Chassis assembly of walking device and walking device

Abstract

The utility model relates to the technical field of walking devices, and discloses a chassis assembly of a walking device and the walking device, the chassis assembly comprises a chassis main body, a driving wheel and a driven wheel; at least one driven wheel is connected with a swing arm component, the swing arm component comprises a first swing arm and a second swing arm which are rotationally connected with the chassis body, the end, away from the second swing arm, of the first swing arm is used for being connected with the driven wheel, and the end, away from the first swing arm, of the second swing arm is used for being fixedly connected with the chassis body; according to the scheme, the driven wheel is designed to be indirectly connected with the chassis main body in the mode of being not directly connected with the chassis main body but connected with the swing arm component, so that the driven wheel connected with the swing arm component can flexibly and automatically adjust the position when facing complex road conditions, and therefore the walking device is more stable in the walking process under the complex road conditions; and the risk that the walking device vibrates violently when walking on complex road conditions is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of traveling devices, in particular to a chassis component of a traveling device and a traveling device. Background Art

[0002] With the increasing development of intelligence, the market for walking devices such as service guide robots, food delivery robots, and handling robots is growing. The bottom of the existing walking device is equipped with a driving wheel and a driven wheel, wherein the driving wheel provides the main driving force for the walking device to move forward, and the driven wheel plays the role of auxiliary support for the walking device to prevent the walking device from tipping over. When the existing walking device faces uphill or small slopes or other complex road conditions, the driven wheels at the bottom of the walking device are not flexible enough, so the walking device is prone to vibration, shaking, etc., which can easily cause tableware to spill or goods to fall. Therefore, how to improve the stability of the walking device in complex road conditions is a technical problem that needs to be solved urgently in this field. Utility Model Content

[0003] The utility model aims to provide a chassis assembly of a traveling device and a traveling device, mainly to solve the technical problem of how to improve the stability of the existing traveling device under complex road conditions.

[0004] To achieve this purpose, the utility model adopts the following technical solutions:

[0005] A chassis assembly of a walking device, comprising a chassis body and at least one driving wheel and at least one driven wheel respectively connected to the bottom of the chassis body;

[0006] At least one of the driven wheels is connected to a swing arm component, and the swing arm component includes a first swing arm and a second swing arm, both of which are rotatably connected to the chassis body, an end of the first swing arm away from the second swing arm is used to connect to the driven wheel, and an end of the second swing arm away from the first swing arm is used to be fixedly connected to the chassis body.

[0007] In one of the technical solutions, the chassis body includes a middle area and a front end area and a rear end area arranged relatively on both sides of the middle area;

[0008] The chassis body is connected to at least one driving wheel at the bottom of the middle area;

[0009] The chassis body is provided with at least one front driven wheel at the bottom of the front end area, and the chassis body is provided with at least one rear driven wheel at the bottom of the rear end area. At least one of the front driven wheel or at least one of the rear driven wheels is connected to the chassis body through the swing arm component.

[0010] In one of the technical solutions, the chassis body is provided with two front driven wheels at the bottom of the front end area, and the chassis body is provided with two rear driven wheels at the bottom of the rear end area;

[0011] The chassis assembly comprises at least three swing arm components, wherein the three swing arm components are respectively a left swing arm component, a right swing arm component and a rear swing arm component;

[0012] The first swing arm in the left swing arm component is connected to one of the front driven wheels, the first swing arm in the right swing arm component is connected to the other front driven wheel, and the second swing arm in the left swing arm component and the second swing arm in the right swing arm component are both fixedly connected to the chassis body;

[0013] The first swing arm in the rear swing arm component is connected to one of the rear driven wheels, and the second swing arm in the rear swing arm component is connected to the other rear driven wheel.

[0014] In one of the technical solutions, the direction from the front end area to the rear end area is taken as a first direction, the length direction of the left swing arm component and the length direction of the right swing arm component are both towards the first direction, and the length direction of the rear swing arm component is towards a second direction perpendicular to the first direction.

