axle and / or the first swing arm, and the driving structure is connected to the first swing arm.

[0007] In some embodiments, the walking wheel module also includes a rotating shaft, which is connected to the frame, and the first rotating shaft is connected to the rotating shaft and can rotate relative to the rotating axis of the rotating shaft, and the rotating axis of the first rotating shaft is perpendicular to the rotating axis of the rotating shaft.

[0008] In some embodiments, the first swing structure and the elastic module are respectively provided in two numbers, the two first swing structures are connected to the axial ends of the first rotating shaft, and the two elastic modules are respectively connected to the two first swing structures.

[0009] In some embodiments, the walking wheel module also includes a mounting base guide rod, a first sliding member and a second sliding member, the mounting base is fixedly connected to the frame, a accommodating space is provided on the mounting base, the guide rod is located in the accommodating space, the axial direction of the guide rod is perpendicular to the width direction of the walking robot, the second sliding member is slidably mounted on the guide rod, a sliding groove is provided on one of the first sliding member and the second sliding member, the other of the first sliding member and the second sliding member is inserted into the sliding groove, the driving structure is connected to the second sliding member, and the driving structure is used to drive the second sliding member to slide along the guide rod.

[0010] In some embodiments, the elastic module includes a fixing member and an elastic member, the fixing member is fixedly connected to the frame, one end of the elastic member is connected to the end of the fixing member, and the other end is connected to the walking wheel module.

[0011] In some embodiments, the elastic member is configured as one of a coil spring, a gas spring, a torsion spring, and an elastic band.

[0012] In some embodiments, the walking wheel module also includes a second rotating shaft and a second swinging structure, the second rotating shaft is connected to the frame, the second swinging structure is connected to the second rotating shaft, the second swinging structure is used to install the walking wheel, the rotation axis of the second rotating shaft is spaced apart from the rotation axis of the walking wheel, and the driving structure is connected to the second swinging structure and is used to drive the second swinging structure together with the walking wheel to rotate around the central axis of the second rotating shaft.

[0013] In some embodiments, the second swing structure includes a second wheel axle, a rocker and a second swing arm, the second rotating shaft and the second wheel axle are respectively connected to the second swing arm, the second wheel axle is used to install the walking wheel, the rocker is connected to the second rotating shaft, the rocker is fixed relative to the second swing arm, the driving structure is connected to the rocker, and is used to drive the rocker to drive the second swing arm together with the second wheel axle to rotate around the rotation axis of the second rotating shaft.

[0014] In some embodiments, the driving structure includes a driving member, a first connecting rod and a second connecting rod, the driving member is connected to the first connecting rod and the second connecting rod respectively, the end of the first connecting rod away from the driving member is connected to the first swinging structure, the end of the second connecting rod away from the driving member is connected to the second swinging structure, the first connecting rod is at least partially configured as an elastic structure, and / or the second connecting rod is at least partially configured as an elastic structure.

[0015] In a second aspect, the present application provides a walking robot, comprising a frame and a walking wheel adjustment device as described in any one of the above items, wherein the walking wheel adjustment device is mounted on the frame.

[0016] In the walking wheel adjustment device and walking robot provided by the present application, the elastic module is respectively connected to the frame and the walking wheel module, and is used to undergo elastic deformation when the walking wheel module rotates relative to the frame. The elastic module can reduce the rigid conduction between the driving structure and the walking wheel module. When the walking wheel module rotates relative to the frame, the elastic module can buffer the rigid force between the walking wheel module and the driving structure through elastic deformation, thereby preventing the impact force on the driving structure from exceeding the working range and improving the service life of the driving structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a schematic diagram of the structure of the walking robot provided in the embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the structure of the walking robot provided in an embodiment of the present application after some structures are removed.

[0020] Figure 3 It is an exploded view of the walking wheel adjustment device provided in an embodiment of the present application.

[0021] Figure 4 It is a schematic diagram of the structure of the walking wheel adjustment device provided in an embodiment of the present application after some structures are removed.

[0022] Figure 5 It is a schematic diagram of the structure of the walking wheel adjustment device provided in an embodiment of the present application after removing other parts of the structure.

[0023] Figure 6It is a schematic diagram of the structure of a walking robot provided in some embodiments of the present application.

[0024] Description of main reference numerals: walking robot 1000; walking wheel adjustment device 100; walking wheel module 10; first rotating shaft 11; first swinging structure 12; first wheel shaft 121; first swinging arm 122; base 1221; convex portion 1222; reinforcing portion 1223; first walking wheel 123; mounting base 13; accommodating space 131; connecting hole 132; mounting hole 133; first sliding member 141; second sliding member 142; guide groove 1421; guide rod 143; rotating shaft 15; fixing hole 151; first sleeve 152; second sleeve 153; elastic module 160; elastic member 161; fixing member 162; driving structure Structure 20; driving member 21; telescopic part 211; driving part 212; first connecting rod 22; first section 221; second section 222; third section 223; second connecting rod 23; first connecting rod section 231; second connecting rod section 232; connecting seat 25; first pivot hole 261; second pivot hole 262; partition 27; second rotating axis 31; fixed seat 311; second swinging structure 32; second wheel axle 321; rocker 3221; second swing arm 3222; second walking wheel 323; frame 200; casing 300; cutting member 400; anti-collision member 500; collecting member 600; length direction X; width direction Y; height direction Z.

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

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

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

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

[0029] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of the walking robot 1000 provided in the embodiment of the present application. Figure 1 For reference, in this application, the X-axis direction is defined as the length direction of the walking robot 1000, the Y-axis direction is defined as the width direction of the walking robot 1000, and the Z-axis direction is defined as the height direction of the walking robot 1000. The length direction X, width direction Y, and height direction Z of the walking robot 1000 are perpendicular to each other. The length direction X of the walking robot 1000 may refer to the front and rear direction of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the X-axis (the direction indicated by the arrow) is the front, front side or front end of the walking robot 1000, and the opposite direction of the walking robot 1000 along the positive direction of the X-axis is the rear, rear side or rear end of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the Z-axis (the direction indicated by the arrow) is the direction of the walking robot 1000 off the ground.

[0030] Please also read Figure 1 , Figure 2 , Figure 3 and Figure 4 The walking robot 1000 includes a walking wheel adjusting device 100, a frame 200 and a casing 300. The casing 300 is mounted on the frame 200. The walking wheel adjusting device 100 is mounted on the frame 200. The walking wheel adjusting device 100 is used to install the walking wheel. The walking wheel includes a first walking wheel 123 and a second walking wheel 323. The first walking wheel 123 is arranged near the front end of the walking robot 1000, and the first walking wheel 123 is configured as the front wheel of the walking robot 1000. The second walking wheel 323 is arranged near the rear end of the walking robot 1000, and the second walking wheel 323 is configured as the rear wheel of the walking robot 1000. The walking wheel adjusting device 100 is also used to adjust the height of the frame 200 from the ground.

[0031] The walking robot 1000 can be configured as a lawn mowing walking robot, a pesticide spraying walking robot, a crop harvesting walking robot, a sweeping walking robot, a transport walking robot, etc. The walking robot 1000 can be a two-wheeled walking robot, a four-wheeled walking robot, etc. In this embodiment, the structure of the walking robot 1000 is described in detail by taking the walking robot 1000 configured as a lawn mowing walking robot as an example. The walking robot 1000 also includes a cutting member 400, which is mounted on the frame 200. The cutting member 400 is used to mow the lawn.

[0032] The walking wheel adjusting device 100 comprises a walking wheel module 10, a driving structure 20 and an elastic module 160. The walking wheel module 10 is connected to the frame 200. The walking wheel module 10 is used to install the walking wheel. The driving structure 20 is connected to the walking wheel module 10. The driving structure 20 is used to drive the walking wheel module 10 to rotate relative to the frame 200 to adjust the relative position of the walking wheel and the frame 200, thereby adjusting the distance between the first walking wheel 123 and the second walking wheel 323 and the height of the frame 200 from the ground. The elastic module 160 is respectively connected to the frame 200 and the walking wheel module 10, and is used to generate elastic deformation when the walking wheel module 10 rotates relative to the frame 200. In this way, the elastic module 160 can reduce the rigid conduction between the driving structure 20 and the walking wheel module 10. When the walking wheel module 10 rotates relative to the frame 200, the elastic module 160 can buffer the rigid force between the walking wheel module 10 and the driving structure 20 through elastic deformation, thereby preventing the impact force on the driving structure 20 from exceeding the working range of the driving structure 20, thereby improving the service life of the driving structure 20.

