Chassis assembly and walking equipment

Abstract

The utility model provides a chassis assembly and walking equipment. The chassis assembly comprises a rack, two first wheels, two second wheels and a cutting cutterhead. The two first wheels are installed at the two ends, in the length direction of the chassis assembly, of the rack correspondingly, and the two second wheels are installed on the two sides, in the width direction of the chassis assembly, of the rack correspondingly. The cutting cutterhead is arranged on the rack, and on a horizontal projection plane perpendicular to the height direction of the chassis assembly, at least part of the cutting cutterhead is located in a quadrilateral area formed by connecting the axes of the two first wheels and the axes of the two second wheels. According to the chassis assembly provided by the utility model, based on the fact that at least part of the cutting cutterhead is located in the quadrilateral area formed by connecting the axes of the two first wheels and the axes of the two second wheels, the two first wheels and the two second wheels can play a role in shielding the cutting cutterhead, so that a user is prevented from touching the cutting cutterhead; and the use safety and the attractiveness of the chassis assembly are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of lawn mowing machinery, in particular to a chassis component and a walking device. Background Art

[0002] The cutting disc is a rotating part of the robot for mowing grass. When the cutting disc rotates, the cutting disc can trim the lawn or other vegetation. However, the existing cutting disc is arranged at the edge of the frame, which is easy to scratch the user, reducing the safety of use. Utility Model Content

[0003] The utility model provides a chassis component and a walking device, so as to solve the technical problem of low use safety of the chassis component in the prior art.

[0004] In a first aspect, the utility model provides a chassis assembly, comprising a frame, two first wheels, two second wheels and a cutting blade. The two first wheels are respectively mounted on both ends of the frame along the length direction of the chassis assembly, and the two second wheels are respectively mounted on both sides of the frame along the width direction of the chassis assembly. The cutting blade is arranged on the frame, and on a horizontal projection plane perpendicular to the height direction of the chassis assembly, the cutting blade is at least partially located in a quadrilateral area formed by connecting the axles of the two first wheels and the axles of the two second wheels.

[0005] In combination with the first aspect, in a possible implementation manner, the cutting blade is located between the two second wheels.

[0006] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axles of the two first wheels is a first line, the line connecting the axles of the two second wheels is a second line, and the cutting blade is located at the intersection of the first line and the second line.

[0007] In combination with the first aspect, in a possible implementation manner, on the horizontal projection plane, the outline of the quadrilateral area is a diamond shape.

[0008] In combination with the first aspect, in a possible implementation, the chassis assembly also includes a first drive member and a second drive member; at least one of the two first wheels is transmission connected to the first drive member, and each of the second wheels is transmission connected to the second drive member, the first drive member is used to drive the corresponding first wheel to rotate, and the second drive member is used to drive the corresponding second wheel to rotate.

[0009] In combination with the first aspect, in a possible implementation, the first driving member and / or the second driving member is configured as a hub motor; the chassis assembly also includes a mowing motor, which is arranged on the frame and is transmission-connected to the cutting disc.

[0010] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axles of the two first wheels is the first line, the line connecting the axles of the two second wheels is the second line, and the first line passes through the midpoint of the second line; or, the midpoints of the first line and the second line are separated by a preset distance.

[0011] In combination with the first aspect, in a possible implementation, both of the two first wheels are configured as omnidirectional wheels, and on the horizontal projection plane, the line connecting the axles of the two second wheels is the second line, the axis of rotation of the two second wheels is collinear with the second line, the line connecting the axle of the omnidirectional wheel and the midpoint of the second line is the third line, and the minimum angle formed by the axis of rotation of the omnidirectional wheel and the third line is the first angle, and the first angle is denoted as α, where 0°<α<90°.

[0012] In combination with the first aspect, in a possible implementation manner, on the horizontal projection plane, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel.

[0013] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axles of the two first wheels is a first line, the first line passes through the midpoint of the second line, the first line is perpendicular to the second line, and the minimum angle formed by the axis of rotation of the omnidirectional wheel and the axis of rotation of the second wheel is a second angle, and the second angle is denoted as β, where 0°<β<90°.

[0014] In combination with the first aspect, in a possible implementation, at least one of the two first wheels is configured as an omnidirectional wheel, the omnidirectional wheel includes at least one wheel group, each of the wheel group includes a wheel body and a plurality of rollers, and the plurality of rollers are arranged at intervals along the circumferential direction of the wheel body; the rotation axis of the two first wheels is parallel to the rotation axis of the two second wheels.

[0015] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axles of the two first wheels is the first line, the line connecting the axles of the two second wheels is the second line, the first line is perpendicular to the second line, the rolling direction of the roller is perpendicular to the first line, and the first line passes through the midpoint of the second line; or, the midpoints of the first line and the second line are separated by a preset distance.

[0016] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axis of the omnidirectional wheel and the midpoint of the second line is the third line, the line connecting the axis of the two second wheels is the second line, and the rolling direction of the roller is perpendicular to the third line.

[0017] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axes of the two first wheels is a first line, the line connecting the axes of the two second wheels is a second line, the first line passes through the midpoint of the second line, and the minimum angle formed by the first line and the second line is a third angle, and the third angle is denoted as γ, wherein 0°<γ<90°, the rolling direction of the roller is parallel to the rotation axis of the omnidirectional wheel, and the chassis assembly also includes a first driving member, which is used to drive the omnidirectional wheel to rotate.

[0018] In combination with the first aspect, in a possible implementation, on the horizontal projection plane, the line connecting the axles of the two second wheels is the second line, the line connecting the axle of the omnidirectional wheel and the midpoint of the second line is the third line, and the rolling direction of the roller is perpendicular to the third line.

[0019] In combination with the first aspect, in a possible implementation, the omnidirectional wheel includes at least one wheel group, each of the wheel groups includes a wheel body and a plurality of rollers, the plurality of rollers are arranged at intervals along the circumferential direction of the wheel body, and the rolling direction of the rollers is perpendicular to the axis of rotation of the second wheel.

[0020] In a second aspect, the utility model provides a walking device, comprising the chassis assembly as described above.

[0021] In combination with the second aspect, in a possible implementation manner, on the horizontal projection plane, a midpoint of a line connecting the axles of the two second wheels coincides with a center of gravity of the walking device.

[0022] The chassis assembly and walking equipment provided by the utility model are based on the setting that the cutting disc is at least partially located in the quadrilateral area formed by the axles of the two first wheels and the axles of the two second wheels, so that the two first wheels and the two second wheels can shield the cutting disc and prevent the user from touching the cutting disc, thereby improving the safety and aesthetics of the chassis assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of a walking device provided by an embodiment of the utility model.

[0024] Figure 2 yes Figure 1A bottom view of a first embodiment of a chassis assembly of a walking device in FIG.

[0025] Figure 3 yes Figure 1 A bottom view of a second embodiment of a chassis assembly of a walking device in FIG.

[0026] Figure 4 yes Figure 1 A bottom view of a third embodiment of a chassis assembly of a walking device in FIG.

[0027] Figure 5 yes Figure 1 A bottom view of a fourth embodiment of a chassis assembly of a walking device in FIG.

[0028] Figure 6 yes Figure 1 A bottom view of a fifth embodiment of a chassis assembly of a walking device in FIG.