[0015] In one of the technical solutions, an articulated seat is fixed in the chassis body, the first swing arm and the second swing arm in the swing arm component are both hinged to the articulated seat, and all the driven wheels are universal wheels.

[0016] In one of the technical solutions, the chassis assembly further includes a lifting mechanism and a rotating mechanism disposed in the chassis body;

[0017] The chassis body, the lifting mechanism and the rotating mechanism are connected in sequence. The lifting mechanism is used to drive the rotating mechanism to move linearly along the vertical direction, and the rotating mechanism is used to drive the preset object to rotate around the axis in the vertical direction.

[0018] In one of the technical solutions, the lifting mechanism includes a motor, a driving gear, a driving gear, a plurality of driven gears, a plurality of driving members, a plurality of lifting blocks and a lifting seat;

[0019] The motor is connected to the chassis body, the driving gear is connected to the output shaft of the motor and meshes with the driving gear, a plurality of driven gears are arranged around the outer circumference of the driving gear and mesh with the driving gear, a driving member is fixed to the top of each driven gear, each driving member is connected to the lifting block in a threaded manner and is used to drive the lifting block to move linearly in a vertical direction, a plurality of lifting blocks are fixedly connected to the lifting seat, and the rotating mechanism is connected to the lifting seat.

[0020] In one of the technical solutions, the rotating mechanism includes a motor, a power gear and a rotating gear;

[0021] The motor is fixed on the lifting seat, the power gear is located outside the rotating gear and connected to the output shaft of the motor, and the power gear is meshed with the rotating gear. The rotating gear is rotatably connected to the lifting seat and the central axis of rotation is facing the vertical direction.

[0022] The present application also provides a walking device, which adopts the chassis assembly described in any of the above technical solutions.

[0023] In one of the technical solutions, the chassis body, the lifting mechanism and the rotating mechanism are connected in sequence, the lifting mechanism is used to drive the rotating mechanism to move linearly in the vertical direction, and the rotating mechanism is used to drive the preset object to rotate around the axis in the vertical direction;

[0024] It also includes a loading mechanism, which includes a connected power mechanism and a fork. The power mechanism is connected to the rotating mechanism. The power mechanism is also connected to the fork and is used to drive the fork to move in a straight line in a horizontal direction to extend or retract.

[0025] Compared with the prior art, the chassis assembly of the running device provided by the utility model has at least the following beneficial effects:

[0026] The present solution designs at least one driven wheel at the bottom of the existing walking device to be not directly connected to the chassis body, but to be indirectly connected to the chassis body by connecting a swing arm component, so that the driven wheel connected to the swing arm component can automatically adjust its position relative to the chassis body more flexibly when facing uphill, downhill or other complex road conditions, thereby making the walking device more stable when walking on complex road conditions and reducing the risk of severe vibration of the walking device when walking on complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic structural diagram of a chassis assembly of a walking device provided in Example 1 of the present application;

[0029] Figure 2 A schematic structural diagram of a chassis assembly of a walking device provided in Embodiment 1 of the present application at another angle;

[0030] Figure 3 for Figure 1 A partial enlarged view of point A in the middle.

[0031] Among them, the reference numerals in the figure are:

[0032] 1. Chassis body; 11. Middle area; 12. Front area; 13. Rear area;

[0033] 2. Driving wheel; 3. Driven wheel; 31. Front driven wheel; 32. Rear driven wheel;

[0034] 4. swing arm component; 41. first swing arm; 42. second swing arm; 43. left swing arm component; 44. right swing arm component; 45. rear swing arm component;

[0035] 5. Articulated seat; 6. Lifting mechanism; 61. Motor; 62. Active gear; 63. Driving gear; 64. Driven gear; 65. Driving member; 66. Lifting block; 67. Lifting seat;

[0036] 7. Rotating mechanism; 71. Electric motor; 72. Power gear; 73. Rotating gear. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the orientations or positional relationships indicated by terms such as "upper", "lower", "top", "bottom", "inside", and "outside" are 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. They do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0042] Embodiment 1

