Moving vehicle

Abstract

The utility model discloses a mobile vehicle. The mobile vehicle comprises a vehicle body; the walking mechanism comprises a base, a wheel carrier, a hinge structure, a first wheel and a second wheel, the base is installed on the trolley body, the wheel carrier is rotationally connected to the base through the hinge structure, the first wheel and the second wheel are arranged on the wheel carrier, and the first wheel, the hinge structure and the second wheel are sequentially spaced in the advancing direction of the moving trolley. The distance between the axis of the first wheel and the axis of the hinge structure is a first wheel tread, the distance between the axis of the second wheel and the axis of the hinge structure is a second wheel tread, and the ratio of the first wheel tread to the second wheel tread is adjustable. According to the mobile vehicle, the obstacle crossing ability and the sudden stop ability can be balanced, the mobile vehicle can adjust the proper performance according to the road condition environment, and the running stability of the mobile vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of transportation equipment, and in particular to a mobile vehicle. Background Art

[0002] When a mobile vehicle is equipped with a suspension hinge at the bottom, it has the ability to overcome obstacles, but there is a certain mutual influence between the obstacle-overcoming ability and the emergency-stopping ability. Specifically, under the premise that the distance between the front and rear wheels on the suspension hinge is certain, the farther the hinge point is from the front wheel and the closer it is to the rear wheel, the easier it is for the front wheel to lift up when encountering an obstacle, but the easier it is for the rear wheel to tilt forward during an emergency stop, resulting in unstable operation. Conversely, when the hinge point is closer to the front wheel and farther from the rear wheel, although the rear wheel is not easy to tilt forward during an emergency stop, the front wheel is not easy to lift up when encountering an obstacle, resulting in strong obstacle-overcoming ability. How to balance the obstacle-overcoming ability and the emergency-stopping ability is one of the research and development directions of mobile vehicles with suspension hinges. Utility Model Content

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a mobile vehicle, which achieves a balance between obstacle crossing capability and emergency stopping capability by adjusting the distance between the front and rear wheels and the hinge point on the suspension hinge.

[0004] According to the mobile vehicle of the embodiment of the present application, it includes: a vehicle body; a walking mechanism, the walking mechanism includes: a base, a wheel frame, an articulated structure, a first wheel and a second wheel, the base is installed on the vehicle body, the wheel frame is rotatably connected to the base through the articulated structure, the first wheel and the second wheel are arranged on the wheel frame, and the first wheel, the articulated structure and the second wheel are spaced apart in sequence along the travel direction of the mobile vehicle; wherein, the distance between the axis of the first wheel and the axis of the articulated structure is the first wheel track, the distance between the axis of the second wheel and the axis of the articulated structure is the second wheel track, and the ratio of the first wheel track to the second wheel track is adjustable.

[0005] According to the mobile vehicle of the present application, by setting the ratio of the first wheel track to the second wheel track to be adjustable, the ratio of the first wheel track to the second wheel track can be adjusted according to the road conditions on which the mobile vehicle is traveling. Taking the case where the first wheel is located in front of the second wheel in the direction of travel as an example, when encountering road conditions with more obstacles, the ratio of the first wheel track to the second wheel track is increased, and when encountering road conditions with more emergency stops, the ratio of the first wheel track to the second wheel track is reduced, thereby achieving a balance between the obstacle-crossing capability and the emergency stop capability of the mobile vehicle, so that the mobile vehicle can adjust appropriate performance according to the road conditions and environment, and improve the stability of the mobile vehicle's operation.

[0006] In some embodiments, the mounting position of the hinge structure on the wheel frame is adjustable along the traveling direction of the mobile vehicle.

[0007] Furthermore, the installation position of the base on the vehicle body is adjustable along the traveling direction of the mobile vehicle.

[0008] Optionally, the installation position of the hinge structure and the installation position of the base are adjusted with equal amplitude.

[0009] In some specific embodiments, the articulated structure includes: an axis body, which is arranged in a direction perpendicular to the traveling direction of the mobile vehicle and is installed on the base; a rotating block, which is provided with a rotating hole, and the rotating block is sleeved on the axis body through the rotating hole, and the wheel frame is installed on the rotating block.