[0033] The walking wheel module 10 includes a first rotating shaft 11 and a first swinging structure 12. The first rotating shaft 11 is connected to the frame 200. The axial direction of the first rotating shaft 11 is perpendicular to the length direction X of the walking robot 1000. The first swinging structure 12 is connected to the first rotating shaft 11. The first swinging structure 12 is used to install the walking wheel. The rotation axis of the first rotating shaft 11 is spaced from the rotation axis of the walking wheel. Among them, the first swinging structure 12 is used to install the first walking wheel 123. The rotation axis of the first walking wheel 123 is spaced from the rotation axis of the first rotating shaft 11. One end of the elastic module 160 is connected to the frame 200, and the other end is connected to the first swinging structure 12. The driving structure 20 is connected to the first swinging structure 12, and is used to drive the first swinging structure 12 together with the walking wheel to rotate around the rotation axis of the first rotating shaft 11 to adjust the relative position of the first walking wheel 123 and the frame 200.

[0034] The first swing structure 12 includes a first axle 121 and a first swing arm 122. The first rotating shaft 11 and the first axle 121 are connected to the first swing arm 122 respectively. The first axle 121 is used to install the running wheel. The rotation axis of the first axle 121 is spaced apart from the rotation axis of the first rotating shaft 11. The rotation axis of the first axle 121 and the rotation axis of the running wheel can be arranged in a colinear manner. The figure formed by the connection between the first rotating shaft 11, the first axle 121 and the connection position of the driving structure 20 and the first swing arm 122 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 positions of the first rotating shaft 11, the first axle 121 and the driving structure 20 and the first swing arm 122 can also be arranged in a colinear manner.

[0035] In some embodiments, the first rotating shaft 11 and the first swing arm 122 can be rotatably connected. In some embodiments, the first rotating shaft 11 and the first swing arm 122 are fixedly connected, and the first rotating shaft 11 can rotate relative to the frame 200 along the circumferential direction of the first rotating shaft 11. Among them, the first rotating shaft 11 and the first swing arm 122 can be set independently of each other, and the first rotating shaft 11 and the first swing arm 122 can be fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fasteners, etc., or the first rotating shaft 11 and the first swing arm 122 can also be integrally formed.

[0036] The first axle 121 and the first swing arm 122 may be rotatably connected or fixedly connected. Exemplarily, the first axle 121 and the first swing arm 122 are fixedly connected. The first axle 121 and the first swing arm 122 may be independently provided, and the first axle 121 and the first swing arm 122 may be fixedly connected together by bonding, clamping, screwing, welding, etc., or by fasteners, etc. In some embodiments, the first axle 121 and the first swing arm 122 may also be integrally formed.

[0037] One end of the elastic module 160 is connected to the frame 200, and the other end is connected to the first axle 121 and / or the first swing arm 122. The driving structure 20 is connected to the first swing arm 122. The driving structure is used to drive the first swing arm 122 to rotate together with the first axle 121 around the rotation axis of the first rotating shaft 11. In some embodiments, the elastic module 160 is connected to the first swing arm 122. When the first swing arm 122 rotates around the rotation axis of the first rotating shaft 11, the elastic module 160 undergoes elastic deformation. The connection position of the elastic module 160 and the first swing arm 122 can be arranged close to the first axle 121 to improve the buffering effect of the elastic module 160 on the first swing arm 122. Among them, the connection position of the elastic module 160 and the first swing arm 122 can be specifically set according to actual needs. In some embodiments, the elastic module 160 can be connected to the first axle 121. In some embodiments, the elastic module 160 can also be connected to the first swing arm 122 and the first axle 121 respectively.

[0038] The first swing structure 12 and the elastic module 160 are respectively provided with two. The two first swing structures 12 are connected to the two ends of the axial direction of the first rotating shaft 11. The two elastic modules 160 are respectively connected to the two first swing structures 12 to buffer the two first swing structures 12 respectively. The two first swing arms 122 in the two first swing structures 12 are located near the middle position of the walking robot 1000 along the width direction Y. The first walking wheel 123 and the first swing arm 122 are arranged at intervals along the width direction Y of the walking robot 1000. The middle position of the walking robot 1000 along the width direction Y may refer to the midpoint of the walking robot 1000 along the width direction Y or the position near the midpoint. The midpoint of the walking robot 1000 along the width direction Y may be located between the two first swing arms 122. Along the width direction Y of the walking robot 1000, the distance between the first swing arm 122 and the midpoint of the walking robot 1000 along the width direction Y is less than the distance between the first swing arm 122 and the first walking wheel 123. The housing 300 and the frame 200 are enclosed to form a receiving space, and the first swing arm 122, the first rotating shaft 11, the elastic module 160 and the driving structure 20 are all located in the receiving space to prevent the grass from being entangled on the first swing arm 122, the first rotating shaft 11, the elastic module 160 and the driving structure 20. The spacing distance between the first walking wheel 123 and the first swing arm 122 can be set according to actual needs, and is not specifically limited in this application. The lengths of the two first wheel axles 121 in the two first swing structures 12 along the width direction Y of the walking robot 1000 can be set to be the same or different. Exemplarily, the lengths of the two first wheel axles 121 are the same.

[0039] The walking wheel module 10 also includes a first sliding member 141. The first sliding member 141 is connected to the first swing arm 122. The driving structure 20 is used to drive the first sliding member 141 to move along the length direction X of the walking robot 1000, so that the first sliding member 141 drives the first swing arm 122 to rotate around the central axis of the first rotating shaft 11. The first sliding member 141 is connected to the two first swing arms 122 in the two first swing structures 12 at two opposite ends along the axial direction, respectively. In this way, the driving structure 20 can drive the two first swing arms 122 to rotate synchronously through the first sliding member 141, which simplifies the connection between the driving structure 20 and the two first swing arms 122. Among them, the first sliding member 141 and the first swing arm 122 can be rotatably connected or fixedly connected.

[0040] The first swing arm 122 can be configured as a swing plate. The first swing arm 122 includes a base 1221 and a convex portion 1222 convexly arranged on the base 1221 along the width direction Y of the walking robot 1000. The base 1221 is arranged in a plate shape. A connecting hole is provided on the convex portion 1222. There are three convex portions 1222, and the three convex portions 1222 correspond to the first rotating shaft 11, the first wheel shaft 121 and the first sliding member 141 one by one, respectively. The first rotating shaft 11, the first wheel shaft 121 and the first sliding member 141 are respectively inserted into the connecting holes on the corresponding convex portions 1222. The convex portion 1222 can increase the connection length of the first rotating shaft 11, the first wheel shaft 121 and the first sliding member 141 with the first swing arm 122, and improve the connection stability. Among them, the base 1221 can be roughly triangular, and the three convex portions 1222 are respectively arranged at the three corners of the base 1221.

[0041] In some embodiments, the first swing arm 122 further includes a reinforcing portion 1223 protruding from the base 1221. The reinforcing portion 1223 may be connected between the protruding portion 1222 and the base 1221 to improve the connection stability between the protruding portion 1222 and the base 1221, and to improve the anti-bending ability of the base 1221. The reinforcing portion 1223 may be provided in plurality. The plurality of reinforcing portions 1223 may be arranged side by side and spaced apart.

[0042] The walking wheel module 10 also includes a mounting base 13, a second sliding member 142 and a guide rod 143. The mounting base 13 is fixedly connected to the frame 200. A receiving space 131 is provided on the mounting base 13. The first sliding member 141, the second sliding member 142 and the guide rod 143 are all located in the receiving space 131. The axial direction of the guide rod 143 is perpendicular to the width direction Y of the walking robot 1000. The axial direction of the guide rod 143 can be perpendicular to the axial direction of the first rotating shaft 11. The second sliding member 142 is slidably mounted on the guide rod 143.

[0043] The first sliding member 141 is in sliding contact with the second sliding member 142. A guide groove 1421 is provided on one of the first sliding member 141 and the second sliding member 142, and the other of the first sliding member 141 and the second sliding member 142 is inserted into the guide groove 1421 and can slide in the guide groove 1421. Exemplarily, the second sliding member 142 may be provided with a guide groove 1421, and the first sliding member 141 is inserted into the guide groove 1421. The guide groove 1421 is arranged in a long strip shape. The guide groove 1421 extends along the height direction Z of the walking robot 1000. Along the height direction Y of the walking robot 1000, the height dimension of the guide groove 1421 is greater than the height dimension of the first sliding member 141. In some embodiments, the first sliding member 141 may be provided with a guide groove 1421, and the second sliding member 142 is inserted into the guide groove 1421. The guide groove 1421 is opened along the width direction Y of the walking robot 1000 . Along the width direction Y of the walking robot 1000 , the width of the guide groove 1421 is greater than the width of the second sliding member 142 .