[0029] Figure 7 yes Figure 1 A bottom view of a sixth embodiment of a chassis assembly of a walking device in FIG.

[0030] Figure 8 yes Figure 1 A bottom view of a seventh embodiment of a chassis assembly of a walking device in FIG.

[0031] Fig. 9 yes Figure 1 A bottom view of an eighth embodiment of a chassis assembly of a walking device in FIG.

[0032] Fig.10 yes Figure 1 A bottom view of a ninth embodiment of a chassis assembly of a walking device in FIG.

[0033] Fig.11 yes Figure 1 A bottom view of the tenth embodiment of the chassis assembly of the walking device in FIG.

[0034] Fig.12 yes Figure 1 A bottom view of the eleventh embodiment of the chassis assembly of the walking device in.

[0035] Fig.13 yes Figure 1 A bottom view of a twelfth embodiment of a chassis assembly of a walking device in FIG.

[0036] Description of the main component symbols: walking device-1000; housing-100; chassis assembly-300; frame-10; wheel hub-201; tire-202; first wheel-21; wheel set-210; wheel body-211; roller-212; second wheel-22; quadrilateral area-30; first connecting line-301; second connecting line-302; third connecting line-303; first driving member-41; second driving member-42; cutting blade-50; mowing motor-60; controller-70; third angle-γ; length direction-X; width direction-Y; height direction-Z; traction force-F; first component force-F1; second component force-F2; first direction-D1; second direction-D2; third direction-D3.

[0037] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0038] The following embodiments of the present invention are described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0039] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be detachably connected or non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative position relationship after connection remains unchanged. "Rotational connection" can be connected to each other and can rotate relative to each other after connection. The term "integrated molding" means that in the process of forming one of the multiple components, the component is connected to other components, and there is no need to connect the two components together by reprocessing (such as bonding, welding, snap connection, screw connection). The orientation terms mentioned in the embodiments of the present utility model, such as "top", "bottom", "inside", "outside", "side", etc., are only reference directions of the drawings. Therefore, the orientation terms used are for better and clearer explanation and understanding of the embodiments of the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present utility model.

[0040] The term "parallel" means that when two straight lines on a plane, two planes in space, and a straight line and a plane in space do not have any common points, they are said to be parallel. The term "perpendicular" means that when a line on a plane intersects with another line and forms a right angle, the two lines are perpendicular to each other. In the present utility model, descriptions such as parallel and perpendicular can include situations where the two lines are approximately parallel and approximately perpendicular due to processing errors, measurement errors, etc. For example, the two lines described herein being parallel can include situations where the two lines are completely parallel, and can also include situations where the two lines are approximately parallel. The two lines described herein being perpendicular can include situations where the two lines are completely perpendicular, and can also include situations where the two lines are approximately perpendicular.

[0041] See also Figure 1 , Figure 1 1 is a schematic diagram of the structure of a walking device 1000 provided in an embodiment of the utility model. The walking device 1000 includes a housing 100 and a chassis assembly 300. The housing 100 is disposed on the chassis assembly 300. Exemplarily, the housing 100 is covered on the top of the chassis assembly 300, thereby preventing rainwater or other impurities from entering the chassis assembly 300 and causing damage to the chassis assembly 300.

[0042] The walking device 1000 may include but is not limited to hand-held, riding and fully automatic intelligent walking devices 1000, etc., and the utility model does not limit this. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground under the push of the user. For another example, the walking device 1000 itself has the ability to move. Specifically, the walking device 1000 includes a driving wheel, and the walking device 1000 can automatically move on the ground through the driving wheel. The walking device 1000 can be configured as but not limited to mowing equipment, pesticide spraying equipment, crop harvesting equipment, sweeping equipment, transportation equipment, etc. In the present embodiment, the walking device 1000 can be configured as a mowing device. Of course, in some embodiments, the walking device 1000 can also be but not limited to a sweeper or other intelligent devices.

[0043] It should be noted that Figure 1 The purpose is only to schematically describe the arrangement between the housing 100 and the chassis assembly 300, and is not to specifically limit the connection position, connection relationship and specific structure of each component. Figure 1 The structure of the walking device 1000 is only shown in the embodiment of the present invention, and does not constitute a specific limitation on the walking device 1000. In other embodiments of the present invention, the walking device 1000 may include Figure 1More or fewer components, or a combination of certain components, or different components, such as the walking device 1000 may also include but are not limited to a lifting mechanism, connecting cables, a safety protection structure, etc. The lifting mechanism is disposed on the chassis assembly 300, and the lifting mechanism is used to drive the chassis assembly 300 to rise and fall, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0044] Please also read Figure 1 and Figure 2 , Figure 2 yes Figure 1 A bottom view of a first embodiment of a chassis assembly 300 of a walking device 1000 in FIG. The chassis assembly 300 provided in the embodiment of the utility model comprises a frame 10, two first wheels 21, two second wheels 22 and a cutting blade 50. The two first wheels 21 are respectively mounted on both ends of the frame 10 along the length direction X of the chassis assembly 300, and the two second wheels 22 are respectively mounted on both sides of the frame 10 along the width direction Y of the chassis assembly 300. The cutting blade 50 is arranged on the frame 10, and on a horizontal projection plane perpendicular to the height direction Z of the chassis assembly 300, the cutting blade 50 is at least partially located in a quadrilateral area 30 formed by connecting the axes of the two first wheels 21 and the axes of the two second wheels 22.

[0045] The chassis assembly 300 provided by the utility model is based on the setting that the cutting blade 50 is at least partially located in the quadrilateral area 30 formed by connecting the axles of the two first wheels 21 and the axles of the two second wheels 22, so that the two first wheels 21 and the two second wheels 22 can shield the cutting blade 50 to prevent the user from touching the cutting blade 50, thereby improving the safety and aesthetics of the chassis assembly 300.

[0046] For the accuracy of description, please refer to the directions in this article. Figure 1 and Figure 2For reference, the term "length direction X" refers to the direction of travel of the walking device 1000, and the direction of travel refers to the arrangement direction of the two first wheels 21 in the walking device 1000, that is, the front-to-back direction (where the positive direction of the X axis is the front). The term "width direction Y" refers to the arrangement direction of the two second wheels 22 in the walking device 1000, that is, the left-right direction (where the positive direction of the Y axis is the right). The term "height direction Z" refers to the arrangement direction of the first wheel 21 or the second wheel 22 of the walking device 1000 that abuts against the support plane and the highest protruding part of the walking device 1000, that is, the up-down direction (where the positive direction of the Z axis is up). Among them, the length direction X, the width direction Y and the height direction Z together constitute the three orthogonal directions of the walking device 1000. For the convenience of description, the up-down, left-right, and front-to-back directions in the utility model of this application are relative positions and do not constitute restrictions on implementation limitations. Among them, the length direction X of the walking device 1000 is parallel to the length direction X of the chassis assembly 300, the width direction Y of the walking device 1000 is parallel to the width direction Y of the chassis assembly 300, and the height direction Z of the walking device 1000 is parallel to the height direction Z of the chassis assembly 300. The length direction X, width direction Y and height direction Z of the walking device 1000 can be customized according to the specific structure of the product and the perspective of the drawings, and the utility model of this application does not make specific limitations.