[0010] Specifically, the base includes two installation ribs arranged at intervals, a installation groove is formed at the bottom of each installation rib, two ends of the shaft body are matched in the installation grooves of the two installation ribs, and the part of the rotating block sleeved on the shaft body is located between the two installation ribs;

[0011] The hinge structure further includes: two mounting plates, the two mounting plates are arranged corresponding to the two mounting ribs, at least a portion of each mounting plate is located below the corresponding mounting groove, and the mounting plates are detachably connected to the mounting ribs.

[0012] Furthermore, the shaft body is a straight shaft, and the mounting groove is arranged to penetrate along the axial direction of the shaft body;

[0013] The mounting plate includes: a mounting vertical plate, which is arranged on a horizontal side of the mounting rib, and the mounting vertical plates of the two mounting plates are blocked at the axial ends of the shaft body; a mounting horizontal plate, which is connected to the lower edge of the mounting vertical plate, and the mounting horizontal plate is arranged at the bottom of the mounting rib and is located below the corresponding mounting groove; at least one of the mounting vertical plate and the mounting horizontal plate is detachably connected to the mounting rib.

[0014] Furthermore, at least one of the mounting horizontal plate and the mounting vertical plate is provided with a viewing hole, and the viewing hole is arranged opposite to the shaft body.

[0015] In some specific embodiments, the base is an integrally formed plate body, and the mounting ribs are formed by bending the plate body; the base also includes: a middle plate and two side plates, the middle plate is connected between the two mounting ribs, and the two side plates are connected to the side of the two mounting plates away from each other; the middle plate and the side plates are both tightly attached to the bottom of the vehicle body.

[0016] In some further embodiments, the middle plate and the side plate are both provided with a first connecting hole, and the vehicle body is provided with a first matching hole; corresponding to each of the first connecting holes, a plurality of the first matching holes are arranged in a row, and each of the first connecting holes can be selectively opposite to one of the first matching holes in the row; the walking mechanism also includes a first connecting member connecting the first connecting hole and the first matching hole.

[0017] In some further embodiments, the wheel frame is arranged along the traveling direction of the mobile vehicle, a second connecting hole is arranged at the bottom of the rotating block, a second matching hole is arranged on the wheel frame, a plurality of the second matching holes are arranged in a row, and the second connecting hole can selectively face one of the second matching holes in the row;

[0018] The walking mechanism further includes a second connecting member connecting the second connecting hole and the second matching hole.

[0019] Optionally, two opposite sides of the rotating block are provided with limiting grooves, and two opposite sides of the wheel frame are provided with flanges extending upwards, and the two flanges are located at the limiting grooves on both sides.

[0020] In some embodiments, in the traveling direction of the mobile vehicle, the first wheel is located in front of the second wheel, the first wheel is a passive wheel, and the second wheel is a driving wheel.

[0021] In some embodiments, the mobile vehicle further comprises auxiliary wheels, wherein the auxiliary wheels are rotatably mounted at the bottom of the vehicle body, and the walking mechanism and the auxiliary wheels are spaced apart along the traveling direction of the mobile vehicle.

[0022] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 is a schematic structural diagram of a mobile vehicle according to an embodiment of the present application;

[0025] Figure 2 It is a principle diagram of an adjustment method of the walking mechanism of the mobile vehicle according to an embodiment of the present application when adjusting the ratio of the first wheel track to the second wheel track;

[0026] Figure 3 It is a principle diagram of another adjustment method of the walking mechanism of the mobile vehicle according to the embodiment of the present application when adjusting the ratio of the first wheel track to the second wheel track;

[0027] Figure 4 It is a principle diagram of another adjustment method of the walking mechanism of the mobile vehicle according to the embodiment of the present application when adjusting the ratio of the first wheel track to the second wheel track;

[0028] Figure 5 is a side view of a mobile vehicle according to an embodiment of the present application;

[0029] Figure 6 is a three-dimensional diagram of a mobile vehicle according to an embodiment of the present application;

[0030] Figure 7 is a cross-sectional view of a mobile vehicle according to an embodiment of the present application;

[0031] Figure 8 It is a partial diagram of an exploded view of a mobile vehicle in one direction according to an embodiment of the present application;

[0032] Fig. 9 It is a partial diagram of an explosion diagram of a mobile vehicle in another direction according to an embodiment of the present application.