[0044] The first sliding member 141 may be configured as a columnar body, and the cross section of the first sliding member 141 may be configured as a circle, so as to reduce the contact area between the side wall of the first sliding member 141 and the groove wall of the guide groove 1421, and reduce the sliding resistance when the first sliding member 141 slides. In some embodiments, the cross section of the first sliding member 141 may also be configured as a square, an ellipse, a regular polygon, etc. The rotation axis of the first sliding member 141 passes through the geometric center of the cross section of the first sliding member 141.

[0045] In some embodiments, at least one of the first sliding member 141 and the second sliding member 142 is provided with a lubricating structure to reduce the wear of the first sliding member 141 and the second sliding member 142 when sliding against each other, improve the service life, and reduce noise. Wherein, the lubricating structure can be configured as grease. Grease is coated on the outer surface of the first sliding member 141, or grease is coated on the inner wall of the guide groove 1421, or grease is coated on the outer surface of the first sliding member 141 and the inner wall of the guide groove 1421. Grease is coated on the outer surface of the first sliding member 141 and the inner wall of the guide groove 1421. In some embodiments, the first sliding member 141 can be configured as a self-lubricating structure, and / or the second sliding member 142 can be configured as a self-lubricating structure. The lubricating structure can be configured as the outer wall surface of the first sliding member 141 and / or the inner wall surface of the guide groove 1421. Wherein, the material made of the self-lubricating structure may include a plastic structure with a self-lubricating function.

[0046] The driving structure 20 is connected to the second sliding member 142. The driving structure 20 is used to drive the second sliding member 142 to slide along the guide rod 143, so that the second sliding member 142 pushes or pulls the first sliding member 141 to drive the first swing arm 122 to rotate around the central axis of the first rotating shaft 11, and the first swing arm 122 drives the first wheel shaft 121 and the first walking wheel 123 to rotate around the first rotating shaft 11. The driving structure 20 is hinged to the second sliding member 142. In the embodiment of the present application, the hinge includes a pivot connection and a ball joint connection.

[0047] Exemplarily, the driving structure 20 can be pivotally connected to the second sliding member 142. A first pivot shaft (not shown) is provided on one of the driving structure 20 and the second sliding member 142, and a first pivot hole 261 is provided on the other of the driving structure 20 and the second sliding member 142, and the first pivot shaft is penetrated in the first pivot hole 261. The driving structure 20 and the second sliding member 142 can rotate around the central axis of the first pivot shaft respectively. The central axis of the first pivot shaft can be parallel to the width direction Y of the walking robot 1000. In some embodiments, the second sliding member 142 is provided with a first pivot shaft. The first pivot shaft can be rotatably connected to the driving structure 20, and the first pivot shaft and the second sliding member 142 are fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fastener connection, etc., or the first pivot shaft and the second sliding member 142 can also be integrally formed. In some embodiments, the driving structure 20 is provided with a first pivot shaft. The first pivot shaft can also be rotatably connected to the second sliding member 142. The first pivot shaft and the driving structure 20 are fixedly connected together by bonding, clamping, screwing, welding, etc., or fixedly connected together by fasteners, etc., or the first pivot shaft and the driving structure 20 can also be integrally formed. In some embodiments, the walking wheel module 10 also includes a first pivot shaft independently provided relative to the driving structure 20 and the second sliding member 142. The driving structure 20 and the second sliding member 142 are both provided with a first pivot hole 261. The first pivot shaft is penetrated through the first pivot hole 261 on the driving structure 20 and the first pivot hole 261 on the second sliding member 142. The first pivot shaft is rotatably connected to the driving structure 20 and the second sliding member 142.

[0048] In some embodiments, the driving structure 20 can also be connected to the second sliding member 142 by a ball joint. A spherical protrusion is provided on one of the driving structure 20 and the second sliding member 142, and a spherical groove matching the spherical protrusion is provided on the other of the driving structure 20 and the second sliding member 142, and the spherical protrusion is accommodated in the spherical groove. The driving structure 20 and the second sliding member 142 can respectively rotate in any direction around the center of the spherical protrusion. In some cases, when the walking robot 1000 is disturbed by external interference and the output direction of the driving force of the driving structure 20 is deflected from the normal direction, the ball joint connection between the driving structure 20 and the second sliding member 142 can keep the driving structure 20 and the second sliding member 142 in normal connection, so that the walking wheel adjustment device 100 can still work normally, thereby improving the anti-interference ability of the walking wheel adjustment device 100.

[0049] A connecting hole 132 is provided on the mounting base 13. The connecting hole 132 is connected to the accommodating space 131. The driving structure 20 is arranged in the connecting hole 132. In some cases, the connecting hole 132 can limit the driving structure 20, reducing or avoiding the shaking of the driving structure 20. Among them, the mounting base 13 includes two mounting parts, and the two mounting parts are arranged at intervals along the length direction X of the walking robot 1000. The accommodating space 131 is located between the two mounting parts. The two mounting parts can be set independently of each other, or the two mounting parts can be set in one piece. Along the width direction Y of the walking robot 1000, the mounting base 13 is located between the two first swing arms 122. Among them, the first swing arm 122 is configured as a swing plate and can also protect the first sliding member 141, the second sliding member 142, the first rotating shaft 11 and the rotating shaft 15 described below, which are located or partially located in the accommodating space 131, and reduce or avoid impurities from entering the accommodating space 131.

[0050] The number of guide rods 143 can be set to multiple. The central axes of multiple guide rods 143 are parallel to each other and spaced from each other. For example, the number of guide rods 143 can be set to four. Four guide rods 143 are distributed in an array. Through holes are provided on the four corners of the second sliding member 142, and the four guide rods 143 are correspondingly penetrated in the four through holes. The connecting hole 132 can also make the connection between the driving structure 20 and the second sliding member 142 located at the geometric center of the line connecting the four guide rods 143, so that when the driving structure 20 drives the second sliding member 142 to slide, the uniformity of the limiting force of the four guide rods 143 on the second sliding member 142 is improved, thereby reducing the sliding resistance between the second sliding member 142 and the guide rod 143, reducing the wear of the second sliding member 142 and the guide rod 143, and improving the service life. In some embodiments, the number of guide rods 143 can also be one, two, three, five, six, etc., and those skilled in the art can set it specifically according to actual needs, and it is not specifically limited in the embodiments of the present application.

[0051] In some embodiments, the first rotating shaft 11 is rotatable relative to the frame 200 along the height direction Z of the walking robot 1000. Along the width direction Y of the walking robot 1000, the two opposite ends of the first rotating shaft 11 can swing up and down relative to the middle of the first rotating shaft 11 along the height direction Z of the walking robot 1000. Among them, the first rotating shaft 11 is rotatable relative to the frame 200 along the height direction Z of the walking robot 1000, which means that the rotation plane of the first rotating shaft 11 along the height direction Z of the walking robot 1000 is parallel to or at an acute angle to the height direction Z of the walking robot 1000. When the first rotating shaft 11 swings up and down relative to the frame 200, it can drive the first swing arm 122 and the first wheel axle 121 to swing relative to the frame 200. In this way, when the walking robot 1000 passes through an uneven road surface, the up and down rotation of the first rotating shaft 11 can offset the influence of the uneven road surface on the frame 200, so that the frame 200 remains relatively stable when the walking robot 1000 is driving, thereby improving the stability of the walking robot 1000 when driving.

[0052] The guide slot 1421 is extended along the rotation plane formed when the first rotation axis 11 rotates relative to the frame 200 along the height direction Z of the walking robot 1000. When the first rotation axis 11 rotates relative to the frame 200 along the height direction Z of the walking robot 1000, the first rotation axis 11 can drive the first swing arm 122 together with the first sliding member 141 to rotate relative to the frame 200, and the first sliding member 141 rotates relative to the second sliding member 142 in the guide slot 1421. Exemplarily, the rotation plane of the first rotation axis 11 relative to the frame 200 along the height direction Z of the walking robot 1000 can be perpendicular to the length direction X of the walking robot 1000.

