Locomotion apparatus

Abstract

A locomotion apparatus (1000), comprising an apparatus main body (100), a first swing structure (10) and a driving mechanism (2). The first swing structure (10) is arranged on the apparatus main body (100) and is used for driving the apparatus main body (100) to ascend and descend with respect to the ground; the driving mechanism (2) is transversely arranged on the apparatus main body (100) in the length direction (X) of the locomotion apparatus; the driving mechanism (2) comprises a driving member (21) and a first transmission rod (230), the first transmission rod (230) being spaced apart from the driving member (21) in the width direction (Y) of the locomotion apparatus (100); one end of the first transmission rod (230) is connected to the driving member (21), and the other end of the first transmission rod (230) is connected to the first swing structure (10); the driving member (21) is used for pushing and pulling the first transmission rod (230) in the length direction (X) of the locomotion apparatus (100), so as to drive the first swing structure (10) to move. The locomotion apparatus (1000) reduces gravitational stress acting on the driving mechanism (2), prolonging the service life of the driving mechanism (2), such that the locomotion apparatus (1000) can satisfy locomotion requirements under different working conditions.

Description

Walking device

[0001] The present application claims priority to Chinese Patent Application No. 2024213089667, filed on June 7, 2024, entitled "Working device", No. 2024213129594, filed on June 7, 2024, entitled "Walking wheel adjusting device and walking robot", No. 202421316014X, filed on June 7, 2024, entitled "Height adjusting device and walking device", and No. 2024213149526, filed on June 7, 2024, entitled "Walking wheel adjusting device and walking robot", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of mowing machinery, in particular to a walking device. BACKGROUND

[0003] The existing walking device, the driving mechanism is arranged at an angle in the length direction of the walking device, and the gravity stress of the walking device is mostly applied to the driving member perpendicular to the length direction of the walking device, thereby causing the driving mechanism to be easily damaged. SUMMARY

[0004] The present application provides a walking device to solve the technical problem of the existing technology that the driving mechanism of the walking device is easily damaged.

[0005] The present application provides a walking device, comprising a device body, a first swing structure and a driving mechanism. The first swing structure is arranged on the device body to drive the device body to rise and fall relative to the ground. The driving mechanism is arranged transversely on the device body along the length direction of the walking device, and comprises a driving member and a first transmission rod. The first transmission rod is arranged at a distance from the driving member in the width direction of the walking device. One end of the first transmission rod is connected to the driving member, and the other end of the first transmission rod is connected to the first swing structure. The driving member is used to push and pull the first transmission rod in the length direction of the walking device to drive the first swing structure to move.

[0006] The walking device provided by the application has the following advantages. On the one hand, the driving mechanism is arranged on the device body in the length direction of the walking device, the first transmission rod is arranged in the width direction of the walking device and spaced from the driving member, one end of the first transmission rod is connected with the driving member, and the other end of the first transmission rod is connected with the first swing structure. The driving member is used for pushing and pulling the first transmission rod in the length direction of the walking device, so as to drive the first swing structure to move, thereby making the structure of the walking device compact, making the driving mechanism have strong tensile and compressive resistance, reducing the gravity stress of the walking device acting on the driving mechanism, preventing the driving mechanism from being damaged, and prolonging the service life of the driving mechanism. On the other hand, the first swing structure is arranged on the device body, so as to drive the device body to rise and fall relative to the ground, thereby making the walking device meet the walking requirements of different working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0008] FIG. 1 is a structural schematic view of a walking device provided by a first embodiment of the application.

[0009] FIG. 2 is a bottom view of the walking device in FIG. 1.

[0010] FIG. 3 is an exploded view of the walking device in FIG. 1.

[0011] FIG. 4 is an exploded view of a height adjusting device of the walking device in FIG. 3.

[0012] FIG. 5 is a side view of the height adjusting device of the walking device in FIG. 3.

[0013] FIG. 6 is a structural schematic view of a walking device provided by a second embodiment of the application.

[0014] FIG. 7 is a structural schematic view of a first swing structure of a height adjusting device of the walking device in FIG. 6.

[0015] FIG. 8 is an exploded view of a walking wheel and the height adjusting device of the walking device in FIG. 6.

[0016] FIG. 9 is an enlarged view of a second swing structure of the height adjusting device of the walking device in FIG. 6.

[0017] FIG. 10 is an exploded view of the second swing structure of the height adjusting device of the walking device in FIG. 4.