[0033] Reference numerals:

[0034] Mobile car 100,

[0035] Car body 10, first matching hole 11, avoidance opening 12,

[0036] Walking mechanism 20,

[0037] Base 21, mounting rib 211, mounting groove 2110, middle plate 212, side plate 213, first connecting hole 214,

[0038] Wheel frame 22, second matching hole 221, flange 222,

[0039] The hinge structure 23, the shaft 231, the rotating block 232, the rotating hole 2321, the limiting groove 2322, the second connecting hole 2323, the mounting plate 234, the mounting vertical plate 2341, the mounting horizontal plate 2342, the viewing hole 2343, the shaft sleeve 235,

[0040] A first wheel 24, a second wheel 25, a first connecting member 26, a second connecting member 27, a driving motor 28,

[0041] Training wheels 30. DETAILED DESCRIPTION

[0042] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0044] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] Reference below Figure 1-Figure 9 A moving vehicle 100 according to an embodiment of the present application is described.

[0046] Reference Figure 1 According to the embodiment of the present application, the mobile vehicle 100 includes: a vehicle body 10 and a running mechanism 20. The present application does not limit the structure of the vehicle body 10, which can be a flat body or a box body. The mobile vehicle 100 can be a trolley, and a running mechanism 20 can be installed at the bottom of the vehicle body 10. The mobile vehicle 100 can be other types of vehicles, and the number of the running mechanisms 20 at the bottom of the vehicle body 10 can be one or more than one.

[0047] like Figure 1 and Figure 5 As shown, the traveling mechanism 20 includes: a base 21, a wheel frame 22, an articulated structure 23, a first wheel 24 and a second wheel 25. The base 21 is mounted on the vehicle body 10, and the wheel frame 22 is rotatably connected to the base 21 through the articulated structure 23. The first wheel 24 and the second wheel 25 are arranged on the wheel frame 22, and the first wheel 24, the articulated structure 23 and the second wheel 25 are sequentially spaced along the traveling direction of the mobile vehicle 100.

[0048] The distance between the axis of the first wheel 24 and the axis of the articulated structure 23 is the first wheel track A, the distance between the axis of the second wheel 25 and the axis of the articulated structure 23 is the second wheel track B, and the ratio of the first wheel track A to the second wheel track B is adjustable. Here, when adjusting the ratio of the first wheel track A to the second wheel track B, only the length of the first wheel track A can be adjusted, only the length of the second wheel track B can be adjusted, or both the lengths of the first wheel track A and the second wheel track B can be adjusted.

[0049] like Figure 1 As shown, taking the case where the first wheel 24 of the mobile vehicle 100 is located in front of the second wheel 25 in the traveling direction, when the first wheel 24 encounters an obstacle, since the wheel frame 22 is rotatably connected to the base 21 through the hinge structure 23, the wheel frame 22 can rotate around the hinge structure 23, and the first wheel 24 is lifted, so that the first wheel 24 can drive over the obstacle to achieve obstacle crossing. When the ratio of the first wheel track A to the second wheel track B is larger, the first wheel 24 is easier to lift and the obstacle crossing is easier.

[0050] When the mobile vehicle 100 stops suddenly, the body 10 of the mobile vehicle 100 may tilt forward due to inertia, and at this time, both the first wheel 24 and the second wheel 25 need to grip the ground to overcome the inertia. Therefore, it is necessary to reduce the ratio of the first wheel track A to the second wheel track B, so that the first wheel 24 is not easy to lift up when the mobile vehicle 100 stops suddenly, reduce the probability of the mobile vehicle 100 tilting forward, and improve the running stability of the mobile vehicle 100.

[0051] According to the mobile vehicle 100 of the present application, by setting the ratio of the first wheel track A to the second wheel track B to be adjustable, the ratio of the first wheel track A to the second wheel track B can be adjusted according to the road conditions of the mobile vehicle 100. In the direction of travel, taking the case where the wheel of the first vehicle 100 is located in front of the wheel of the second vehicle 100, when encountering road conditions with more obstacles, the ratio of the first wheel track A to the second wheel track B is increased, and when encountering road conditions with more emergency stops, the ratio of the first wheel track A to the second wheel track B is reduced, thereby achieving a balance between the obstacle-crossing capability and the emergency stop capability of the mobile vehicle 100, so that the mobile vehicle 100 can adjust appropriate performance according to the road conditions and environment, and improve the stability of the operation of the mobile vehicle 100.