[0047] It should be noted that the axis of the first wheel 21 refers to the center of the first wheel 21 or a point adjacent to the midpoint. For example, the axis of the first wheel 21 may be a point located on the central axis of the first wheel 21 and passing through the midpoint of the axial length of the first wheel 21 or a point adjacent to the midpoint, wherein the axial length of the first wheel 21 refers to the length of the first wheel 21 in a direction parallel to the central axis of the first wheel 21. The axis of the second wheel 22 refers to the center of the second wheel 22 or a point adjacent to the midpoint. For example, the axis of the second wheel 22 is a point located on the central axis of the second wheel 22 and passing through the midpoint of the axial length of the second wheel 22 or a point adjacent to the midpoint, wherein the axial length of the second wheel 22 refers to the length of the second wheel 22 in a direction parallel to the central axis of the second wheel 22.

[0048] Exemplarily, in this embodiment, in the length direction X of the walking device 1000, the cutting blade 50 is located between the two first wheels 21. Specifically, one of the first wheels 21 is mounted on the front side of the frame 10 along the length direction X of the chassis assembly 300, and one of the first wheels 21 is mounted on the rear side of the frame 10 along the length direction X of the chassis assembly 300. One of the second wheels 22 is mounted on the left side of the frame 10 along the width direction Y of the chassis assembly 300, and one of the second wheels 22 is mounted on the right side of the frame 10 along the width direction Y of the chassis assembly 300.

[0049] The two first wheels 21 may be mounted on the middle of the two sides of the frame 10 along the length direction X of the chassis assembly 300. The two second wheels 22 may also be mounted on the middle of the two sides of the frame 10 along the width direction Y of the chassis assembly 300. Of course, in some embodiments, at least one first wheel 21 may be mounted on the end or near the middle of the two sides of the frame 10 along the length direction X of the chassis assembly 300. The two second wheels 22 may also be mounted on the middle of the two sides of the frame 10 along the width direction Y of the chassis assembly 300. The two second wheels 22 are arranged relatively to each other along the width direction Y of the walking device 1000 and are arranged coaxially, thereby, on the one hand, the differential reversing function of the walking device 1000 can be realized; on the other hand, compared with the existing walking device in which the four wheels are arranged on both sides of the frame along the width direction of the walking device, the midpoint of the line connecting the axles of the two rear wheels (i.e., the rotation center) is located at the tail of the walking device, so that the distance from the front wheel to the rotation center of the walking device is relatively far, the force arm acting on the rotation center by the front wheel is longer, the torque is larger, and the stability of the walking device rotating in situ is reduced. By setting the two first wheels 21 at the two ends of the frame 10 along the length direction X of the walking device 1000, and the two second wheels 22 at the two sides of the frame 10 along the width direction Y of the walking device 1000, the rotation center of the walking device 1000 is located at or close to the middle position of the frame 10, so that the distance from each part of the walking device 1000 to the rotation center is shorter. When the walking device 1000 rotates in situ on the ramp, the torque generated by the component force of the gravity of each part of the walking device 1000 is smaller, thereby improving the stability of the walking device 1000 rotating in situ. The two first wheels 21 can be relatively set or staggered along the length direction X of the walking device 1000. The central axes of the two first wheels 21 can be set in parallel or at an angle. The setting positions of the two first wheels 21 and the two second wheels 22 can be set according to actual conditions, and the embodiments of the utility model are not specifically limited.

[0050] like Figure 2 As shown, the cutting blade 50 is entirely located within the quadrilateral region 30. Specifically, the outer edges of the cutting blade 50 are entirely located within the quadrilateral region 30. As a result, the distance between the outer edges of the cutting blade 50 and any side edge of the frame 10 is not too small, preventing the user from hitting the cutting blade 50 from the side edge of the frame 10, avoiding the cutting blade 50 from causing harm to the user, and improving the safety of the walking device 1000. Figure 3 As shown, Figure 3 yes Figure 1FIG. 1 is a bottom view of a second embodiment of a chassis assembly 300 of a walking device 1000. Part of the structure of the cutting blade disc 50 is located within the quadrilateral area 30, and the remaining part of the structure of the cutting blade disc 50 is located outside the quadrilateral area 30. Specifically, the outer edge of the cutting blade disc 50 intersects with the outline of the quadrilateral area 30.

[0051] Please also read Figure 1 , Figure 2 and Figure 4 , Figure 4 yes Figure 1 1 is a bottom view of a third embodiment of a chassis assembly 300 of a walking device 1000 in FIG. In some embodiments, the cutting blade 50 is located between the two second wheels 22. Thus, the two second wheels 22 can block the cutting blade 50, thereby preventing the user from hitting the cutting blade 50 from the side of the frame 10, avoiding the cutting blade 50 from causing harm to the user, and improving the safety of the walking device 1000.

[0052] The center of the cutting blade 50 passes through the line connecting the axles of the two second wheels 22. Figure 2 As shown, the center of the cutting blade 50 passes through the midpoint of the line connecting the axles of the two second wheels 22, that is, the distance between the cutting blade 50 and one of the second wheels 22 is equal to the distance between the cutting blade 50 and the other of the second wheels 22. As a result, the center of gravity of the walking device 1000 is close to the midpoint of the line connecting the axles of the two second wheels 22, thereby improving the driving stability of the walking device 1000. Figure 4 As shown, of course, in some embodiments, the center of the cutting blade 50 is spaced apart from the midpoint of the line connecting the axles of the two second wheels 22. For example, the cutting blade 50 can be arranged close to one of the second wheels 22, that is, the distance between the cutting blade 50 and one of the second wheels 22 is greater than the distance between the cutting blade 50 and the other second wheel 22.

[0053] Please also read Figure 1 and Figure 5 , Figure 5 yes Figure 1A bottom view of the fourth embodiment of the chassis assembly 300 of the walking device 1000 in FIG. On the horizontal projection plane, the line connecting the axes of the two first wheels 21 is the first line 301, the line connecting the axes of the two second wheels 22 is the second line 302, and the cutting blade 50 is located at the intersection of the first line 301 and the second line 302. Therefore, on the one hand, the distance from the cutting blade 50 to the four corners of the frame 10 is greater than the distance from the cutting blade 50 to the side of the frame 10, and the distance from any side of the frame 10 to the cutting blade 50 is not too close, thereby preventing the user from touching the cutting blade 50, thereby improving the safety and aesthetics of the chassis assembly 300; on the other hand, the center of gravity of the walking device 1000 is coincident with or close to the intersection of the first line 301 and the second line 302, thereby improving the driving stability of the walking device 1000.

[0054] Exemplarily, in the present embodiment, the number of the cutting disc 50 may be one. Of course, in some embodiments, the number of the cutting disc 50 may also include multiple. For example, the cutting disc 50 may include two. The two cutting discs 50 are arranged in sequence along the width direction Y of the walking device 1000 and are located between the two second wheels 22. It should be noted that the position setting of the cutting disc 50 can be determined according to factors such as the spatial layout of the walking device 1000 and the number of the cutting discs 50, and the present utility model does not make specific limitations.