[0018] FIG. 11 is a structural schematic view of the height adjusting device of the walking device in FIG. 6, in which some structures are omitted.

[0019] Fig. 12 is a structural schematic diagram of a walking device omitting part of the structure according to the second embodiment of the present application.

[0020] Fig. 13 is a structural schematic diagram of another embodiment of the first transmission rod of the height adjusting device of the walking device in Fig. 12.

[0021] Fig. 14 is a structural schematic diagram of part I of the walking device in Fig. 12.

[0022] Fig. 15 is a structural schematic diagram of a walking device according to the third embodiment of the present application.

[0023] Main element symbol explanation: walking device-1000; device main body-100; frame-101; machine shell-102; walking wheel-200; first wheel-210; second wheel-220; cutting device-300; anti-collision device-400; height adjusting device-500; collecting device-600; swing mechanism-1; first swing structure-10; first wheel shaft-11; rotating shaft-12; first swing arm-13; connecting arm-14; first connecting hole-1401; first connecting surface-1402; bearing seat-15; driving mechanism-2; driving piece-21; driving part-211; telescopic part-212; guide seat-213; connecting seat-215; elastic piece-22; transmission piece-23; first transmission rod-230; second connecting hole-2301; second connecting surface-2302; first transmission part-231; first section-2311; second section-2312; installation gap-2310; second transmission part-232; second transmission rod-240; first transmission section-241; second transmission section-242; third transmission section-243; pivot piece-25; first pivot shaft-251; second pivot shaft-252; pivot seat-26; first pivot part-261; second pivot part-262; guide rod-27; support frame-28; partition-30; first surface-301; second surface-302; connecting shaft-31; second swing structure-50; second wheel shaft-51; second rotating shaft-52; second swing arm-53; base-531; protruding part-532; reinforcing part-533; first sliding piece-541; second sliding piece-542; guide sliding groove-5401; through hole-5402; installation base-56; containing space-5601; communication hole-5602; installation hole-5603; installation piece-561; guide sliding rod-57; main rotating shaft-58; fixing hole-5801; first shaft sleeve-591; second shaft sleeve-592; buffer mechanism-60; buffer piece-61; fixing piece-62; length direction-X; width direction-Y; height direction-Z; telescopic direction-F; first distance-D1; second distance-D2; first connecting point-P1; second connecting point-P2; first connecting line-L1; second connecting line-L2.

[0024] The following detailed description will further describe the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0025] The following detailed description will further describe the present application in conjunction with the above-mentioned drawings.

[0026] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be interpreted in a broad sense, for example, "connection" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through an intermediate medium. Among them, "fixed connection" can be connected to each other and the relative positional relationship after connection is unchanged. "Rotary connection" can be connected to each other and can rotate relative to each other after connection. The term "integrally formed" means that in the process of forming one of the plurality of components, the component is connected together with other components, and two components do not need to be connected together by reprocessing (such as bonding, welding, buckling connection, screw connection) method. The orientation language mentioned in the embodiments of the present application, such as "top", "bottom", "inner", "outer", "side" and the like, is only the direction of the drawing, therefore, the orientation language used is to better and more clearly illustrate and understand the embodiments of the present application, and is not indicative or implied 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 application.

[0027] Please refer to FIG. 1 and FIG. 2 together, FIG. 1 is a structural schematic diagram of a walking device 1000 provided by the first embodiment of the present application; FIG. 2 is a bottom view of the walking device 1000 in FIG. 1. The walking device 1000 comprises a device main body 100 and a height adjusting device 500. The height adjusting device 500 is arranged on the device main body 100 and is used to drive the device main body 100 to rise and fall relative to a horizontal base surface. Specifically, the device main body 100 comprises a rack 101 and a casing 102. The casing 102 is mounted on the rack 101. The height adjusting device 500 is mounted on the rack 101 and is used to adjust the ground clearance of the rack 101. Thus, the walking device 1000 can meet the walking requirements of different working conditions.

[0028] The walking device 1000 can include, but is not limited to, a hand-held type, a riding type, and a full-automatic intelligent walking device, and the like, and the present application does not make any limitation thereon. The walking device 1000 can move on the ground. For example, the walking device 1000 can move on the ground under the pushing of a user. For another example, the walking device 1000 itself has a moving capability. Specifically, the walking device 1000 further includes a walking wheel 200. The walking wheel 200 can be configured as a driving wheel, and the walking device 1000 can automatically move on the ground through the driving wheel. The driving wheel can be configured as a wheel integrated with a hub motor, thereby reserving more arrangement space for the device body 100 and improving the space utilization of the walking device 1000. The driving wheel can drive the walking wheel 200 to rotate through a driving structure independent of the walking wheel 200.