[0052] In the present application, there are various structures for adjusting the ratio of the first wheelbase A to the second wheelbase B. Figures 2 to 4 , describing the adjustment method when reducing the ratio of the first wheelbase A to the second wheelbase B in different embodiments.

[0053] Reference Figure 2In some specific embodiments, the installation position of the articulated structure 23 on the wheel frame 22 is adjustable along the traveling direction of the mobile vehicle 100. In this way, only the installation position of the articulated structure 23 is adjusted to achieve simultaneous adjustment of the first wheel track A and the second wheel track B, without adjusting the length of the wheel frame 22, thereby reducing the complexity of the structure and improving the scope of application of the mobile vehicle 100 of the present application solution.

[0054] exist Figure 2 In the example shown, before adjustment, the specific value of the first wheel width A between the axis of the first wheel 24 and the axis of the articulated structure 23 is a1, the specific value of the second wheel width B between the axis of the second wheel 25 and the axis of the articulated structure 23 is b1, and the distance between the axis of the first wheel 24 and the axis of the second wheel 25 is c1=a1+b1. When the wheel frame 22 is adjusted backward by e1 relative to the articulated structure 23, the first wheel width A between the axis of the first wheel 24 and the axis of the articulated structure 23 becomes a2, and the second wheel width B between the axis of the second wheel 25 and the axis of the articulated structure 23 becomes b2. At this time, e1=b2-b1, and the distance between the axis of the first wheel 24 and the axis of the second wheel 25 is still c1=a1+b1. Figure 2 In the example, the ratio of the first wheel track A to the second wheel track B is adjusted from a1 / b1 to a2 / b2. In the example, the relative positions of the base 21 and the hinge structure 23 on the vehicle body 10 remain unchanged after the adjustment.

[0055] Reference Figure 3 In some specific embodiments, the mounting position of the articulated structure 23 on the wheel frame 22 is adjustable along the traveling direction of the mobile vehicle 100, and the mounting position of the base 21 on the vehicle body 10 is also adjustable along the traveling direction of the mobile vehicle 100. In this way, after adjusting the ratio of the first wheel track A to the second wheel track B, the relative positions of the first wheel 24 and the second wheel 25 on the vehicle body 10 can be adjusted according to factors such as load and vehicle speed, so that the wheel distribution positions match different road conditions, which is conducive to improving the stability of the mobile vehicle 100 before and after the adjustment.

[0056] exist Figure 3In the example shown, before adjustment, the specific value of the first wheel width A between the axis of the first wheel 24 and the axis of the articulated structure 23 is a1, the specific value of the second wheel width B between the axis of the second wheel 25 and the axis of the articulated structure 23 is b1, and the distance between the axis of the first wheel 24 and the axis of the second wheel 25 is c1=a1+b1. When the base 21 and the articulated structure 23 are adjusted forward by e1, the positions of the wheel frame 22, the first wheel 24, and the second wheel 25 remain unchanged. After adjustment, the first wheel width A between the axis of the first wheel 24 and the axis of the articulated structure 23 becomes a2, and the second wheel width B between the axis of the second wheel 25 and the axis of the articulated structure 23 becomes b2. At this time, e1=b2-b1, and the distance between the axis of the first wheel 24 and the axis of the second wheel 25 is still c1=a1+b1. Figure 3 In the example, the ratio of the first wheelbase A to the second wheelbase B is also adjusted from a1 / b1 to a2 / b2.

[0057] Of course, the present application is not limited thereto, and in some other specific embodiments, the length of the wheel frame 22 can be telescopically adjusted. For example, when the length of the wheel frame 22 is telescopically adjusted, only the second wheel track B can be adjusted, only the first wheel track A can be adjusted, or both the first wheel track A and the second wheel track B can be adjusted.