[0055] The chassis assembly 300 also includes a first drive member 41 and a second drive member 42. The first drive member 41 is connected to the first wheel 21 by transmission. The first drive member 41 is used to drive the first wheel 21 to rotate. The second drive member 42 is connected to the second wheel 22 by transmission, and is used to drive the second wheel 22 to rotate. Thus, at least one first wheel 21 and two second wheels 22 can be configured as drive wheels, and rotate independently of each other. Specifically, exemplarily, in the present embodiment, the first drive member 41 and the second drive member each include two. The two first wheels 21 are connected to the two first drive members 41 in a one-to-one correspondence. The two second wheels 22 are connected to the two second drive members 42 in a one-to-one correspondence, so that each second drive member 42 is used to drive the corresponding second wheel 22 to rotate, thereby realizing the differential steering function of the two second wheels 22, so that the walking device 1000 can achieve more flexible and precise steering. It is understandable that the walking device 1000 often needs to operate on complex terrain. If only the left and right second wheels 22 are used as driving wheels, the walking device 1000 is prone to the situation where the front and rear first wheels 21 touch the ground and the left and right second wheels 22 are suspended when climbing a slope, which may cause the walking device 1000 to fail to climb a slope. Therefore, the walking device 1000 provided in the embodiment of the utility model uses at least one of the two first wheels 21 as a driving wheel so that when the walking device 1000 rotates in place through the differential speed of the two second wheels 22, it can drive at least one first wheel 21 to rotate, thereby increasing the stability of the walking device 1000 rotating in place. Of course, in some embodiments, the number of the first driving member 41 may include one, and the first driving member 41 is used to drive one of the first wheels 21 to rotate; or the first driving member 41 is used to drive the two first wheels 21 to rotate simultaneously. The number of the second driving member 42 may also include one, and the second driving member 42 is used to drive one of the second wheels 22 to rotate; or the second driving member 42 is used to drive the two second wheels 22 to rotate simultaneously.

[0056] In some embodiments, the number of the first driving members 41 includes two, and the two first wheels 21 are connected to the two first driving members 41 in a one-to-one transmission manner. Thus, the two first wheels 21 and the two second wheels 22 are configured as driving wheels and rotate independently of each other. Thus, when the walking device 1000 realizes the rotation of the walking device 1000 in situ by the differential of the two second wheels 22, the two first wheels 21 can be driven to rotate in opposite directions and at the same speed, thereby increasing the stability of the rotation of the walking device 1000 in situ. It should be noted that when the walking device 1000 is climbing a slope, the speed of the two first wheels 21 can be adjusted in real time according to actual conditions. The first driving member 41 and / or the second driving member 42 can be configured as a driving motor. The driving motor can be a hub motor; or, it can also be a non-hub motor. It should be noted that the hub motor is a motor that directly integrates the hub and the driving structure into one, that is, the motor, the transmission and the braking device are all integrated into the hub, commonly known as an electric wheel, also known as a wheel motor or a wheel motor. A non-hub motor refers to a motor whose driving structure is arranged outside the hub.

[0057] Please also read Figure 1 , Figure 5 and Figure 6 , Figure 6 yes Figure 1 1 is a bottom view of the fifth embodiment of the chassis assembly 300 of the walking device 1000 in FIG. In the fifth embodiment, the first driving member 41 and / or the second driving member 42 are configured as a hub motor. As a result, the space occupied by the first driving member 41 and / or the second driving member 42 on the frame 10 is reduced, the space utilization rate and the transmission efficiency are improved, and the maneuverability of the walking device 1000 is increased, the complexity of the design change of the chassis assembly 300 is reduced, and the development cycle and development cost of the chassis assembly 300 are shortened. Specifically, the first wheel 21 and / or the second wheel 22 each include a wheel hub 201 and a tire arranged on the wheel hub 201. The hub motor is installed inside the wheel hub 201, so that the entire wheel hub motor of the first wheel 21 and / or the second wheel 22 has the advantages of compact structure, high space utilization rate, large output torque, stable braking, etc. Exemplarily, in this embodiment, the first driving member 41 and the second driving member 42 are both configured as hub motors. Of course, in some embodiments, one of the first driving member 41 and the second driving member 42 is configured as a wheel hub motor, and the other of the first driving member 41 and the second driving member 42 is configured as a non-wheel hub motor; or, both the first driving member 41 and the second driving member 42 are configured as non-wheel hub motors, which is not specifically limited in the embodiments of the utility model. The structures and driving forces of the first driving member 41 and the second driving member 42 can be the same or different.

[0058] In some embodiments, the chassis assembly 300 further includes a mowing motor 60. The mowing motor 60 is disposed on the frame 10 and is in transmission connection with the cutting disc 50. Thus, since the first driving member 41 and the second driving member 42 can be configured as hub motors, the frame 10 can reserve sufficient layout space for the installation of the mowing motor 60, so that the structure of the walking device 1000 is simple and compact, and the space utilization rate is high. The mowing motor 60 can be used to drive the cutting disc 50 to rotate so as to trim the lawn or other vegetation. In some embodiments, the mowing motor 60 can also be used to drive the cutting disc 50 to rise and fall, so as to meet the requirements of the mowing height.

[0059] In some embodiments, the chassis assembly 300 also includes a controller 70. The controller 70 and the mowing motor 60. The controller 70 is used for the mowing motor 60 to drive the mowing disc to perform mowing operations. The controller 70 can also be connected to the first drive member 41 and the second drive member 42. The controller 70 is used to control the two first wheels 21 and the two second wheels 22 to rotate independently of each other, so that the walking device 1000 can meet the walking requirements of different working conditions. For example, the controller 70 is also used to control the first drive member 41 to drive the first wheel 21 to rotate, and to control the second drive member 42 to drive the second wheel 22 to rotate. The first drive member 41 and the second drive member 42 can work simultaneously; or, they can also work at different times. The controller 70 can control the working mode of the first drive member 41 and the second drive member 42 according to the walking requirements of different working conditions of the walking device 1000.

[0060] For example, in some embodiments, the controller 70 controls the two first driving members 41 to drive the two first wheels 21 to rotate, and controls the two second driving members 42 to drive the two second wheels 22 to rotate, so that the walking device 1000 can be suitable for climbing scenes. In some embodiments, the controller 70 controls the two first driving members 41 to drive the two first wheels 21 to rotate, and controls the two second driving members 42 to stop working, so that the two second wheels 22 are in an unloaded state, so that the walking device 1000 can be suitable for straight-line driving scenes and terrain where the left and right second wheels 22 are easily suspended. In some embodiments, the controller 70 controls the two first driving members 41 to stop working, so that the two first wheels 21 are in an unloaded state, and controls the two second driving members 42 to drive the two second wheels 22 to rotate, so that the walking device 1000 can be suitable for straight-line driving scenes, turning scenes, and turning-in-place scenes. In some embodiments, the controller 70 controls the two second driving members 42 to respectively drive the two second wheels 22 to rotate, controls one of the first driving members 41 to drive the first wheel 21 at the front end of the walking device 1000 to rotate, and controls the other first driving member 41 to stop working, so that the first wheel 21 at the rear end of the walking device 1000 is in an unloaded state, so that the walking device 1000 can be used in medium performance scenarios and steering scenarios. In some embodiments, the controller 70 controls the two second driving members 42 to respectively drive the two second wheels 22 to rotate, controls one of the first driving members 41 to drive the first wheel 21 at the rear end of the walking device 1000 to rotate, and controls the other first driving member 41 to stop working, so that the first wheel 21 at the front end of the walking device 1000 is in an unloaded state, so that the walking device 1000 can be used in medium performance scenarios and steering scenarios.