[0029] The walking device 1000 can be configured as, but is not limited to, a mowing device, a pesticide spraying device, a crop harvesting device, a sweeping device, a transportation device, and the like. In the present embodiment, the walking device 1000 can be configured as a mowing device. The walking device 1000 includes a cutting device 300 arranged on the device body 100. The cutting device 300 is used for trimming a lawn or other vegetation. The height adjusting device 500 can adjust the lifting of the device body 100 to drive the cutting device 300 to lift, thereby meeting the height requirement of mowing. Of course, in some embodiments, the walking device 1000 can also be, but is not limited to, a sweeping machine or other intelligent device.

[0030] The number of the walking wheels 200 is set to be multiple. For example, the number of the walking wheels 200 is set to be four, and the four walking wheels 200 include two first wheels 210 and two second wheels 220. The two first wheels 210 serve as the rear wheels of the walking device 1000, and the two second wheels 220 serve as the front wheels of the walking device 1000. Of course, in some embodiments, the number of the walking wheels 200 can also be set to be three, six, eight, and the like, and the present embodiment does not make any specific limitation thereon.

[0031] It should be noted that the purpose of FIG. 1 is only to schematically describe the arrangement manner between the device body 100 and the height adjusting device 500, and does not make any specific limitation on the connection position, connection relationship, and specific structure of each element. FIG. 1 is only a structure of the walking device 1000 schematically shown in the present embodiment, and does not constitute a specific limitation on the walking device 1000. In some other embodiments of the present application, the walking device 1000 can include more or fewer components than those shown in FIG. 1, or combine certain components, or different components, for example, the walking device 1000 can further include, but is not limited to, an alarm prompting structure, a safety protection structure, and the like.

[0032] Please refer to Fig. 1 and Fig. 3, Fig. 3 is an exploded view of the walking device 1000 in Fig. 1. The height adjusting device 500 provided by the embodiment of the present application is applied to the walking device 1000. The height adjusting device 500 comprises a swing mechanism 1 and a driving mechanism 2. The driving mechanism 2 is in transmission connection with the swing mechanism 1. The driving mechanism 2 is used to drive the swing mechanism 1 to rotate, so as to drive the device body 100 to ascend or descend relative to the horizontal base surface. The driving mechanism 2 is transversely arranged on the device body 100 along the length direction X of the walking device 1000. The driving mechanism 2 comprises a driving piece 21 and a first transmission rod 230, the first transmission rod 230 is arranged in the width direction Y of the walking device 1000 and is spaced apart from the driving piece 21, one end of the first transmission rod 230 is connected with the driving piece 21, and the other end of the first transmission rod 230 is connected with the first swing structure 10. The driving piece 21 is used to push and pull the first transmission rod 230 in the length direction X of the walking device 1000, so as to drive the first swing structure 10 to move.

[0033] The walking device 1000 provided by the present application has the following advantages. On the one hand, based on the driving mechanism 2 being transversely arranged on the device body 100 along the length direction X of the walking device 1000, the first transmission rod 230 being arranged in the width direction Y of the walking device 1000 and being spaced apart from the driving piece 21, one end of the first transmission rod 230 being connected with the driving piece 21, and the other end of the first transmission rod 230 being connected with the first swing structure 10, the driving piece 21 being used to push and pull the first transmission rod 230 in the length direction X of the walking device 1000, so as to drive the first swing structure 10 to move, so that the structure of the walking device 1000 is compact, the driving mechanism 2 has strong tensile and compressive resistance, the gravitational stress of the walking device 1000 is reduced and applied to the driving mechanism 2, the driving mechanism 2 is prevented from being damaged, and the service life of the driving mechanism 2 is prolonged. On the other hand, based on the first swing structure 10 being arranged on the device body 100, the device body 100 is driven to ascend or descend relative to the ground, so that the walking device 1000 can meet the walking requirements of different working conditions.