[0058] exist Figure 4 In the example shown, before adjustment, the specific value of the first wheel width A between the axis of the first wheel 24 and the axis of the articulated structure 23 is a1, the specific value of the second wheel width B between the axis of the second wheel 25 and the axis of the articulated structure 23 is b1, and the distance between the axis of the first wheel 24 and the axis of the second wheel 25 is c1=a1+b1. When the rear end of the wheel frame 22 extends backward by e2, the positions of the base 21, the wheel frame 22, the articulated structure 23, and the first wheel 24 remain unchanged. After adjustment, the first wheel width A between the axis of the first wheel 24 and the axis of the articulated structure 23 is still a1, but the second wheel width B between the axis of the second wheel 25 and the axis of the articulated structure 23 becomes b3, at which time e2=b3-b1, and the distance between the axis of the first wheel 24 and the axis of the second wheel 25 changes from c1 to c2, c2=a1+b3. Figure 3 In the example, the ratio of the first wheelbase A to the second wheelbase B is adjusted from a1 / b1 to a1 / b3. By properly setting the value of e2, a1 / b3 = a2 / b2 can be achieved.

[0059] From the above, it can be seen that the solution of adjusting the ratio of the first wheelbase A to the second wheelbase B from a1 / b1 to a2 / b2 can be implemented by adopting a variety of structural solutions.

[0060] Optionally, when the mounting position of the hinge structure 23 on the wheel frame 22 is adjustable along the traveling direction of the mobile vehicle 100, and the mounting position of the base 21 on the vehicle body 10 is also adjustable along the traveling direction of the mobile vehicle 100, the mounting position of the hinge structure 23 and the mounting position of the base 21 can be further adjusted in equal amplitude. In this way, the relative positions of the first wheel 24 and the second wheel 25 on the vehicle body 10 remain unchanged, and the structures on the vehicle body 10 that need to be adapted to the first wheel 24 and the second wheel 25 can be reduced.

[0061] For example Figure 6 As shown, the wheel diameter of the second wheel 25 is relatively large, and the vehicle body 10 is provided with an avoidance opening 12 facing the second wheel 25. Since the installation position of the base 21 is adjusted in equal amplitude when the ratio of the first wheel track A to the second wheel track B is adjusted, the position of the second wheel 25 relative to the vehicle body 10 remains unchanged, and there is no need to provide multiple avoidance openings 12 to accommodate the second wheel 25. In this way, the overall structural reliability of the vehicle body 10 can be improved, and the design difficulty of the vehicle body 10 is reduced.

[0062] In some specific embodiments, Figure 6 and Figure 7 As shown, the hinge structure 23 includes: an axle 231 and a rotating block 232. The axle 231 is arranged in a direction perpendicular to the traveling direction of the mobile vehicle 100, and the axle 231 is installed on the base 21. The rotating block 232 is provided with a rotating hole 2321, and the rotating block 232 is sleeved on the axle 231 through the rotating hole 2321, and the wheel frame 22 is installed on the rotating block 232. In this arrangement, the contact area between the axle 231 and the rotating block 232 is large, and the torsion resistance is strong, which reduces the probability of the axle 231 and the rotating block 232 being out of cooperation during vibration or when encountering obstacles, and improves the reliability of the hinge structure 23.

[0063] Specifically, Figure 6 and Figure 8 As shown, the base 21 includes two spaced-apart mounting ribs 211 , a mounting groove 2110 is formed at the bottom of each mounting rib 211 , both ends of the shaft body 231 fit in the mounting grooves 2110 of the two mounting ribs 211 , and the portion of the rotating block 232 that is sleeved on the shaft body 231 is located between the two mounting ribs 211 .

[0064] The hinge structure 23 further includes: two mounting plates 234 , which are arranged corresponding to the two mounting ribs 211 , at least a portion of each mounting plate 234 is located below the corresponding mounting groove 2110 , and the mounting plates 234 are detachably connected to the mounting ribs 211 .

[0065] With this arrangement, the shaft 231 can be assembled to the base 21 from the bottom, reducing the drilling operation of the shaft 231 and improving the convenience of assembly. The detachable arrangement of the mounting plate 234 improves the convenience of maintenance. In particular, the shaft 231 bears a large shear force. When the shaft 231 is not rotating smoothly due to impact deformation, the shaft 231 can be directly replaced by opening the mounting plate 234, which improves the convenience of maintenance.

[0066] In some further specific embodiments, Figure 8 As shown, the shaft body 231 is a straight shaft, which has a simple structure and is easy to finely process to improve the smoothness during rotation.

[0067] Optionally, the mounting groove 2110 is arranged through the axial direction of the shaft body 231. In this way, the processing of the mounting groove 2110 is easier, and on the other hand, the probability of dead angles and dust inclusions in the mounting groove 2110 is reduced, and the possibility of the shaft body 231 being stuck is reduced.