[0061] Please refer again Figure 1 and Figure 5 , on the horizontal projection plane, the outline of the quadrilateral area 30 is a diamond shape. Therefore, when the walking device 1000 rotates in situ around the midpoint of the line connecting the axles of the two second wheels 22, the minimum space required for the walking device 1000 to turn in situ can be ensured, so that the walking device 1000 is suitable for turning in a narrow space, so that the walking device 1000 has strong adaptability and improves the control flexibility of the walking device 1000. Of course, in some embodiments, the outline of the quadrilateral area 30 can also be, but not limited to, a vertical quadrilateral or other regular or irregular quadrilateral, and the embodiments of the utility model do not make specific limitations.

[0062] In some embodiments, on the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels 22 coincides with the center of gravity of the walking device 1000. It is understandable that when the walking device 1000 turns on a slope, the walking device 1000 may slide down the slope due to insufficient grip of the first wheel 21. Therefore, on the one hand, when the walking device 1000 turns on a slope, the rotation center of the walking device 1000 is controlled to be at the midpoint of the line connecting the axles of the two second wheels 22 and coincide with the center of gravity of the walking device 1000, so that the weight distribution of each part of the walking device 1000 is uniform, and the centrifugal force generated by the uneven weight distribution of the walking device 1000 is reduced, and the left and right second wheels 22 can evenly share the weight of the walking device 1000, thereby improving the grip of the left and right second wheels 22, preventing the walking device 1000 from tilting or rolling over, and improving the stability of the walking device 1000 rotating in place on the slope, preventing the walking device 1000 from sliding down the slope; on the other hand, the rotation center of the walking device 1000 rotating in place is set at the midpoint of the line connecting the axles of the two second wheels 22, so that the controller 70 of the walking device 1000 can more accurately calculate and control the rotation speed of the first wheel 21 and the second wheel 22, thereby realizing precise control of the rotating in place of the walking device 1000.

[0063] Of course, in some embodiments, on the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels 22 is spaced from the center of gravity of the chassis assembly 300 by a preset distance. It should be noted that the preset distance can be determined according to the model of the walking device 1000 or the arrangement of the functional elements of the walking device 1000, so as to ensure that the walking device 1000 can successfully climb the slope, which is within the scope of protection of the embodiment of the utility model. For example, the center of gravity of the chassis assembly 300 can be located in a preset area. The preset area can be an area with the midpoint of the line connecting the axles of the two second wheels 22 as the center and a radius of a preset radius; or, the preset area can also be an area corresponding to the line connecting the axles of the two second wheels 22; or, the preset area can also be an area corresponding to the line connecting the axles of the two second wheels 22 vertically. The preset radius is less than or equal to 10 cm. For example, the preset radius can be, but is not limited to, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, or 10 cm.

[0064] Please also read Figure 1 , Figure 5 and Figure 7 , Figure 7 yes Figure 1A bottom view of a sixth embodiment of the chassis assembly 300 of the walking device 1000 in FIG. In the sixth embodiment, the chassis assembly 300 includes two first drive members 41 and two second drive members 42. Each first drive member 41 is used to drive the corresponding first wheel 21 to rotate, and each second drive member 42 is used to drive the corresponding second wheel 22 to rotate. On the horizontal projection plane, the first line 301 passes through the midpoint of the second line 302; or, the midpoints of the first line 301 and the second line 302 are separated by a preset distance. Thus, when the second driving member 42 drives the left and right second wheels 22 to perform differential steering so that the walking device 1000 rotates in situ around the midpoint of the line connecting the axles of the left and right second wheels 22, the first driving member 41 drives the front and rear first wheels 21 to rotate in opposite directions so that the two first wheels 21 can generate traction F that cancel each other out, and the first wheel 21 generates a first component force F1 in a direction perpendicular to the first connecting line 301, and the first wheel 21 generates a second component force F2 in the direction of the first connecting line 301. Under the action of the first component force F1, the first wheel 21 rotates in a direction perpendicular to the first connecting line 301, thereby overcoming the resistance of the ground to the swing of the first wheel 21 to a certain extent, and improving the smoothness of the walking device 1000 rotating in situ; the two first wheels 21 will also generate a second component force F2 in opposite directions, thereby improving the stability of the walking device 1000 rotating in situ, thereby improving the success rate of the walking device 1000 climbing.

[0065] Please also read Figure 1 and Figure 6 In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel. The omnidirectional wheel includes at least one wheel set 210, each wheel set 210 includes a wheel body 211 and a plurality of rollers 212, and the plurality of rollers 212 are arranged at intervals along the circumferential direction of the wheel body 211, and the rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 22. Specifically, the rotation axes of the two first wheels 21 are parallel to the second connecting line 302, and the rotation axes of the two second wheels 22 are respectively arranged colinearly with the second connecting line 302. Therefore, on the one hand, the steering of the walking device 1000 can be achieved through the differential of the left and right second wheels 22, without the need to arrange a complex steering structure, and when the walking device 1000 turns, the roller 212 of the omnidirectional wheel can also reduce the ground resistance to the movement of the walking device 1000; on the other hand, the omnidirectional wheel's all-round movement characteristics are utilized to improve the driving ability and steering ability of the walking device 1000, reduce labor intensity and steering difficulty, and improve the obstacle crossing performance of the walking device 1000 and its adaptability to complex ground environments.

[0066] Exemplarily, in this embodiment, both first wheels 21 are configured as omnidirectional wheels. The omnidirectional wheel includes two wheel sets 210. The two wheel sets 210 are connected and coaxially arranged. As a result, the contact area between the omnidirectional wheel and the ground is larger, and the walking device 1000 can travel more steadily. When facing undulating terrain such as valleys and hillocks or obstacles such as sand, stones, and debris, the passability of the walking device 1000 when facing obstacle terrain can be improved. Of course, in some embodiments, the omnidirectional wheel may also include one or more wheel sets 210.

[0067] The rollers 212 of two adjacent wheel sets 210 are staggered along the circumferential direction of the wheel set 210, and all the rollers 212 form a complete circle in the vertical plane of the axis of the omnidirectional wheel, thereby improving the contact efficiency between the omnidirectional wheel and the ground, allowing the walking device 1000 to travel more stably.