[0034] The swing mechanism 1 is arranged at at least one of the front and rear ends of the device body 100 in the length direction X of the walking device 1000. In the present embodiment, the height adjustment device 500 includes two swing mechanisms 1, which are arranged at the front and rear ends of the device body 100 in the length direction X of the walking device 1000, respectively. Specifically, in the present embodiment, the two swing mechanisms 1 are a first swing structure 10 and a second swing structure 50, respectively. The first swing structure 10 and the second swing structure 50 are arranged on the device body 100 for driving the device body 100 to lift relative to the ground. The first swing structure 10 is arranged at the front end of the device body 100, and the second swing structure 50 is arranged at the rear end of the device body 100 in the length direction X of the walking device 1000. Of course, in some embodiments, the height adjustment device 500 includes only the first swing structure 10 or the second swing structure 50. For the convenience of description, the height adjustment device 500 includes two swing mechanisms 1, and the number and arrangement position of the swing mechanisms 1 can be arranged according to actual needs, which are not limited in the present embodiment.

[0035] The driving mechanism 2 is used to adjust the relative position of the walking wheel 200 and the frame 101, so as to realize the adjustment of the ground clearance of the frame 101. Specifically, the first swing structure 10 is rotationally connected with the frame 101. The first swing structure 10 is used to mount the first wheel 210. Specifically, the first swing structure 10 is used to connect with two first wheels 210. The driving mechanism 2 is hinged with the first swing structure 10. The driving mechanism 2 is used to drive the first swing structure 10 to rotate, so as to adjust the relative position of the axis of the first wheel 210 and the frame 101. The axis of the first wheel 210 is a position point located on the rotation axis of the first wheel 210 and passing through the midpoint of the axial length of the first wheel 210. The axis of the second wheel 220 is a position point located on the rotation axis of the second wheel 220 and passing through the midpoint of the axial length of the second wheel 220. The second swing structure 50 is rotationally connected with the frame 101. The second swing structure 50 is used to mount the second wheel 220. Specifically, the second swing structure 50 is used to connect with two second wheels 220.

[0036] For the sake of accuracy of description, please refer to FIG. 1 for all the directions mentioned herein. The term "length direction X" refers to the advancing direction of the walking device 1000, i.e. the arrangement direction of the first wheels 210 and the second wheels 220 in the walking device 1000 (where the positive direction of the X axis is forward). The term "width direction Y" refers to the arrangement direction of the two first wheels 210 or the two second wheels 220 in the walking device 1000 (where the positive direction of the Y axis is right). The term "height direction Z" refers to the arrangement direction of the wheels of the walking device 1000 against the supporting plane and the highest protruding part of the walking device 1000, i.e. the up-down direction (where the positive direction of the Z axis is upward). The length direction X, the width direction Y and the height direction Z together constitute three orthogonal directions of the walking device 1000. For the sake of convenience of description, the up-down, left-right and front-rear directions in the present application are relative positions and do not constitute limitations of implementation. The length direction X, the width direction Y and the height direction Z of the walking device 1000 can be customized according to the specific structure of the product and the perspective of the drawing, which is not specifically limited in the present application.

[0037] In some embodiments, the first swing structure 10 is arranged at one of the front and rear ends of the device body 100 in the length direction X of the walking device 1000, thereby reducing the space occupation of the first swing structure 10 to the walking device 1000, making the structure compact and saving production cost. Of course, in other embodiments, the first swing structure 10 can also be arranged at both the front and rear ends of the device body 100 in the length direction X of the walking device 1000, thereby improving the flexibility and reliability of the device body 100 of the walking device 1000 to lift, and further enabling the walking device 1000 to adapt to more complex walking requirements under working conditions.

[0038] Please refer to FIG. 3 and FIG. 4 together, and FIG. 4 is an exploded view of the height adjusting device 500 of the walking device 1000 in FIG. 3. Exemplarily, in the present embodiment, the first swing structure 10 is arranged at the rear end of the device body 100 in the length direction X of the walking device 1000. Exemplarily, in the present embodiment, the driving member 21 is configured as an electric push rod structure. Specifically, the driving member 21 comprises a driving part 211 and a telescopic part 212. The driving part 211 is configured as a driving motor, and the telescopic part 212 is configured as a push rod. In some embodiments, the driving member 21 can also be configured as, but not limited to, a screw nut structure, a gear and rack structure, a pneumatic cylinder structure or a hydraulic cylinder. When the driving member 21 is configured as a screw nut structure, the driving member 21 comprises a screw rod and a nut cooperating with the screw rod. In other embodiments, when the driving member 21 is configured as a gear and rack structure, the driving member 21 comprises a rack and a gear cooperating with the rack. In still other embodiments, when the driving member 21 is configured as a pneumatic cylinder structure, the driving member 21 comprises a piston rod and a cylinder body, and the piston rod is telescopically arranged in the cylinder body.