[0053] The walking wheel module 10 also includes a rotating shaft 15. The rotating shaft 15 is used to connect with the frame 200. The central axis of the rotating shaft 15 is perpendicular to the central axis of the first rotating shaft 11. The first rotating shaft 11 is connected to the rotating shaft 15. The first rotating shaft 11 is rotatable around the central axis of the rotating shaft 15. When the walking robot 1000 travels on an uneven ground, the first walking wheel 123 can adaptively drive the first rotating shaft 11 to rotate relative to the central axis of the rotating shaft 15 according to the ups and downs of the ground, so that the frame 200 remains parallel or approximately parallel to the ground, which greatly reduces the bumps and vibrations of the walking robot 1000 when traveling on uneven ground, and improves the stability of the walking robot 1000 when traveling.

[0054] Exemplarily, the center axis of the rotating shaft 15 may be parallel to the length direction X of the walking robot 1000. When the first rotating shaft 11 rotates around the center axis of the rotating shaft 15, the rotating plane formed by the first rotating shaft 11 is parallel to the height direction Z of the walking robot 1000. In some embodiments, the center axis of the rotating shaft 15 may also be set at an angle to the length direction X of the walking robot 1000. The center axis of the rotating shaft 15 is located in a plane parallel to the height direction Z and the length direction X of the walking robot 1000. When the first rotating shaft 11 rotates around the center axis of the rotating shaft 15, the rotating plane formed by the first rotating shaft 11 is set at an acute angle to the height direction Z of the walking robot 1000.

[0055] In some embodiments, the rotating shaft 15 is rotatable relative to the frame 200 around the central axis of the rotating shaft 15. The rotating shaft 15 is rotatably connected to the mounting base 13. The mounting base 13 is provided with a mounting hole 133. The rotating shaft 15 is inserted into the mounting hole 133. Exemplarily, the walking wheel module 10 also includes a first sleeve 152. The first sleeve 152 is sleeved on the rotating shaft 15 and inserted into the mounting hole 133 on the mounting base 13. The first sleeve 152 is used to reduce the wear of the rotating shaft 15 and the mounting base 13 when the rotating shaft 15 rotates relative to the mounting base 13, thereby increasing the service life.

[0056] A fixing hole 151 may be provided on the rotating shaft 15, and the first rotating shaft 11 is inserted into the fixing hole 151. The rotating shaft 15 and the first rotating shaft 11 may be rotatably connected. The rotating shaft 15 and the first rotating shaft 11 may be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 15 and the first rotating shaft 11 may be integrally formed. Exemplarily, the walking wheel module 10 also includes a second sleeve 153. The second sleeve 153 is sleeved on the first rotating shaft 11 and inserted into the fixing hole 151. The second sleeve 153 is used to reduce the wear between the first rotating shaft 11 and the rotating shaft 15 when the first rotating shaft 11 rotates relative to the rotating shaft 15, thereby increasing the service life. The second sleeve 153 includes a first sleeve portion located in the fixing hole 151 and a second sleeve portion connected to the first sleeve portion. The second sleeve portion is located outside the fixing hole 151 and between the first swing arm 122 and the rotating shaft 15. The second sleeve portion is used to reduce the wear between the first swing arm 122 and the rotating shaft 15 when the first swing arm 122 rotates around the central axis of the first rotating shaft 11, thereby increasing the service life of the walking wheel adjustment device 100. In some embodiments, the rotating shaft 15 and the first rotating shaft 11 can be fixedly connected.

[0057] In some embodiments, a fixing hole 151 may be provided on the first rotating shaft 11, the rotating shaft 15 is inserted into the fixing hole 151, and the first rotating shaft 11 is rotatable relative to the rotating shaft 15. The rotating shaft 15 is rotatable or fixed relative to the frame 200. The rotating shaft 15 and the mounting base 13 may be fixedly connected together by, but not limited to, bonding, screwing, clamping, welding, etc., or the rotating shaft 15 and the mounting base 13 may be integrally formed. In some embodiments, a fixing hole 151 may be provided on the first rotating shaft 11, the rotating shaft 15 is inserted into the fixing hole 151, the first rotating shaft 11 is fixed relative to the rotating shaft 15, and the rotating shaft 15 is rotatable relative to the frame 200.

[0058] The elastic module 160 includes an elastic member 161 and a fixing member 162. The fixing member 162 is connected to the mounting base 13 and is fixedly connected to the frame 200 through the mounting base 13. The end of the fixing member 162 protrudes relative to the mounting base 13 along the width direction Y of the walking robot 1000. One end of the elastic member 161 is connected to the end of the fixing member 162, and the other end of the elastic member 161 is connected to the first swing structure 12 in the walking wheel module 10. Among them, the fixing member 162 is used to prevent the elastic member 161 from interfering with other structures, and facilitates the installation of the elastic member 161. The fixing member 162 can be constructed as a fixing rod. A snap-fit ​​groove can be provided at the end of the fixing member 162, and the elastic member 161 is snap-fitted into the snap-fit ​​groove to prevent the elastic member 161 from slipping off the fixing member 162. The elastic member 161 is used to buffer the rotation of the first swing structure 12 when the first swing structure 12 rotates around the rotation axis of the first rotation shaft 11, thereby reducing the rigid conduction between the first swing structure 12 and the driving structure 20. The elastic member 161 can be configured as one of a coil spring, a gas spring, a torsion spring, an elastic band, etc.

[0059] Please also read Figure 3 , Figure 4 and Figure 5, the driving structure 20 includes a driving member 21 and a first connecting rod 22. The driving member 21 is fixedly connected to the frame 200. The first connecting rod 22 is connected to the driving member 21. One end of the first connecting rod 22 away from the driving member 21 is connected to the first swing structure 12. Among them, the first connecting rod 22 is connected to the second sliding member 142. The driving member 21 is used to drive the first connecting rod 22 to move toward the front or rear of the walking robot 1000. The walking wheel adjustment device 100 has a first state and a second state. When the walking wheel adjustment device 100 is in the first state or the second state, the travel of the driving structure 20 driving the first connecting rod 22 to move along the length direction X of the walking robot 1000 is at a maximum value or a minimum value. Among them, the connection point P1 of the first sliding member 141 and the first swing arm 122 is located on the side of the line L1 between the connection point P2 of the first connecting rod 22 and the driving member 21 and the central axis of the first rotating shaft 11 close to or away from the ground. The first axle 121 is located on a side of the first rotating axis 11 close to or away from the ground, and / or, the first axle 121 is located on a side of the first rotating axis 11 close to the rear of the walking robot 1000 or close to the front of the walking robot 1000 along the length direction X of the walking robot 1000.

[0060] Exemplarily, the connection point P1 between the first sliding member 141 and the first swing arm 122 is located on the side of the line L1 between the connection point P2 between the first connecting rod 22 and the driving member 21 and the central axis of the first rotating shaft 11 away from the ground, and the first wheel shaft 121 is located on the side of the first rotating shaft 11 away from the ground, and on the side of the first rotating shaft 11 close to the rear of the walking robot 1000. When the walking wheel adjustment device 100 is in the first state, the height of the frame 200 near the first rotating shaft 11 is at the minimum value. When the walking wheel adjustment device 100 is in the second state, the height of the frame 200 near the first rotating shaft 11 is at the maximum value. When the walking wheel adjustment device 100 transitions from the first state to the second state, the driving member 21 drives the first connecting rod 22 to move toward the rear of the walking robot 1000, and the first connecting rod 22 pulls the first sliding member 141 to move toward the rear of the walking robot 1000. The first sliding member 141 drives the first wheel axle 121 to swing toward the rear of the walking robot 1000 relative to the central axis of the first rotating shaft 11 through the first swing arm 122, so that the height of the frame 200 from the ground increases. When the walking wheel adjustment device 100 transitions from the second state to the first state, the driving member 21 drives the first connecting rod 22 to move toward the front of the walking robot 1000, and the first connecting rod 22 pushes the first sliding member 141 to move toward the front of the walking robot 1000. The first sliding member 141 drives the first wheel axle 121 to swing toward the front of the walking robot 1000 relative to the central axis of the first rotating shaft 11 through the first swing arm 122, so that the height of the frame 200 from the ground decreases.