[0068] Please also read Figure 1 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 , Figure 8 yes Figure 1 A bottom view of a seventh embodiment of the chassis assembly 300 of the walking device 1000; Fig. 9 yes Figure 1 A bottom view of a seventh embodiment of the chassis assembly 300 of the walking device 1000; Fig.10 yes Figure 1A bottom view of the ninth embodiment of the chassis assembly 300 of the walking device 1000 in FIG. In the ninth embodiment, both first wheels 21 are configured as omnidirectional wheels. On the horizontal projection plane, the line connecting the axles of the two second wheels 22 is the second line 302, the rotation axes of the two second wheels 22 are colinearly arranged with the second line 302, and the line connecting the axles of the omnidirectional wheels and the midpoints of the second line 302 is the third line 303. The rotation axis of the omnidirectional wheel is arranged at an angle to the third line 303. The minimum angle formed by the rotation axis of the omnidirectional wheel and the third line 303 is the first angle, and the first angle is denoted as α, wherein 0°<α<90°. For example, the first angle may be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70° or 80°, etc. Specifically, the first wheel 21 and the second wheel 22 can only rotate around their own central axis and do not deflect relative to the frame 10, that is, they are fixed relative to the frame 10, the central axes of the two second wheels 22 are collinearly arranged, and the rolling direction of the omnidirectional wheel is not parallel to the line (i.e., the third line 303) connecting the midpoints of the line connecting the axis of the omnidirectional wheel and the axis of the two second wheels 22. Among them, the angle between the rotation axis of the omnidirectional wheel and the third line 303 is greater than 0 degrees and less than 90 degrees. Therefore, when the walking device 1000 rotates in place around the midpoint of the line connecting the axles of the left and right second wheels 22, the two first wheels 21 are controlled by the controller 70 to rotate in opposite directions and at the same speed. This can enable the two omnidirectional wheels to generate a first component force F1 along the swing direction of the omnidirectional wheels when the walking device 1000 rotates in place, thereby overcoming the resistance of the ground to the swing of the omnidirectional wheels to a certain extent, and improving the smoothness of the walking device 1000 turning in place; it can also enable the two omnidirectional wheels to generate a second component force F2 in the opposite direction, thereby improving the stability of the walking device 1000 turning in place.

[0069] It should be noted that the rotation axis of the first wheel 21 is the central axis of the first wheel 21, that is, the rotation axis of the omnidirectional wheel is the central axis of the omnidirectional wheel, and the rotation axis of the second wheel 22 is the central axis of the second wheel 22. For the convenience of description, this article defines the rolling direction of the roller 212 as the first direction D1, the rolling direction of the omnidirectional wheel as the second direction D2, and the rolling direction of the second wheel 22 as the third direction D3. The rotation axis of the omnidirectional wheel is perpendicular to the rolling direction of the omnidirectional wheel (i.e., the second direction D2). The rotation axis of the second wheel 22 is perpendicular to the rolling direction of the second wheel 22 (i.e., the third direction D3).

[0070] Please refer again Figure 7 and Figure 8, on the horizontal projection plane, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel 22. Specifically, the rotation axes of the two first wheels 21 are parallel, the rotation axes of the two second wheels 22 are parallel, and the rotation axis of the first wheel 21 is parallel to the rotation axis of the second wheel 22. Therefore, on the one hand, it is convenient to process and manufacture the first wheel 21 and the second wheel 22 and the frame 10, and it is convenient to assemble; on the other hand, the steering of the walking device 1000 can be achieved by the differential speed of the left and right second wheels 22, and there is no need to arrange a complex steering structure. In addition, when the two first wheels 21 and the two second wheels 22 are configured as driving wheels, the power of the walking device 1000 can be improved. When the walking device 1000 turns, the roller 212 of the omnidirectional wheel can also reduce the resistance of the ground to the movement of the walking device 1000, and improve the stability of the walking device 1000 turning in situ.

[0071] like Figure 1 and Figure 8 As shown, in some embodiments, the rolling direction of the roller 212 (i.e., the first direction D1) is perpendicular to the line connecting the axis of the omnidirectional wheel and the midpoint of the second line 302 (i.e., the third line 303). Therefore, when the walking device 1000 rotates around the midpoint of the line connecting the axis of the left and right second wheels 22, the speed direction of the front and rear first wheels 21 is the same or approximately the same as the rolling direction of the roller 212 to which the first wheels 21 belong, thereby reducing the resistance of the ground to the movement of the front and rear first wheels 21 and improving the stability of the walking device 1000 in turning on the spot.

[0072] like Fig. 9 and Fig.10As shown, on the horizontal projection plane, the line connecting the axes of the two first wheels 21 passes through the midpoint of the line connecting the axes of the two second wheels 22, that is, the first line 301 passes through the midpoint of the second line 302, and the first line 301 and the second line 302 are perpendicular, and the rotation axis of the omnidirectional wheel is set at an angle with the rotation axis of the second wheel 22, that is, the rolling direction of the omnidirectional wheel (i.e., the second direction D2) and the rolling direction of the second wheel 22 (i.e., the third direction D3) are set at an angle. The minimum angle formed by the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel 22 is the second angle, and the second angle is recorded as β, where 0°<β<90°. For example, the second angle can be but is not limited to 10°, 20°, 30°, 40°, 50°, 60°, 70° or 80°, etc. Therefore, when the walking device 1000 rotates around the midpoint of the line connecting the axles of the left and right second wheels 22, by controlling the two first wheels 21 to rotate in opposite directions, the two omnidirectional wheels can generate a first component force F1 along the swing direction of the omnidirectional wheels when the walking device 1000 rotates in situ, thereby reducing the ground resistance to the movement of the front and rear first wheels 21, improving the smoothness of the walking device 1000 turning in situ, and also allowing the two omnidirectional wheels to generate a second component force F2 in opposite directions, thereby improving the stability of the walking device 1000 turning in situ.

[0073] Please refer again Figure 1 and Figure 5 In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel, the rotation axis of the two first wheels 21 is parallel to the rotation axis of the two second wheels 22, and on the horizontal projection plane, the line connecting the axes of the two first wheels 21 is the first line 301, and the line connecting the axes of the two second wheels 22 is the second line 302, the first line 301 and the second line 302 are perpendicular, the rolling direction of the roller 212 (i.e., the first direction D1) is perpendicular to the first line 301, the line connecting the axes of the two first wheels 21 passes through the midpoint of the line connecting the axes of the two second wheels 22, i.e., the first line 301 passes through the midpoint of the second line 302, or, the midpoints of the first line 301 and the second line 302 are separated by a preset distance. Therefore, when the walking device 1000 rotates around the midpoint of the line connecting the axles of the left and right second wheels 22, by controlling the two first wheels 21 to rotate in opposite directions, the two omnidirectional wheels can generate a first component force F1 along the swing direction of the omnidirectional wheels when the walking device 1000 rotates in situ, thereby reducing the ground resistance to the movement of the front and rear first wheels 21, and improving the smoothness of the walking device 1000 turning in situ; the two omnidirectional wheels can also generate a second component force F2 in opposite directions, thereby improving the stability of the walking device 1000 turning in situ.