[0068] Further optionally, the shape of the mounting groove 2110 is consistent with the cross-sectional shape of the shaft body 231. Figure 8 In the figure, the shaft 231 is a round shaft, the upper part of the mounting groove 2110 is semicircular, which is convenient for positioning the shaft 231, and the lower part of the mounting groove 2110 is rectangular, and the lower width of the mounting groove 2110 is greater than the upper diameter, which is convenient for inserting the shaft 231.

[0069] In some specific embodiments, Figure 8 and Fig. 9 As shown, the mounting plate 234 includes: a mounting vertical plate 2341 and a mounting horizontal plate 2342. The mounting vertical plate 2341 is arranged on the horizontal side of the mounting rib 211, and the mounting vertical plates 2341 of the two mounting plates 234 block the axial ends of the shaft body 231. The mounting horizontal plate 2342 is connected to the lower edge of the mounting vertical plate 2341, and the mounting horizontal plate 2342 is arranged at the bottom of the mounting rib 211, and is located below the corresponding mounting groove 2110.

[0070] The installation horizontal plate 2342 is blocked below the installation groove 2110 to support the shaft body 231. The installation vertical plate 2341 is equivalent to a limit plate to prevent the shaft body 231 from moving along the axial direction and coming out.

[0071] Among them, at least one of the mounting vertical plate 2341 and the mounting horizontal plate 2342 can be connected to the mounting rib 211, but the connection is detachable to facilitate disassembly and assembly.

[0072] For example, Figure 8 In the embodiment, two screws are provided on the mounting cross plate 2342 , and the two screws are connected to the mounting rib 211 and are located on both sides of the mounting groove 2110 , thereby sealing the bottom of the mounting groove 2110 .

[0073] Furthermore, if Figure 8 As shown, at least one of the mounting horizontal plate 2342 and the mounting vertical plate 2341 is provided with a viewing hole 2343, and the viewing hole 2343 is arranged opposite to the shaft body 231. In this way, the current status of the shaft body 231 can be observed through the viewing hole 2343, and the shaft body 231 can be observed without disassembling, thereby improving the convenience of maintenance.

[0074] Of course, the structure of the mounting plate 234 of the present application solution may not be limited thereto, for example, the structure of the mounting vertical plate 2341 may be eliminated, or the portion of the mounting shaft 231 of the mounting horizontal plate 2342 may be formed into a semicircular arc shape.

[0075] Optionally, metal plates are installed on the horizontal plate 2342 and the vertical plate 2341 to improve the structural rigidity.

[0076] In some specific embodiments, the hinge structure 23 further includes a sleeve 235, which is sleeved on the shaft body 231 and contacts the rotating block 232, thereby reducing friction and improving the smoothness of rotation. Specifically, at least a portion of the sleeve 235 is located in the rotating hole 2321 of the rotating block 232, increasing the contact area with the rotating block 232 and increasing the stability of the rotation support.

[0077] Optionally, there are two shaft sleeves 235 , which are sleeved on both ends of the shaft body 231 . Specifically, the two shaft sleeves 235 are located between the two mounting ribs 211 of the base 21 .

[0078] Optionally, the shaft sleeve 235 adopts a sliding bearing to further improve the smoothness of the rotation.

[0079] In some specific embodiments, Figure 6 and Figure 8 As shown, the base 21 is an integrally formed plate, and the mounting ribs 211 are formed by bending the plate. Thus, the base 21 can be formed by bending the plate in various forms, such as by stamping, or the base 21 is directly formed by thermoplastic processing, etc., which helps to reduce materials and costs.

[0080] Specifically, the base 21 further includes: an intermediate plate 212 and two side plates 213, wherein the intermediate plate 212 is connected between the two mounting ribs 211, and the two side plates 213 are connected to the sides of the two mounting plates 234 that are away from each other. The intermediate plate 212 and the side plates 213 are both in close contact with the bottom of the vehicle body 10. This arrangement can increase the contact area with the vehicle body 10 and improve the connection reliability. In particular, the mounting ribs 231 need to support the shaft 231 and bear a large torque. The intermediate plate 212 and the side plates 213 are arranged on the base 21 in close contact with the bottom of the vehicle body 10, which can improve the torsion resistance of the hinge structure 23.