[0061] The distance between the connection point P1 of the first sliding member 141 and the first swing arm 122 and the first rotating shaft 11 may be smaller than the distance between the connection point P1 of the first wheel shaft 121 and the first swing arm 122 and the first rotating shaft 11. In this way, when the driving structure 20 drives the first sliding member 141 to rotate the first wheel shaft 121 relative to the central axis of the first rotating shaft 11 through the first swing arm 122, the first sliding member 141 moves a smaller stroke to make the first wheel shaft 121 move a larger stroke, thereby enlarging the adjustment stroke of the first sliding member 141 on the first wheel shaft 121, improving the adjustment speed and adjustment efficiency of the first wheel shaft 121, and further improving the adjustment speed and adjustment efficiency of the height above the ground of the frame 200 and the moment of inertia of the walking robot 1000. Among them, the distance between the connection point P1 of the first sliding member 141 and the first swing arm 122 and the first rotating shaft 11 may refer to the distance between the central axis of the first sliding member 141 and the rotation axis of the first rotating shaft 11. The distance between the connection point between the first axle 121 and the first swing arm 122 and the first rotation axis 11 may refer to the distance between the central axis of the first axle 121 and the rotation axis of the first rotation axis 11. In some embodiments, the distance between the connection point P1 between the first sliding member 141 and the first swing arm 122 and the first rotation axis 11 may also be equal to the distance between the connection point between the first axle 121 and the first swing arm 122 and the first rotation axis 11.

[0062] The travel wheel module 10 also includes a second rotating shaft 31 and a second swinging structure 32. The second rotating shaft 31 is connected to the frame 200. The second swinging structure 32 is connected to the second rotating shaft 31. The second swinging structure 32 is used to install the travel wheel. Among them, the second swinging structure 32 is used to install the second travel wheel 323. The rotation axis of the second travel wheel 323 is spaced apart from the rotation axis of the second rotating shaft 31. The driving structure 20 is connected to the second swinging structure 32, and is used to drive the second swinging structure 32 together with the second travel wheel 323 to rotate around the rotation axis of the second rotating shaft 31, thereby adjusting the relative position of the second travel wheel 323 and the frame 200.

[0063] In some embodiments, an elastic module 160 is arranged between the second swing structure 32 and the frame 200. When the second swing structure 32 rotates relative to the rotation axis of the second rotating shaft 31, the elastic module 160 undergoes elastic deformation to reduce the rigid conduction between the driving structure 20 and the second swing structure 32, and buffer the rigid force between the second swing structure 32 and the driving structure 20, thereby preventing the impact force on the driving structure 20 from exceeding the working range of the driving structure 20, thereby improving the service life of the driving structure 20.

[0064] The second swing structure 32 includes a second wheel shaft 321, a rocking arm 3221 and a second swing arm 3222. The second rotating shaft 31 and the second wheel shaft 321 are respectively connected to the second swing arm 3222. The rotation axis of the second wheel shaft 321 is spaced apart from the rotation axis of the second rotating shaft 31. The second wheel shaft 321 is used to install the travel wheel. The rotation axis of the second wheel shaft 321 and the rotation axis of the second travel wheel 323 can be arranged in a colinear manner. The rocking arm 3221 is connected to the second rotating shaft 31. The rocking arm 3221 is fixed relative to the second swing arm 3222. The driving structure 20 is connected to the rocking arm 3221. The driving structure 20 is used to drive the rocking arm 3221 to drive the second swing arm 3222 to rotate together with the second wheel shaft 321 around the rotation axis of the second rotating shaft 31, so as to adjust the relative position of the second travel wheel 323 and the frame 200.

[0065] The driving structure 20 is hinged with the rocker 3221. Exemplarily, the driving structure 20 can be pivotally connected with the rocker 3221. A second pivot shaft (not shown) is provided on one of the driving structure 20 and the rocker 3221, and a second pivot hole 262 is provided on the other of the driving structure 20 and the rocker 3221, and the second pivot shaft is penetrated in the second pivot hole 262. The driving structure 20 and the rocker 3221 can rotate around the rotation axis of the second pivot shaft respectively. The rotation axis of the second pivot shaft can be parallel to the width direction Y of the walking robot 1000. In some embodiments, the rocker 3221 is provided with a second pivot shaft. The second pivot shaft can be rotatably connected with the driving structure 20, and the second pivot shaft can be fixedly connected with the rocker 3221 by bonding, clamping, screwing, welding, etc., or fixedly connected by fasteners, etc., or the second pivot shaft and the rocker 3221 can also be integrally formed. In some embodiments, a second pivot shaft is provided on the driving structure 20. The second pivot shaft can be rotatably connected to the rocker 3221, and the second pivot shaft can be fixedly connected to the driving structure 20 by bonding, clamping, screwing, welding, etc., or fixedly connected by fasteners, etc., or the second pivot shaft and the driving structure 20 can also be integrally formed. In some embodiments, the walking wheel module 10 also includes a second pivot shaft independently provided relative to the driving structure 20 and the rocker 3221, and the driving structure 20 and the rocker 3221 are both provided with a second pivot hole 262, and the second pivot shaft is penetrated in the second pivot hole 262 on the driving structure 20 and the second pivot hole 262 on the rocker 3221. The second pivot shaft is rotatably connected to both the driving structure 20 and the rocker 3221.

[0066] In some embodiments, the driving structure 20 can also be connected to the rocker 3221 by a ball joint. A spherical protrusion is provided on one of the driving structure 20 and the rocker 3221, and a spherical groove matching the spherical protrusion is provided on the other of the driving structure 20 and the rocker 3221, and the spherical protrusion is accommodated in the spherical groove. The driving structure 20 and the rocker 3221 can rotate in any direction around the center of the spherical protrusion respectively. In some cases, when the walking robot 1000 is subjected to external interference and the output direction of the driving force of the driving structure 20 is deflected from the normal direction, the ball joint connection between the driving structure 20 and the rocker 3221 can keep the driving structure 20 and the rocker 3221 in normal connection, so that the walking wheel module 10 can still work normally, thereby improving the anti-interference ability of the walking wheel module 10.

[0067] The walking wheel module 10 further includes a fixing seat 311 and a bearing. The fixing seat 311 is fixedly connected to the frame 200. The bearing is mounted on the fixing seat 311. The second rotating shaft 31 is penetrated by the bearing. The second rotating shaft 31 can rotate relative to the frame 200 through the bearing to reduce the rotation resistance of the second rotating shaft 31.

[0068] Exemplarily, the rocker 3221 and the second swing arm 3222 can be configured as a rod. The rocker 3221 can be independently arranged relative to the second swing arm 3222, and the rocker 3221 and the second swing arm 3222 are respectively fixedly connected to the second rotating shaft 31. The driving structure 20 is also used to drive the rocker 3221 to drive the second rotating shaft 31 to rotate, so that the second rotating shaft 31 drives the second swing arm 3222 together with the second axle 321 to rotate around the rotation axis of the second rotating shaft 31. In some embodiments, the rocker 3221 is fixedly connected to the second swing arm 3222, or the rocker 3221 is fixedly connected to the second swing arm 3222 through a connecting structure. Among them, the rocker 3221 and the second swing arm 3222 are both rotatable relative to the second rotating shaft 31. In some embodiments, the rocker 3221 and the second swing arm 3222 can be integrally formed. For example, the second swing arm 3222 may also be constructed as a plate-like member, and the rocker 3221 and the second swing arm 3222 may be respectively configured as partial structures on the plate-like member.

[0069] The driving structure 20 also includes a second connecting rod 23. The second connecting rod 23 is connected to the driving member 21. One end of the second connecting rod 23 away from the driving member 21 is connected to the rocker 3221. Wherein, the walking wheel module 10 also has a third state and a fourth state. When the walking wheel module 10 is in the third state or the fourth state, the driving member 21 drives the second connecting rod 23 to move along the length direction X of the walking robot 1000. The stroke is at a minimum or maximum value. Wherein, the connection point P3 of the second connecting rod 23 and the rocker 3221 is located on the side of the connection point P4 of the second connecting rod 23 and the driving member 21 and the line L2 between the rotation axis of the second rotating shaft 31 close to or away from the ground. The second wheel shaft 321 is located on the side of the second rotating shaft 31 close to or away from the ground, and / or, the second wheel shaft 321 is located on the side of the second rotating shaft 31 close to the rear of the walking robot 1000 or close to the front of the walking robot 1000 along the length direction X of the walking robot 1000.