[0074] Please refer again Figure 1 , Figure 5 and Figure 8In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel, the rotation axes of the two first wheels 21 are parallel to the rotation axes of the two second wheels 22, and on the horizontal projection plane, the line connecting the axis of the omnidirectional wheel and the midpoint of the second line 302 is the third line 303, and the rolling direction of the roller 212 (i.e., the first direction D1) is perpendicular to the third line 303. Exemplarily, in this embodiment, the first wheel 21 located at the front end of the walking device 1000 is configured as an omnidirectional wheel, and the rolling direction of the roller 212 of the omnidirectional wheel is perpendicular to the third line 303. Thus, when the walking device 1000 rotates in situ around the midpoint of the line connecting the axles of the two second wheels 22, the speed direction of the omnidirectional wheel at the front end of the walking device 1000 is the same or approximately the same as the rolling direction of the roller 212. On the one hand, the wear on the roller 212 can be reduced, and the resistance of the ground to the movement of the omnidirectional wheel is smaller when the walking device 1000 rotates, which improves the stability of the walking device 1000 turning in situ. Of course, in some embodiments, the first wheel 21 at the rear end of the walking device 1000 is configured as an omnidirectional wheel, and the rolling direction of the roller 212 of the omnidirectional wheel is perpendicular to the third line 303; or, the two first wheels 21 at the front and rear ends of the walking device 1000 are both configured as omnidirectional wheels, and the rolling direction of the roller 212 of the omnidirectional wheel is perpendicular to the line connecting the axles of the two first wheels 21. Therefore, by utilizing the differential speed of the left and right second wheels 22 to realize that when the walking device 1000 rotates in situ around the midpoint of the line connecting the axles of the two second wheels 22, the speed direction of the omnidirectional wheel located at the front end of the walking device 1000 is the same or approximately the same as the rolling direction of the roller 212. On the one hand, the wear on the roller 212 can be reduced, and the ground resistance to the movement of the omnidirectional wheel of the walking device 1000 is smaller when the walking device 1000 rotates, thereby improving the stability of the walking device 1000 in turning in situ.

[0075] Please refer again Figure 1 , Figure 7 and Figure 8In some embodiments, at least one of the two first wheels 21 is configured as an omnidirectional wheel, and the rotation axis of the two first wheels 21 is parallel to the rotation axis of the two second wheels 22. On the horizontal projection plane, the line connecting the axes of the two first wheels 21 is the first line 301, and the line connecting the axes of the two second wheels 22 is the second line 302. The line connecting the axes of the two first wheels 21 passes through the midpoint of the line connecting the axes of the two second wheels 22, that is, the first line 301 passes through the midpoint of the second line 302. The minimum angle formed by the first line 301 and the second line 302 is the third angle, which is recorded as γ. Among them, 0°<γ<90°, that is, the line connecting the axes of the two first wheels 21 (that is, the first line 301) and the line connecting the axes of the two second wheels 22 (that is, the second line 302) are not perpendicular. For example, the third angle may be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70° or 80°, etc. The rolling direction of the roller 212 (i.e., the first direction D1) is parallel to the central axis of the omni-directional wheel, that is, the rolling direction of the roller 212 (i.e., the first direction D1) is perpendicular to the rolling direction of the omni-directional wheel (i.e., the second direction D2). The chassis assembly 300 further includes a first driving member 41, which is used to drive the omni-directional wheel to rotate. Therefore, on the one hand, the rolling direction of the roller 212 is perpendicular to the rolling direction of the omnidirectional wheel. When the walking device 1000 moves straight, the omnidirectional wheel rotates but the roller 212 hardly rotates, thereby improving the stability of the straight-moving movement of the walking device 1000, improving the accuracy of motion control, and reducing the wear on the roller 212; on the other hand, since the first connecting line 301 and the second connecting line 302 are not perpendicular, when the walking device 1000 rotates in situ around the midpoint of the connecting line of the axles of the left and right second wheels 22, the two first wheels 21 are controlled by the controller 70 to rotate in opposite directions and at the same speed, so that the two omnidirectional wheels can generate a first component force F1 along the swing direction of the omnidirectional wheels when the walking device 1000 rotates in situ, thereby overcoming the resistance of the ground to the swing of the omnidirectional wheels to a certain extent, and improving the smoothness of the walking device 1000 turning in situ; the two omnidirectional wheels can also generate a second component force F2 in the opposite direction, thereby improving the stability of the walking device 1000 turning in situ.

[0076] Please also read Figure 1 , Figure 8 and Fig.11 , Fig.11 yes Figure 1 A bottom view of the tenth embodiment of the chassis assembly 300 of the walking device 1000 in FIG. In the tenth embodiment, at least one of the two first wheels 21 is configured as an omnidirectional wheel, the rotation axes of the two first wheels 21 are parallel, and the rotation axes of the two second wheels 22 are parallel. Figure 8 As shown, the rotation axis of the first wheel 21 is parallel to the rotation axis of the second wheel 22. Fig.11As shown, the rotation axis of the first wheel 21 and the rotation axis of the second wheel 22 are arranged at an angle. Specifically, the minimum angle formed by the rotation axis of the first wheel 21 and the rotation axis of the second wheel 22 is the second angle, which is denoted by β, wherein 0°<β<90°. For example, the second angle may be, but is not limited to, 10°, 20°, 30°, 40°, 50°, 60°, 70° or 80°, etc. Figure 8 and Fig.11 As shown, on the horizontal projection plane, the line connecting the axes of the two second wheels 22 is the second line 302, the line connecting the axis of the omnidirectional wheel and the midpoint of the second line 302 is the third line 303, and the rolling direction of the roller 212 (i.e., the first direction D1) is perpendicular to the third line 303. Therefore, when the walking device 1000 rotates in situ around the midpoint of the line connecting the axes of the left and right second wheels 22, the swinging direction of the omnidirectional wheel is the same or approximately the same as the rolling direction of the roller 212 belonging to the first wheel 21, so that the wear of the roller 212 can be reduced, the resistance of the ground to the movement of the front and rear first wheels 21 can be reduced, and the stability of the walking device 1000 in situ turning can be improved.

[0077] Please also read Figure 1 and Fig.12 , Fig.12 yes Figure 1 FIG. 1 is a bottom view of the eleventh embodiment of the chassis assembly 300 of the walking device 1000 in FIG. In the eleventh embodiment, the chassis assembly 300 includes two first drive members 41 and two second drive members 42. Each first drive member 41 is used to drive the corresponding first wheel 21 to rotate, and each second drive member 42 is used to drive the corresponding second wheel 22 to rotate. Both first wheels 21 are configured as omnidirectional wheels. The rotation axes of the two second wheels 22 are collinearly arranged, that is, the rotation axes of the two second wheels 22 are collinearly arranged with the second connecting line 302. On the horizontal projection plane, the line connecting the axles of the two first wheels 21 passes through the midpoint of the line connecting the axles of the two second wheels 22, that is, the first connecting line 301 passes through the midpoint of the second connecting line 302, and the first connecting line 301 and the second connecting line 302 are perpendicular. The rotation axis of the omnidirectional wheel is arranged at an angle to the rotation axis of the second wheel 22. Specifically, the rotation axis of the first wheel 21 is perpendicular to the rotation axis of the second wheel 22. The rolling direction of the roller 212 (i.e., the first direction D1) is perpendicular to the rotation axis of the second wheel 22, i.e., the first direction D1 is parallel to the rolling direction of the second wheel 22 (i.e., the third direction D3). Thus, when the walking device 1000 is moving straight, the wear of the roller 212 by the ground can be reduced, and the resistance of the ground to the movement of the walking device 1000 can be reduced.