[0043] Please also read Figure 1 and Figure 2 , this embodiment provides a chassis assembly of a walking device, which can improve the walking stability of the walking device to reduce the risk of shaking and vibration under complex road conditions. The chassis assembly mainly includes a chassis body 1 and a driving wheel 2 and a driven wheel 3 connected to the bottom of the chassis body 1, wherein the driving wheel 2 provides the main driving force for the walking device to move forward, the driving wheel 2 can be powered by a motor, and the driving wheel 2 can also be a hub motor with a built-in motor, and the hub motor can save the internal space of the chassis body 1, thereby reducing the volume of the chassis body 1, or allowing the limited space inside the chassis body 1 to accommodate other parts, so as to facilitate the design of more functions for the walking device. Among them, the driven wheel 3 plays a role in auxiliary support for the walking device and reducing the friction between the walking device and the bottom surface. In this embodiment, preferably, two driving wheels 2 are arranged at the bottom of the chassis body 1, and the two driving wheels 2 are arranged on opposite sides of the chassis body 1 to ensure that the walking device has better stability when moving forward. When the axial width of the driving wheel 2 is large, only one driving wheel 2 can also be installed at the bottom of the chassis body 1. In addition, it should be noted that when the number of driving wheels 2 is at least two, the number of driven wheels 3 can be at least one, and when the number of driving wheels 2 is one, the number of driven wheels 3 needs to be designed to be at least two, so as to ensure that there are at least three wheels at the bottom of the walking device, thereby ensuring the most basic stability of the walking device during walking.

[0044] Please also read Figure 1 and Figure 2The chassis assembly of this embodiment also includes a swing arm component 4, and at least one driven wheel 3 needs to be connected to this swing arm component 4. Specifically, the swing arm component 4 includes a first swing arm 41 and a second swing arm 42. The first swing arm 41 and the second swing arm 42 are hinged to each other at the same position of the chassis body 1. Specifically, in order to facilitate the hinge connection of the first swing arm 41 and the second swing arm 42, the present embodiment fixes an articulation seat 5 in the chassis body 1. This solution designs the first swing arm 41 and the second swing arm 42 to be hinged to the articulation seat 5, thereby achieving the purpose of hinge connection of the first swing arm 41 and the second swing arm 42 at the same position of the chassis body 1. More specifically, the end of the first swing arm 41 away from the second swing arm 42 is connected to the above-mentioned driven wheel 3, and the end of the second swing arm 42 away from the first swing arm 41 is used for fixed connection with the chassis body 1. In other words, the present solution designs at least one driven wheel 3 at the bottom of the walking device to be not directly connected to the chassis body 1, but to be indirectly connected to the chassis body 1 by connecting to a swing arm component 4, so that the driven wheel 3 connected to the swing arm component 4 can automatically adjust its position relative to the chassis body 1 more flexibly when facing uphill, downhill or other complex road conditions, thereby making the walking device more stable when walking on complex road conditions and reducing the risk of severe vibration of the walking device when walking on complex road conditions.

[0045] Please also read Figure 1 and Figure 2 The chassis body 1 includes a middle area 11 and a front area 12 and a rear area 13 arranged relatively on both sides of the middle area 11, wherein the chassis body 1 is connected to two driving wheels 2 at the bottom of the middle area 11, the chassis body 1 is provided with at least one front driven wheel 31 at the bottom of the front area 12, and the chassis body 1 is provided with at least one rear driven wheel 32 at the bottom of the rear area 13. By providing the driving wheel 2 in the middle of the chassis body 1 and providing the driven wheels 3 at the front and rear ends of the chassis body 1, compared with the structure of the tricycle-type running device, it is obvious that the stability of the running device during the running process can be improved. In addition, at least one front driven wheel 31 or at least one rear driven wheel 32 is not directly connected to the chassis body 1, but is indirectly connected to the chassis body 1 through the above-mentioned swing arm member 4, so that the flexibility of the front driven wheel 31 or the rear driven wheel 32 when facing complex road conditions can be improved, thereby further improving the stability of the running device during the running process.