[0070] Exemplarily, the connection point P3 between the second connecting rod 23 and the rocker 3221 is located on the side of the connection point P4 between the second connecting rod 23 and the driving member 21 and the line L2 between the rotation axis of the second rotating shaft 31 away from the ground, and the second wheel shaft 321 is located on the side of the second rotating shaft 31 away from the ground, and is located on the side of the second rotating shaft 31 close to the rear of the walking robot 1000 along the length direction X of the walking robot 1000. When the walking wheel module 10 is in the third state, the height of the frame 200 near the second rotating shaft 31 is at the minimum value. When the walking wheel module 10 is in the fourth state, the height of the frame 200 near the second rotating shaft 31 is at the maximum value. When the walking wheel module 10 transitions from the third state to the fourth state, the driving member 21 drives the second connecting rod 23 to move toward the rear of the walking robot 1000, and the second connecting rod 23 pushes the rocker 3221 to drive the second rotating shaft 31 together with the second swing arm 3222 to rotate, so that the second wheel shaft 321 swings toward the rear of the walking robot 1000 relative to the rotation axis of the second rotating shaft 31, so that the height of the frame 200 from the ground increases. When the walking wheel module 10 transitions from the fourth state to the third state, the driving member 21 drives the second connecting rod 23 to move toward the front of the walking robot 1000, and the second connecting rod 23 pulls the rocker 3221 to drive the second rotating shaft 31 together with the second swing arm 3222 to rotate, so that the second wheel shaft 321 swings toward the front of the walking robot 1000 relative to the rotation axis of the second rotating shaft 31, so that the height of the frame 200 from the ground decreases.

[0071] The length of the rocker 3221 is smaller than the length of the second swing arm 3222. The distance between the connection point P3 of the rocker 3221 and the second connecting rod 23 and the second rotating shaft 31 is smaller than the distance between the connection point of the second swing arm 3222 and the second wheel axle 321 and the second rotating shaft 31. In this way, when the second connecting rod 23 drives the rocker 3221 to drive the second wheel axle 321 to rotate relative to the central axis of the second rotating shaft 31 through the second rotating shaft 31 together with the second swing arm 3222, the rocker 3221 moves a smaller stroke to make the second wheel axle 321 move a larger stroke, thereby amplifying the adjustment stroke of the rocker 3221 on the second wheel axle 321, improving the adjustment speed and adjustment efficiency of the second wheel axle 321, and further improving the adjustment speed and adjustment efficiency of the height of the rack 200 from the ground. The distance between the connection point P3 between the rocker 3221 and the second connecting rod 23 and the second rotating shaft 31 may refer to the distance between the rotation center of the rocker 3221 relative to the second connecting rod 23 and the rotation axis of the second rotating shaft 31. The distance between the connection point between the second swing arm 3222 and the second axle 321 and the second rotating shaft 31 may refer to the distance between the rotation axis of the second axle 321 and the rotation axis of the second rotating shaft 31. In some embodiments, the length of the rocker 3221 is equal to the length of the second swing arm 3222. The distance between the connection point P3 between the rocker 3221 and the second connecting rod 23 and the second rotating shaft 31 is equal to the distance between the connection point between the second swing arm 3222 and the second axle 321 and the second rotating shaft 31.

[0072] The distance between the connection point between the second swing arm 3222 and the second axle 321 and the second rotating shaft 31 is greater than or equal to the distance between the connection point between the first axle 121 and the first swing arm 122 and the first rotating shaft 11. It can be understood that when the walking robot 1000 is traveling on the grass, the walking robot 1000 will bend the grass toward the front of the walking robot 1000, and the grass will be inclined toward the front of the walking robot 1000 relative to the ground. When the walking robot 1000 in the embodiment of the present application mows the lawn, the driving structure 20 can drive the first swing arm 122 and the second swing arm 3222 to rotate. Since the movement stroke of the second axle 321 is greater than the movement stroke of the first axle 121, the front end of the frame 200 can be tilted toward the ground relative to the rear end, so that the cutting plane formed by the cutting member 400 when working forms an angle with the ground, so that the blade of the cutting member 400 and the stems and leaves of the grass tend to be perpendicular, so that the cutting member 400 can better cut the grass. The height of the frame 200 from the ground can be specifically set according to the arrangement of the first swing structure 12 and the second swing structure 32 .

[0073] The rocker 3221 is arranged near the middle position of the walking robot 1000 along the width direction Y. The second swing arm 3222 is arranged near the second walking wheel 323. The rocker 3221 is located in the receiving space, and the second swing arm 3222 is located outside the receiving space. Along the width direction Y of the walking robot 1000, the distance between the first walking wheel 123 and the first swing arm 122 is greater than the distance between the second walking wheel 323 and the second swing arm 3222. It can be understood that there are grass plants in the lawn whose height is higher than the height of the second wheel axle 321 from the ground. In the embodiment of the present application, based on the fact that the distance between the first walking wheel 123 and the first swing arm 122 is greater than the distance between the second walking wheel 323 and the second swing arm 3222, the grass plants are swept by the first wheel axle 121 and the grass plants are cut by the cutting member 400, thereby avoiding the grass plants from contacting the second wheel axle 321 and the second swing arm 3222, thereby avoiding the grass plants from being entangled with the connection between the second swing arm 3222 and the second rotating shaft 31, or being entangled with the connection between the second walking wheel 323 and the second wheel axle 321.

[0074] In some embodiments, the rocker 3221 is located on the side of the second swing arm 3222 close to the front of the walking robot 1000. In this way, the distance between the second axle 321 and the center of gravity of the walking robot 1000 can be increased, and the structural stability of the walking robot 1000 can be improved. In some embodiments, the rocker 3221 is located on the side of the second swing arm 3222 close to the rear of the walking robot 1000. In this way, it is beneficial to reduce the distance between the second axle 321 and the center of gravity of the walking robot 1000, and improve the structural compactness of the walking robot 1000.

[0075] In some embodiments, the driving structure 20 further includes a separator 27. The separator 27 is located between the second connecting rod 23 and the rocking arm 3221. When the driving member 21 drives the second connecting rod 23 to drive the rocking arm 3221 to rotate around the rotation axis of the second rotating shaft 31, the separator 27 can separate the second connecting rod 23 from the rocking arm 3221, avoiding direct contact between the second connecting rod 23 and the rocking arm 3221, thereby reducing the wear of the second connecting rod 23 and the rocking arm 3221 and improving the service life of the driving structure 20. Among them, the separator 27 can be configured as a plane bearing, so that the friction between the separator 27 and the second connecting rod 23 and between the separator 27 and the rocking arm 3221 is rolling friction, thereby reducing wear.

[0076] The first connecting rod 22 is at least partially configured as an elastic structure, and / or the second connecting rod 23 is at least partially configured as an elastic structure. In some embodiments, the first connecting rod 22 is at least partially configured as an elastic structure. It is understandable that under the action of gravity, the weight of the walking robot 1000 itself will act on the first axle 121, and the first axle 121 will generate a torque centered on the central axis of the first rotating shaft 11 on the first swing arm 122, and the torque acts on the first connecting rod 22 through the first sliding member 141 and the second sliding member 142, and generates pressure or tension on the first connecting rod 22. When the walking robot 1000 travels on an uneven ground, the first walking wheel 123 will rise and fall with the unevenness of the ground, causing the walking robot 1000 to vibrate and bump, resulting in the torque generated by the first axle 121 on the first swing arm 122 to increase or decrease, and the pressure of the second sliding member 142 on the first connecting rod 22 to increase or decrease. In some cases, when the first traveling wheel 123 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension exerted by the second sliding member 142 on the first connecting rod 22 is too large, which can easily cause the first connecting rod 22 to bend under the pressure or crack under the tension. In the embodiment of the present application, the first connecting rod 22 is at least partially configured as an elastic structure. On the one hand, the first connecting rod 22 can undergo elastic deformation when subjected to pressure or tension, thereby buffering the pressure or tension acting on the first connecting rod 22, avoiding damage to the first connecting rod 22, and increasing the service life of the first connecting rod 22; on the other hand, when the first connecting rod 22 undergoes elastic deformation, the rigid conduction between the first connecting rod 22 and the driving member 21 can be reduced, and the impact force of the first swing arm 122 acting on the first connecting rod 22 can be absorbed, thereby reducing the impact of the first connecting rod 22 on the driving member 21 and increasing the service life of the driving member 21; on the other hand, when the first connecting rod 22 undergoes elastic deformation, it can also absorb the impact force generated by the ground on the walking robot 1000, thereby improving the stability of the walking robot 1000 when traveling on uneven roads.

[0077] The first connecting rod 22 may be arranged in a curved shape. For example, the first connecting rod 22 is arranged in a wave shape. The first connecting rod 22 may include a first segment 221, a second segment 222, and a third segment 223 which are connected end to end in sequence. The first segment 221 is used to connect with the second sliding member 142. The third segment 223 is used to connect with the driving member 21. The first segment 221 and the second segment 222, and the second segment 222 and the third segment 223 are arranged at an angle respectively. The first segment 221, the second segment 222, and the third segment 223 are arranged in a wave shape. In some embodiments, the first connecting rod 22 may also be arranged in an arc shape, a broken line shape, etc. In some embodiments, the first connecting rod 22 may also be partially arranged in a curved shape, for example, at least one of the first segment 221, the second segment 222, and the third segment 223 is arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, a part or the whole of the first connecting rod 22 is configured as a spring. For example, at least one of the first segment 221, the second segment 222, and the third segment 223 is configured as a spring. In some embodiments, a part or the whole of the first link 22 is made of an elastic material, such as rubber, plastic, and the like.