[0078] Please also read Figure 1 and Fig.13 , Fig.13 yes Figure 11 is a bottom view of the twelfth embodiment of the chassis assembly 300 of the walking device 1000. In the twelfth embodiment, the chassis assembly 300 includes two first wheels 21, two second wheels 22, a first drive member 41 and a second drive member 42. At least one of the two first wheels 21 is connected to the first drive member 41, and each second wheel 22 is connected to the second drive member 42. The first drive member 41 is used to drive the corresponding first wheel 21 to rotate. The second drive member 42 is used to drive the corresponding second wheel 22 to rotate. The two first wheels 21 and the two second wheels 22 can be configured as drive wheels and rotate independently of each other. Specifically, the two first wheels 21 are connected to the two first drive members 41 in a one-to-one correspondence, and the two second wheels 22 are connected to the two second drive members 42 in a one-to-one correspondence, so that each second drive member 42 is used to drive the corresponding second wheel 22 to rotate, thereby realizing the differential steering function of the two second wheels 22, so that the walking device 1000 can achieve more flexible and precise steering. It is understandable that the walking device 1000 often needs to operate on complex terrain. If only the left and right second wheels 22 are used as driving wheels, the walking device 1000 is prone to the situation where the front and rear first wheels 21 touch the ground and the left and right second wheels 22 are suspended when climbing a slope, which will cause the walking device 1000 to fail to climb. Therefore, the walking device 1000 provided by the embodiment of the utility model uses at least one of the two first wheels 21 as a driving wheel so that when the walking device 1000 rotates in place through the differential speed of the two second wheels 22, it can drive at least one first wheel 21 to rotate, thereby increasing the stability of the walking device 1000 rotating in place.

[0079] On the horizontal projection plane, the line connecting the midpoints of the axis of the omnidirectional wheel and the axis of the two second wheels 22 (i.e., the third line 303) is perpendicular to the rolling direction (i.e., the first direction D1) of the roller 212. Therefore, when the walking device 1000 rotates around the midpoint of the line connecting the axis of the left and right second wheels 22, the speed direction of the front and rear first wheels 21 is the same or approximately the same as the rolling direction of the roller 212 to which the first wheels 21 belong, thereby reducing the wear on the roller 212, and the ground resistance to the movement of the omnidirectional wheel is smaller when the walking device 1000 rotates, thereby improving the stability of the walking device 1000 in turning on the spot.

[0080] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A chassis assembly, characterized in that: The chassis assembly comprises: frame; Two first wheels are respectively mounted on two ends of the frame along the length direction of the chassis assembly; Two second wheels are respectively mounted on both sides of the frame along the width direction of the chassis assembly; A cutting disc is arranged on the frame. On a horizontal projection plane perpendicular to the height direction of the chassis assembly, the cutting disc is at least partially located in a quadrilateral area formed by connecting the axles of the two first wheels and the axles of the two second wheels.

2. The chassis assembly according to claim 1, characterized in that: The cutting blade is located between the two second wheels.

3. The chassis assembly according to claim 1, characterized in that: On the horizontal projection plane, a line connecting the axes of the two first wheels is a first line, a line connecting the axes of the two second wheels is a second line, and the cutting blade is located at the intersection of the first line and the second line.

4. The chassis assembly according to claim 1, characterized in that: On the horizontal projection plane, the outline of the quadrilateral area is rhombus-shaped.

5. The chassis assembly according to claim 1, characterized in that: The chassis assembly also includes a first drive member and a second drive member; at least one of the two first wheels is in transmission connection with the first drive member, and each of the second wheels is in transmission connection with the second drive member, the first drive member is used to drive the corresponding first wheel to rotate, and the second drive member is used to drive the corresponding second wheel to rotate.

6. The chassis assembly according to claim 5, characterized in that: The first driving member and / or the second driving member are configured as hub motors; the chassis assembly also includes a mowing motor, which is arranged on the frame and is drivingly connected to the cutting disc.

7. The chassis assembly according to claim 5, characterized in that: On the horizontal projection plane, the line connecting the axles of the two first wheels is the first line, the line connecting the axles of the two second wheels is the second line, and the first line passes through the midpoint of the second line; or, the midpoints of the first line and the second line are separated by a preset distance.

8. The chassis assembly according to claim 5, characterized in that: Both of the first wheels are configured as omnidirectional wheels. On the horizontal projection plane, the line connecting the axles of the two second wheels is the second line, the rotation axes of the two second wheels are collinearly arranged with the second line, the line connecting the axles of the omnidirectional wheels and the midpoints of the second line is the third line, the minimum angle formed by the rotation axis of the omnidirectional wheels and the third line is the first angle, and the first angle is denoted as α, where 0°<α<90°.

9. The chassis assembly according to claim 8, characterized in that: On the horizontal projection plane, the rotation axis of the omnidirectional wheel is parallel to the rotation axis of the second wheel.

10. The chassis assembly according to claim 8, characterized in that On the horizontal projection plane, the line connecting the axles of the two first wheels is the first line, the first line passes through the midpoint of the second line, the first line is perpendicular to the second line, and the minimum angle formed by the rotation axis of the omnidirectional wheel and the rotation axis of the second wheel is the second angle, and the second angle is denoted as β, where 0°<β<90°.

11. The chassis assembly according to claim 1, characterized in that: At least one of the two first wheels is configured as an omnidirectional wheel, and the omnidirectional wheel includes at least one wheel group, each of the wheel groups includes a wheel body and a plurality of rollers, and the plurality of rollers are arranged at intervals along the circumferential direction of the wheel body; the rotation axis of the two first wheels is parallel to the rotation axis of the two second wheels.

12. The chassis assembly according to claim 11, characterized in that On the horizontal projection plane, the line connecting the axes of the two first wheels is the first line, the line connecting the axes of the two second wheels is the second line, the first line is perpendicular to the second line, the rolling direction of the roller is perpendicular to the first line, and the first line passes through the midpoint of the second line; or, the midpoints of the first line and the second line are separated by a preset distance.

13. The chassis assembly according to claim 11, characterized in that On the horizontal projection plane, the line connecting the axes of the two second wheels is the second line, the line connecting the axis of the omnidirectional wheel and the midpoint of the second line is the third line, and the rolling direction of the roller is perpendicular to the third line.

14. The chassis assembly according to claim 11, characterized in that On the horizontal projection plane, a line connecting the axes of the two first wheels is a first line, a line connecting the axes of the two second wheels is a second line, the first line passes through the midpoint of the second line, and a minimum angle formed by the first line and the second line is a third angle, the third angle is denoted as γ, wherein 0°<γ<90°, the rolling direction of the roller is parallel to the rotation axis of the omnidirectional wheel, and the chassis assembly further includes a first driving member, which is used to drive the omnidirectional wheel to rotate.

15. The chassis assembly according to claim 11, characterized in that On the horizontal projection plane, the line connecting the axes of the two second wheels is the second line, the line connecting the axis of the omnidirectional wheel and the midpoint of the second line is the third line, and the rolling direction of the roller is perpendicular to the third line.

16. The chassis assembly according to claim 10, characterized in that The omnidirectional wheel includes at least one wheel set, each of which includes a wheel body and a plurality of rollers, the plurality of rollers are arranged at intervals along the circumferential direction of the wheel body, and the rolling direction of the rollers is perpendicular to the rotation axis of the second wheel.

17. A walking device, characterized in that: Comprising a chassis assembly as claimed in any one of claims 1-16.

18. The walking device according to claim 17, characterized in that: On the horizontal projection plane, the midpoint of the line connecting the axles of the two second wheels coincides with the center of gravity of the walking device.

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