[0081] In some further embodiments, Figure 8 and Fig. 9As shown, the middle plate 212 and the side plate 213 are each provided with a first connection hole 214, and the vehicle body 10 is provided with a first matching hole 11. Corresponding to each first connection hole 214, in particular, Fig. 9 As shown, a plurality of first matching holes 11 are arranged in a row, and each first connection hole 214 can selectively face one of the first matching holes 11 in the row. The walking mechanism 20 also includes a first connection member 26 connecting the first connection hole 214 and the first matching hole 11. With such arrangement, the installation position of the base 21 on the vehicle body 10 can be flexibly adjusted in the traveling direction of the mobile vehicle 100. Moreover, this adjustment method is not easy to shake or fall off, and the connection reliability is improved.

[0082] In some further embodiments, the wheel frame 22 is arranged along the traveling direction of the mobile vehicle 100, the bottom of the rotating block 232 is provided with a second connecting hole 2323, the wheel frame 22 is provided with a second matching hole 221, a plurality of second matching holes 221 are arranged in a row, and the second connecting hole 2323 can selectively face one of the second matching holes 221 in the row. The walking mechanism 20 further includes a second connecting member 27 connecting the second connecting hole 2323 and the second matching hole 221.

[0083] With such arrangement, the installation position of the articulated structure 23 on the wheel frame 22 can be flexibly adjusted in the traveling direction of the mobile vehicle 100. Moreover, this adjustment method is not easy to shake or fall off, thereby improving the connection reliability.

[0084] In some specific embodiments, the hole spacing of the first matching holes 11 in a row is equal to the hole spacing of the second matching holes 221 in a row, so that the installation position of the hinge structure 23 and the installation position of the base 21 can be adjusted equally, reducing the difficulty of adjustment.

[0085] Of course, the present application is not limited thereto. For example, in some optional embodiments, the rotating block 232 can be slidably disposed on the wheel frame 22 along the traveling direction of the mobile vehicle 100. When sliding to a suitable position, the rotating block 232 can be clamped between the wheel frame 22. The installation position of the hinge structure 23 and the size of the adjustment range thereof can be flexibly selected.

[0086] In some specific embodiments, Figure 8 and Fig. 9 As shown, two opposite sides of the rotating block 232 are provided with limiting grooves 2322, and two opposite sides of the wheel frame 22 are provided with flanges 222 extending upward, and the two flanges 222 are located at the limiting grooves 2322 on both sides. In this way, the limiting grooves 2322 on both sides of the wheel frame 22 cooperate with the limiting grooves 2322 on both sides of the rotating block 232 to have a stopper effect, reducing the risk of falling off. In addition, the wheel frame 22 can be used to better protect the rotating block 232.

[0087] In some embodiments, in the direction of travel of the mobile vehicle 100, the first wheel 24 is located in front of the second wheel 25, the first wheel 24 is a passive wheel, and the second wheel 25 is a driving wheel. Here, the first wheel 24 has no power, and the second wheel 25 has power. For example, the second wheel 25 is connected to a drive motor 28 to achieve automatic driving, thereby improving the convenience of use of the mobile vehicle 100. Moreover, the second wheel 25 at the rear side is a driving wheel, and the driving wheel has a stronger grip, which is more secure when crossing obstacles and stopping in an emergency. The first wheel 24 is a passive wheel, which is easier to lift.

[0088] Optionally, the first wheel 24 is a universal wheel.

[0089] In some embodiments, the mobile vehicle 100 further includes auxiliary wheels 30, which are rotatably mounted on the bottom of the vehicle body 10, and the traveling mechanism 20 and the auxiliary wheels 30 are spaced apart along the traveling direction of the mobile vehicle 100. In this way, the number of traveling mechanisms 20 can be reduced, and the balance of the mobile vehicle 100 can be ensured.

[0090] Other components of the mobile vehicle 100 according to the embodiment of the present application, such as a motor and a controller, and operations are known to those of ordinary skill in the art and will not be described in detail here.