[0046] Please also read Figure 1 and Figure 2In this embodiment, two front driven wheels 31 are preferably arranged at the bottom of the front end area 12 of the chassis body 1, and two rear driven wheels 32 are arranged at the bottom of the rear end area 13 of the chassis body 1, so that a total of four driven wheels 3 are arranged at the bottom of the chassis body 1, thereby further ensuring that the walking device has better stability. In addition, in this embodiment, at least three swing arm components 4 are preferably designed, and the three swing arm components 4 are respectively a left swing arm component 43, a right swing arm component 44 and a rear swing arm component 45, wherein the first swing arm 41 in the left swing arm component 43 is connected to one of the front driven wheels 31, the first swing arm 41 in the right swing arm component 44 is connected to the other front driven wheel 31, and the second swing arm 42 in the left swing arm component 43 and the second swing arm 42 in the right swing arm component 44 are both fixed on the chassis body 1, so that the positions of the two front driven wheels 31 can be relatively independently adjusted separately, thereby further improving the stability of the walking device during walking on complex road conditions. Among them, the first swing arm 41 in the rear swing arm component 45 is connected to one of the rear driven wheels 32, and the second swing arm 42 in the rear swing arm component 45 is connected to the other rear driven wheel 32, so that the positions of the two rear driven wheels 32 can also be relatively independently adjusted, thereby further improving the stability of the walking device during walking on complex road conditions. In addition, preferably, the direction from the front end area 12 to the rear end area 13 is set as the first direction, the length direction of the left swing arm component 43 and the length direction of the right swing arm component 44 are both designed to face the first direction X, and the length direction of the rear swing arm component 45 faces the second direction Y perpendicular to the first direction X, so as to make the internal space of the chassis body 1 more compact and reasonable, and improve the utilization rate of the internal space of the chassis body 1.

[0047] In this embodiment, all driven wheels 3 are preferably universal wheels, so that the traveling device has better stability in all directions when traveling under complex road conditions.

[0048] The chassis assembly described above can be applied to a service guide robot, a food delivery robot or a transport robot. This embodiment takes the application of the chassis assembly to a transport robot as an example. Please refer to Figure 1 and Figure 3 The chassis assembly also needs to include a lifting mechanism 6 and a rotating mechanism 7 arranged in the chassis body 1, wherein the chassis body 1, the lifting mechanism 6 and the rotating mechanism 7 are connected in sequence, and the rotating mechanism 7 is used to directly or indirectly carry the goods and to drive the goods to rotate around the vertical axis, so that the walking device can adjust the appropriate posture to lift the goods, and the goods can be adjusted to a suitable angle for unloading, and the lifting mechanism 6 is used to drive the rotating mechanism 7 to move in a straight line along the vertical direction, so that the walking device can lift the goods upwards or put the goods down to a preset position.

[0049] Please also read Figure 1 and Figure 3 The lifting mechanism 6 includes a motor 61, a driving gear 62, a driving gear 63, a plurality of driven gears 64, a plurality of driving members 65, a plurality of lifting blocks 66 and a lifting seat 67, wherein the motor 61 is fixed on the chassis body 1, the driving gear 62 is fixed on the output shaft of the motor 61, the driving gear 62 is meshed with the driving gear 63 for transmission, a plurality of driven gears 64 are arranged around the outer periphery of the driving gear 63 and are respectively meshed with the driving gear 63 for transmission, a driving member 65 is fixed on the top of each driven gear 64, a lifting block 66 is connected to each driving member 65, and a threaded connection is formed between the driving member 65 and the corresponding lifting block 66. In other words, when the driving member 65 is a screw structure, the lifting block 66 has a threaded hole matched with the screw structure, and when the lifting block 66 is a screw structure, the driving member 65 has a threaded hole matched with the screw structure, and all lifting blocks 66 are fixedly connected to the lifting seat 67. During operation, the motor 61 drives the active gear 62 to rotate, and the rotating active gear 62 will drive the driving gear 63 to rotate, and the rotating driving gear 63 will simultaneously drive multiple driven gears 64 to rotate, and the driven gear 64 will drive all the driving members 65 to rotate. Since the driving member 65 and the lifting block 66 are threadedly connected, the lifting block 66 will move upward or downward in the vertical direction under the rotation of the driving member 65. Since the jacking seat 67 and the multiple lifting blocks 66 are fixedly connected, the jacking seat 67 will also follow the multiple lifting blocks 66 to move upward or downward synchronously under the drive of the multiple lifting blocks 66, thereby realizing the function of the jacking seat 67 to lift the goods upward or put the goods down. The specific structure of the above-mentioned lifting mechanism 6 has the advantage of strong bearing capacity and can lift heavier goods.