[0078] In some embodiments, the second connecting rod 23 is at least partially configured as an elastic structure. It is understandable that, under the action of gravity, the weight of the walking robot 1000 itself will act on the second wheel shaft 321, and the second wheel shaft 321 will generate a torque centered on the central axis of the second rotating shaft 31 on the second swing arm 3222, and the second rotating shaft 31 applies the torque to the second connecting rod 23 through the rocker 3221, so that the rocker 3221 generates pressure or tension on the second connecting rod 23. In some cases, when the second walking wheel 323 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or tension exerted by the rocker 3221 on the second connecting rod 23 is too large, which easily causes the second connecting rod 23 to bend under the pressure or crack under the tension. In the embodiment of the present application, the second connecting rod 23 is at least partially configured as an elastic structure. On the one hand, the second connecting rod 23 can undergo elastic deformation when subjected to pressure or tension, thereby buffering the pressure or tension acting on the second connecting rod 23, avoiding damage to the second connecting rod 23, and increasing the service life of the second connecting rod 23; on the other hand, when the second connecting rod 23 undergoes elastic deformation, the rigid conduction between the second connecting rod 23 and the driving member 21 can be reduced, and the impact force of the rocker arm 3221 acting on the second connecting rod 23 can be absorbed, thereby reducing the impact of the second connecting rod 23 on the driving member 21 and increasing the service life of the driving member 21; on the other hand, when the second connecting rod 23 undergoes elastic deformation, it can also absorb the impact force generated by the ground on the walking robot 1000, thereby improving the stability of the walking robot 1000 when traveling on uneven roads.

[0079] Exemplarily, the second connecting rod 23 is arranged in a bent shape. The second connecting rod 23 may include a first connecting rod segment 231 and a second connecting rod segment 232 connected to the first connecting rod segment 231. One end of the first connecting rod segment 231 away from the second connecting rod segment 232 is connected to the rocker 3221. One end of the second connecting rod segment 232 away from the first connecting rod segment 231 is connected to the driving member 21. The first connecting rod segment 231 and the second connecting rod segment 232 are arranged at an angle. In some embodiments, the second connecting rod 23 can also be arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, the second connecting rod 23 can also be arranged partially in a bent shape, for example, at least one of the first connecting rod segment 231 and the second connecting rod segment 232 is arranged in a wave shape, an arc shape, a broken line shape, etc. In some embodiments, a part or the whole of the second connecting rod 23 is configured as a spring. For example, at least one of the first connecting rod segment 231 and the second connecting rod segment 232 is configured as a spring. In some embodiments, the second connecting rod 23 is partially or entirely made of elastic materials, such as rubber, plastic, etc. In some embodiments, the first connecting rod 22 and the second connecting rod 23 are at least partially configured as elastic structures to increase the service life of the driving structure 20 and improve the stability of the walking robot 1000 during driving.

[0080] The driving member 21 is hingedly connected to the first connecting rod 22 and the second connecting rod 23, respectively. The driving member 21 is pivotally connected or ball-jointed to the first connecting rod 22, and / or the driving member 21 is pivotally connected or ball-jointed to the second connecting rod 23. Exemplarily, the driving member 21 and the first connecting rod 22, and the driving member 21 and the second connecting rod 23 are pivotally connected. In some embodiments, the driving member 21 is pivotally connected to the first connecting rod 22, and the driving member 21 and the second connecting rod 23 are ball-jointed. In some embodiments, the driving member 21 and the first connecting rod 22 are ball-jointed, and the driving member 21 and the second connecting rod 23 are pivotally connected. In some embodiments, the driving member 21 and the first connecting rod 22, and the driving member 21 and the second connecting rod 23 are ball-jointed.

[0081] The second connecting rod 23 can be set to multiple. Multiple second connecting rods 23 are respectively hinged to the driving member 21. Along the width direction Y of the walking robot 1000, multiple second connecting rods 23 are arranged at intervals and distributed on both sides of the driving member 21. Multiple rockers 3221 are set, and the number of rockers 3221 corresponds to the number of second connecting rods 23. Multiple second connecting rods 23 are connected to multiple rockers 3221 in a one-to-one correspondence. When the walking robot 1000 is installed with the collecting member 600, the center of gravity of the walking robot 1000 will be closer to the rear end of the frame 200, and thus, the rocker 3221 will exert a greater force on the second connecting rod 23. In this embodiment, based on the provision of multiple second connecting rods 23, the multiple second connecting rods 23 are distributed on both sides of the driving member 21. On the one hand, based on the provision of multiple second connecting rods 23, the force of the rocking rod 3221 can be dispersed, the force acting on a single second connecting rod 23 can be reduced, and the service life of the driving structure 20 can be improved; on the other hand, the multiple second connecting rods 23 are distributed on both sides of the driving member 21, which can improve the balance when the second connecting rod 23 drives the rocking rod 3221 to rotate together with the second rotating shaft 31, so that the force on the second rotating shaft 31 is balanced. Exemplarily, the number of the second connecting rods 23 is set to an even number, and the even number of the second connecting rods 23 is equally divided into two groups, and the two groups of the second connecting rods 23 are distributed on both sides of the driving member 21. For example, the second connecting rods 23 can be set to two, four, and so on.

[0082] The driving member 21 can be set to one or more. In some embodiments, the driving member 21 is set to one, and the first connecting rod 22 and the second connecting rod 23 are connected to the driving member 21 to achieve the common adjustment of the first swing structure 12 and the second swing structure 32, and reduce the structural complexity of the driving structure 20. In some embodiments, the driving member 21 is set to two, one of the two driving members 21 is used to connect with the first connecting rod 22, and the other of the two driving members 21 is used to connect with the second connecting rod 23. In this way, the two driving members 21 can independently drive the first connecting rod 22 and the second connecting rod 23, so that the rotation of the first swing arm 122 relative to the central axis of the first rotating shaft 11 can be adjusted separately, and the rotation of the second swing arm 3222 relative to the central axis of the second rotating shaft 31 can be adjusted separately, thereby improving the flexibility of adjusting the height of the frame 200 from the ground.

[0083] The driving member 21 includes a telescopic portion 211 and a driving portion 212. The driving portion 212 is fixedly connected to the frame 200. The telescopic portion 211 is connected to the first connecting rod 22 and the second connecting rod 23. The driving portion 212 is used to drive the telescopic portion 211 to extend toward the front of the walking robot 1000 or retract toward the rear of the walking robot 1000 relative to the driving portion 212. The extension direction D1 of the telescopic portion 211 is parallel to or colinear with the telescopic direction.

[0084] It can be understood that the extension direction D1 of the telescopic portion 211 and the extension direction of the line L1 between the connection point P2 of the telescopic portion 211 and the first connecting rod 22 and the central axis of the first rotating shaft 11 are set at an angle, and the extension direction D1 of the telescopic portion 211 and the extension direction of the line L2 between the connection point P4 of the telescopic portion 211 and the second connecting rod 23 and the central axis of the second rotating shaft 31 are set at an angle. The force of the first connecting rod 22 acting on the telescopic portion 211 is along the extension direction of the line L1 between the connection point P2 of the telescopic portion 211 and the first connecting rod 22 and the central axis of the first rotating shaft 11. The force of the second connecting rod 23 acting on the telescopic portion 211 is along the extension direction of the line L2 between the connection point P4 of the telescopic portion 211 and the second connecting rod 23 and the central axis of the second rotating shaft 31. The force of the first link 22 and the second link 23 acting on the telescopic part 211 can be decomposed into a first component along the extension direction D1 of the telescopic part 211 and a second component perpendicular to the extension direction D1 of the telescopic part 211. The first component compresses or stretches the telescopic part 211. The second component will form a torque on the telescopic part 211, tend to bend the telescopic part 211, and increase the friction between the telescopic part 211 and the driving part 212, resulting in increased wear between the telescopic part 211 and the driving part 212, so that the service life of the driving member 21 is reduced. In some cases, when the walking robot 1000 travels over a pit or a protrusion on the ground, the first walking wheel 123 and the second walking wheel 323 impact the ground, causing the first link 22 and the second link 23 to impact the telescopic part 211. When the second component is too large, the second component is likely to cause the telescopic part 211 to bend, resulting in damage to the telescopic part 211.