[0091] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0092] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A mobile vehicle, characterized in that: include: Vehicle body; A walking mechanism, the walking mechanism comprising: a base, a wheel frame, an articulated structure, a first wheel and a second wheel, the base being mounted on the vehicle body, the wheel frame being rotatably connected to the base via the articulated structure, the first wheel and the second wheel being arranged on the wheel frame, the first wheel, the articulated structure and the second wheel being sequentially spaced apart along the traveling direction of the mobile vehicle; Among them, the distance between the axis of the first wheel and the axis of the articulated structure is the first wheel track, the distance between the axis of the second wheel and the axis of the articulated structure is the second wheel track, and the ratio of the first wheel track to the second wheel track is adjustable.

2. The mobile vehicle according to claim 1, characterized in that: The mounting position of the hinged structure on the wheel frame is adjustable along the traveling direction of the mobile vehicle.

3. The mobile vehicle according to claim 2, characterized in that: The installation position of the base on the vehicle body is adjustable along the traveling direction of the mobile vehicle.

4. The mobile vehicle according to claim 3, characterized in that: The installation position of the hinge structure and the installation position of the base are adjusted in equal amplitude.

5. The mobile vehicle according to claim 1, characterized in that: The hinge structure comprises: An axis body, the axis body is arranged in a direction perpendicular to the traveling direction of the moving vehicle, and the axis body is installed on the base; A rotating block is provided with a rotating hole, the rotating block is sleeved on the shaft body through the rotating hole, and the wheel frame is installed on the rotating block.

6. The mobile vehicle according to claim 5, characterized in that: The base comprises two installation ribs arranged at intervals, a installation groove is formed at the bottom of each installation rib, two ends of the shaft body are matched in the installation grooves of the two installation ribs, and the part of the rotating block sleeved on the shaft body is located between the two installation ribs; The hinge structure further includes: two mounting plates, the two mounting plates are arranged corresponding to the two mounting ribs, at least a portion of each mounting plate is located below the corresponding mounting groove, and the mounting plates are detachably connected to the mounting ribs.

7. The mobile vehicle according to claim 6, characterized in that: The shaft body is a straight shaft, and the mounting groove is arranged through the axial direction of the shaft body; The mounting plate comprises: A mounting vertical plate, the mounting vertical plate being arranged on a horizontal side of the mounting rib, the mounting vertical plates of the two mounting plates blocking the axial ends of the shaft body; A mounting horizontal plate, the mounting horizontal plate being connected to the lower edge of the mounting vertical plate, the mounting horizontal plate being arranged at the bottom of the mounting rib and being located below the corresponding mounting groove; At least one of the mounting vertical plate and the mounting horizontal plate is detachably connected to the mounting rib.

8. The mobile vehicle according to claim 7, characterized in that: At least one of the mounting horizontal plate and the mounting vertical plate is provided with a viewing hole, and the viewing hole is arranged opposite to the shaft body.

9. The mobile vehicle according to claim 6, characterized in that: The base is an integrally formed plate, and the mounting rib is formed by bending the plate; The base further comprises: a middle plate and two side plates, wherein the middle plate is connected between the two mounting ribs, and the two side plates are connected to one side of the two mounting plates away from each other; The middle plate and the side plates are both closely attached to the bottom of the vehicle body.

10. The mobile vehicle according to claim 9, characterized in that: The middle plate and the side plate are both provided with a first connecting hole, and the vehicle body is provided with a first matching hole; Corresponding to each of the first connecting holes, a plurality of the first matching holes are arranged in a row, and each of the first connecting holes can selectively be opposite to one of the first matching holes in the row; The walking mechanism further includes a first connecting member connecting the first connecting hole and the first matching hole.

11. The mobile vehicle according to claim 5, characterized in that: The wheel frame is arranged along the traveling direction of the mobile vehicle, the bottom of the rotating block is provided with a second connecting hole, the wheel frame is provided with a second matching hole, a plurality of the second matching holes are arranged in a row, and the second connecting hole can selectively face one of the second matching holes in the row; The walking mechanism further includes a second connecting member connecting the second connecting hole and the second matching hole.

12. The mobile vehicle according to claim 5, characterized in that: The rotating block is provided with limiting grooves on two opposite sides, and the wheel frame is provided with flanges extending upward on two opposite sides, and the two flanges are located at the limiting grooves on both sides.

13. The mobile vehicle according to any one of claims 1 to 12, characterized in that: In the traveling direction of the mobile vehicle, the first wheel is located in front of the second wheel, the first wheel is a passive wheel, and the second wheel is a driving wheel.

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