[0050] Please also read Figure 1 and Figure 3 The rotating mechanism 7 includes a motor 71, a power gear 72 and a rotating gear 73, wherein the motor 71 is fixed on the lifting seat 67, the power gear 72 is located outside the rotating gear 73 and is fixedly connected to the output shaft of the motor 71, and the power gear 72 is meshed with the rotating gear 73 for transmission, and the rotating gear 73 is rotationally connected to the lifting seat 67 and the central axis of rotation faces the vertical direction. When working, the motor 71 drives the power gear 72 to rotate, and the power gear 72 drives the rotating gear 73 to rotate relative to the lifting seat 67, and the rotating gear 73 is used to directly or indirectly support the goods, so that the walking device can adjust the appropriate posture to lift the goods, and the goods can be adjusted to a suitable angle for unloading.

[0051] Embodiment 2

[0052] The present embodiment provides a walking device, which adopts the chassis assembly described in the above embodiment 1. The walking device of the present embodiment is specifically a handling robot. Specifically, the walking device of the present embodiment also includes a carrying mechanism, which specifically includes a connected power mechanism and a fork, and the number of forks is preferably two. The power mechanism is connected to the rotating mechanism 7 in the above embodiment 1, and the power mechanism is also connected to the fork and is used to drive the fork to extend or retract in a straight line along the horizontal direction. When moving goods, the power mechanism drives the fork to extend and move the fork to the bottom of the goods, and then the lifting mechanism 6 drives the rotating mechanism 7 and the carrying mechanism to rise together, so that the fork can move upward and lift the designated goods, and then the walking device moves to the designated unloading area, and then the lifting mechanism 6 drives the rotating mechanism 7 and the carrying mechanism to descend together, so that the fork moves downward and unloads the goods to the designated area. It is supplemented that before lifting or unloading the goods, the rotating mechanism 7 can rotate the carrying mechanism to a suitable angle so that the carrying mechanism can lift or unload the goods in the best posture.

[0053] Since the traveling device of this embodiment adopts the chassis assembly described in the first embodiment, the traveling device of this embodiment can also have better stability when traveling under complex road conditions.

[0054] The above are only preferred embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for the purpose of explaining the principles of the present invention, and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanation here, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other specific implementation methods of the present invention that can be associated with by technicians in this field without creative labor, should be included in the scope of protection of the present invention.

Claims

1. A chassis assembly of a walking device, characterized in that: It comprises a chassis body (1) and at least one driving wheel (2) and at least one driven wheel (3) respectively connected to the bottom of the chassis body (1); At least one of the driven wheels (3) is connected to a swing arm component (4), the swing arm component (4) comprising a first swing arm (41) and a second swing arm (42) hingedly connected to each other at the same position of the chassis body (1), an end of the first swing arm (41) away from the second swing arm (42) being used for connecting to the driven wheel (3), and an end of the second swing arm (42) away from the first swing arm (41) being used for fixed connection to the chassis body (1).

2. The chassis assembly of the running device according to claim 1, characterized in that: The chassis body (1) comprises a middle region (11) and a front region (12) and a rear region (13) arranged on both sides of the middle region (11); The chassis body (1) is connected to at least one driving wheel (2) at the bottom of the middle area (11); The chassis body (1) is provided with at least one front driven wheel (31) at the bottom of the front end area (12), and the chassis body (1) is provided with at least one rear driven wheel (32) at the bottom of the rear end area (13), and at least one of the front driven wheels (31) or at least one of the rear driven wheels (32) is connected to the chassis body (1) via the swing arm component (4).