[0085] In some embodiments, a partition 27 is provided between the second connecting rod 23 and the telescopic part 211 to separate the second connecting rod 23 from the telescopic part 211 to avoid direct contact between the second connecting rod 23 and the telescopic part 211, thereby reducing the wear generated when the second connecting rod 23 rotates relative to the telescopic part 211 and improving the service life of the driving structure 20.

[0086] Among them, when the walking robot 1000 is installed with the collecting piece 600, along the length direction X of the walking robot 1000, the distance between the overall center of gravity of the walking robot 1000 and the second rotation axis 31 is smaller than the distance between the first rotation axis 11, and the force generated by the second connecting rod 23 on the telescopic part 211 is greater than the force generated by the first connecting rod 22 on the telescopic part 211. In the embodiment of the present application, based on the driving part 212 driving the telescopic part 211 to extend toward the front of the walking robot 1000 or retract toward the rear of the walking robot 1000 relative to the driving part 212, the distance between the connection point P4 of the telescopic part 211 and the second connecting rod 23 and the central axis of the second rotating shaft 31 can be increased, thereby reducing the angle θ formed by the extension direction D1 of the telescopic part 211 and the extension direction of the line L2 between the connection point P4 of the telescopic part 211 and the second connecting rod 23 and the central axis of the second rotating shaft 31, thereby reducing the second component force of the second connecting rod 23 acting on the telescopic part 211, reducing the risk of bending damage of the telescopic part 211, reducing the friction between the telescopic part 211 and the driving part 212, reducing the wear between the telescopic part 211 and the driving part 212, and improving the service life of the driving part 21.

[0087] The driving member 21 can be configured as one of an electric push rod, a screw nut assembly, a gear rack assembly, and a piston cylinder member. Exemplarily, the driving member 21 can be configured as an electric push rod, the telescopic portion 211 is configured as a push rod, and the driving portion 212 is configured as a drive motor. In some embodiments, the driving member 21 can also be configured as a screw nut assembly, one of the telescopic portion 211 and the driving portion 212 is configured as a screw, and the other is configured as a nut. In some embodiments, the driving member 21 can be configured as a gear rack assembly, the telescopic portion 211 is configured as a rack, and the driving portion 212 is configured as a gear. In some embodiments, the driving member 21 can be configured as a piston cylinder member, the telescopic portion 211 is configured as a piston rod, and the driving portion 212 is configured as a cylinder body.

[0088] The walking wheel module 10 also includes a connecting seat 25. The connecting seat 25 is fixed relative to the frame 200. The driving unit 212 is mounted on the connecting seat 25. There are multiple connecting seats 25. Exemplarily, there are two connecting seats 25. The two connecting seats 25 are located at the two ends of the driving unit 212 along the length direction X of the walking robot 1000, and the two ends of the driving unit 212 are connected to the two connecting seats 25 respectively, so that the driving unit 212 is fixedly connected to the frame 200.

[0089] See also Figure 6In some embodiments, the walking robot 1000 further includes an anti-collision member 500. The anti-collision member 500 can be mounted on the frame 200 or the housing 300 and arranged on the front side of the walking robot 1000. When there is an obstacle in the direction of travel of the walking robot 1000, the anti-collision member 500 can be used to collide with the obstacle to prevent the housing 300 from colliding with the obstacle and causing damage to the fuselage. In some embodiments, a touch sensor (such as a contact sensor, an ultrasonic sensor, a visual sensor, etc.) is provided in the anti-collision member 500, and the touch sensor is used to identify the obstacle in a contact or non-contact manner, and the walking robot 1000 performs an obstacle avoidance operation when encountering an obstacle. In some embodiments, the walking robot 1000 further includes a collecting member 600. The collecting member 600 can be mounted on the frame 200 or the housing 300 and arranged on the rear side of the walking robot 1000. The collecting member 600 is used to collect grass clippings, fallen leaves, etc. on the lawn.

[0090] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A walking wheel adjustment device, applied to a walking robot, the walking robot comprising a frame, characterized in that: include: A travel wheel module is rotatably connected to the frame, and the travel wheel module is used to install the travel wheel; A driving structure connected to the walking wheel module, the driving structure is used to drive the walking wheel module to rotate relative to the frame to adjust the relative position of the walking wheel and the frame; An elastic module is respectively connected to the frame and the walking wheel module, and is used for elastic deformation when the walking wheel module rotates relative to the frame. The elastic module includes a fixing member and an elastic member. The fixing member is fixedly connected to the frame. One end of the elastic member is connected to the end of the fixing member, and the other end is connected to the walking wheel module.

2. The walking wheel adjustment device according to claim 1, characterized in that: The walking wheel module includes a first rotating shaft and a first swinging structure, the first rotating shaft is connected to the frame, the axial direction of the first rotating shaft is perpendicular to the length direction of the walking robot, the first swinging structure is connected to the first rotating shaft, the first swinging structure is used to install the walking wheel, the rotation axis of the first rotating shaft is spaced apart from the rotation axis of the walking wheel, one end of the elastic module is connected to the frame, and the other end is connected to the first swinging structure, the driving structure is connected to the first swinging structure, and is used to drive the first swinging structure together with the walking wheel to rotate around the rotation axis of the first rotating shaft.

3. The walking wheel adjustment device according to claim 2, characterized in that: The first swing structure includes a first axle and a first swing arm, the first rotating shaft and the first axle are respectively connected to the first swing arm, the first axle is used to install the walking wheel, the elastic module is connected to the first axle and / or the first swing arm, and the driving structure is connected to the first swing arm.

4. The walking wheel adjustment device according to claim 2, characterized in that: The walking wheel module also includes a rotating shaft, which is connected to the frame. The first rotating shaft is connected to the rotating shaft and is rotatable relative to the rotating axis of the rotating shaft. The rotating axis of the first rotating shaft is perpendicular to the rotating axis of the rotating shaft.

5. The walking wheel adjustment device according to claim 2, characterized in that: The first swing structure and the elastic module are respectively provided in two numbers, the two first swing structures are connected to the axial ends of the first rotating shaft, and the two elastic modules are respectively connected to the two first swing structures.

6. The walking wheel adjustment device according to claim 2, characterized in that: The walking wheel module also includes a mounting base guide rod, a first sliding member and a second sliding member, the mounting base is fixedly connected to the frame, a accommodating space is provided on the mounting base, the guide rod is located in the accommodating space, the axial direction of the guide rod is perpendicular to the width direction of the walking robot, the second sliding member is slidably mounted on the guide rod, a sliding groove is provided on one of the first sliding member and the second sliding member, the other of the first sliding member and the second sliding member is inserted into the sliding groove, the driving structure is connected to the second sliding member, and the driving structure is used to drive the second sliding member to slide along the guide rod.

7. The walking wheel adjustment device according to claim 1, characterized in that: The elastic member is configured as one of a coil spring, a gas spring, a torsion spring, and an elastic band.

8. The travel wheel adjustment device according to claim 2, characterized in that: The walking wheel module also includes a second rotating shaft and a second swinging structure, the second rotating shaft is connected to the frame, the second swinging structure is connected to the second rotating shaft, the second swinging structure is used to install the walking wheel, the rotation axis of the second rotating shaft is spaced apart from the rotation axis of the walking wheel, and the driving structure is connected to the second swinging structure and is used to drive the second swinging structure together with the walking wheel to rotate around the central axis of the second rotating shaft.

9. The travel wheel adjustment device according to claim 8, characterized in that: The second swing structure includes a second wheel axle, a rocker and a second swing arm. The second rotating shaft and the second wheel axle are respectively connected to the second swing arm. The second wheel axle is used to install the walking wheel. The rocker is connected to the second rotating shaft. The rocker is fixed relative to the second swing arm. The driving structure is connected to the rocker and is used to drive the rocker to drive the second swing arm and the second wheel axle to rotate around the rotation axis of the second rotating shaft.

10. The travel wheel adjustment device according to claim 8, characterized in that: The driving structure includes a driving member, a first connecting rod and a second connecting rod, the driving member is connected to the first connecting rod and the second connecting rod respectively, the end of the first connecting rod away from the driving member is connected to the first swinging structure, the end of the second connecting rod away from the driving member is connected to the second swinging structure, the first connecting rod is at least partially configured as an elastic structure, and / or the second connecting rod is at least partially configured as an elastic structure.

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

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