3. The chassis assembly of the running device according to claim 2, characterized in that: The chassis body (1) is provided with two front driven wheels (31) at the bottom of the front end area (12), and the chassis body (1) is provided with two rear driven wheels (32) at the bottom of the rear end area (13); The chassis assembly comprises at least three swing arm components (4), wherein the three swing arm components (4) are respectively a left swing arm component (43), a right swing arm component (44) and a rear swing arm component (45); The first swing arm (41) in the left swing arm component (43) is connected to one of the front driven wheels (31), the first swing arm (41) in the right swing arm component (44) is connected to the other front driven wheel (31), and the second swing arm (42) in the left swing arm component (43) and the second swing arm (42) in the right swing arm component (44) are both fixedly connected to the chassis body (1); The first swing arm (41) in the rear swing arm component (45) is connected to one of the rear driven wheels (32), and the second swing arm (42) in the rear swing arm component (45) is connected to the other rear driven wheel (32).

4. The chassis assembly of the running device according to claim 3, characterized in that The direction from the front end region (12) to the rear end region (13) is a first direction, the length direction of the left swing arm component (43) and the length direction of the right swing arm component (44) are both oriented toward the first direction, and the length direction of the rear swing arm component (45) is oriented toward a second direction perpendicular to the first direction.

5. The chassis assembly of the running device according to claim 1, characterized in that: An articulated seat (5) is fixed inside the chassis body (1), a first swing arm (41) and a second swing arm (42) inside the swing arm component (4) are both articulated with the articulated seat (5), and all the driven wheels (3) are universal wheels.

6. The chassis assembly of the running device according to claim 1, characterized in that: The chassis assembly further comprises a lifting mechanism (6) and a rotating mechanism (7) which are arranged in the chassis body (1); The chassis body (1), the lifting mechanism (6) and the rotating mechanism (7) are connected in sequence; the lifting mechanism (6) is used to drive the rotating mechanism (7) to move linearly in a vertical direction; and the rotating mechanism (7) is used to drive a preset object to rotate around an axis in a vertical direction.

7. The chassis assembly of the running device according to claim 6, characterized in that: The lifting mechanism (6) comprises a motor (61), a driving gear (62), a driving gear (63), a plurality of driven gears (64), a plurality of driving members (65), a plurality of lifting blocks (66) and a lifting seat (67); The motor (61) is connected to the chassis body (1); the driving gear (62) is connected to the output shaft of the motor (61) and meshes with the driving gear (63); a plurality of driven gears (64) are arranged around the outer periphery of the driving gear (63) and mesh with the driving gear (63); a driving member (65) is fixed to the top of each driven gear (64); each driving member (65) is connected to the lifting block (66) in a threaded manner and is used to drive the lifting block (66) to move linearly in a vertical direction; a plurality of lifting blocks (66) are fixedly connected to the lifting seat (67); and the rotating mechanism (7) is connected to the lifting seat (67).

8. The chassis assembly of the running device according to claim 7, characterized in that: The rotating mechanism (7) comprises a motor (71), a power gear (72) and a rotating gear (73); The motor (71) is fixed on the lifting seat (67), the power gear (72) is connected to the output shaft of the motor (71), and the power gear (72) is meshed with the rotating gear (73), and the rotating gear (73) is rotationally connected to the lifting seat (67) and the central axis of rotation is facing the vertical direction.

9. A walking device, characterized in that: A chassis assembly as claimed in any one of claims 6 to 8 is used.

10. The walking device according to claim 9, characterized in that: The walking device also includes a loading mechanism, which includes a connected power mechanism and a fork. The power mechanism is connected to the rotating mechanism (7). The power mechanism is also connected to the fork and is used to drive the fork to move in a straight line in a horizontal direction to extend or retract.

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