[0039] The driving member 21 is in transmission connection with the first transmission rod 230. Specifically, the driving part 211 is fixedly connected with the rack 101. The telescopic part 212 is hingedly connected with the first transmission rod 230. The first transmission rod 230 is rotatable relative to the telescopic part 212. The driving part 211 is configured to drive the telescopic part 212 to extend away from the first swing structure 10 or to retract towards the rotating shaft 12. The telescopic direction F of the telescopic part 212 is parallel to or collinear with the length direction X of the walking device 1000.

[0040] In some embodiments, the driving member 21 further comprises a guide seat 213, which is provided with a guide groove along the length direction X of the walking device 1000, and the telescopic part 212 is movably arranged in the guide groove. Thus, the guide seat 213 can guide and support the movement of the telescopic part 212, thereby preventing the telescopic part 212 from deforming, protecting the telescopic part 212, and prolonging the service life of the driving mechanism 2. The guide seat 213 is fixedly connected with the device body 100, thereby improving the stability and reliability of the connection between the driving mechanism 2 and the device body 100, and ensuring the smoothness and stability of the telescopic movement of the telescopic part 212 driven by the driving part 211.

[0041] In some embodiments, the driving member 21 further comprises a connecting seat 215, which is configured to be fixedly connected with the device body 100, thereby improving the stability and reliability of the connection between the connecting seat 215 and the device body 100, and ensuring the smoothness and stability of the telescopic movement of the telescopic part 212 driven by the driving part 211.

[0042] One end of the telescopic part 212 is connected with the driving part 211, and the other end of the telescopic part 212 is connected with the first transmission rod 230. The driving part 211 is used to drive the telescopic part 212 to push and pull the first transmission rod 230 along the length direction X of the walking device 1000. The connection point of the telescopic part 212 and the driving part 211 is located between the connection point of the telescopic part 212 and the first transmission rod 230 and the connection point of the first transmission rod 230 and the first swing structure 10. Thus, since the tail part of the walking device 1000 is provided with the grass collecting device, the walking wheels 200 located at the rear end of the walking device 1000 bear greater gravity stress than the walking wheels 200 located at the front end of the walking device 1000. By arranging the output end of the driving part 21 at the front end of the walking device 1000, the length of the hinge points at both ends of the first transmission rod 230 can be increased, so as to reduce the angle between the hinge points at both ends of the first transmission rod 230 and the telescopic direction F of the telescopic part 212, increase the horizontal stress and reduce the vertical stress. On the one hand, the utilization rate of the driving force applied by the telescopic part 212 to the first transmission rod 230 is improved. On the other hand, the support force of the ground on the walking wheels 200 is transmitted to the first transmission rod 230 through the first swing structure 10, and then transmitted to the telescopic part 212. Since the angle between the telescopic direction F of the telescopic part 212 and the transmission direction of the first transmission rod 230 is relatively small, most of the support force of the ground on the walking wheels 200 acts on the telescopic part 212 in parallel to the telescopic direction F of the telescopic part 212. Further, the driving mechanism 2 and the first transmission rod 230 are arranged in the width direction Y of the walking device 1000 and placed transversely, so that the telescopic part 212 can perform telescopic movement in the length direction X of the walking device 1000, thereby making the structure compact and making the telescopic part 212 have strong tensile and compressive resistance, preventing the driving mechanism 2 from being damaged, and prolonging the service life of the driving mechanism 2.

[0043] The driving part 211 is used to drive the telescopic part 212 to perform telescopic movement in the length direction X of the walking device 1000. The telescopic direction F of the telescopic part 212 is parallel or collinear to the extension direction of the telescopic part 212 and parallel to the length direction X of the walking device 1000, so that the driving part 211 has strong tensile and compressive resistance. For example, in the embodiment, the driving part 211 is arranged relative to the telescopic part 212 towards the side close to the first swing structure 10, so that the input end of the telescopic part 212 is arranged closer to the first swing structure 10 than the output end of the telescopic part 212. The telescopic direction F of the telescopic part 212 is parallel to the length direction X of the walking device 1000, so as to facilitate the installation of the driving mechanism 2 and simplify the calculation of the transmission parameters of the first transmission rod 230 and the first swing structure 10, and facilitate the accurate control of the lifting height of the device body 100 by the driving mechanism 2.

[0044] The two ends of the first transmission rod 230 are respectively hinged with the driving member 21 and the first swing structure 10. It should be noted that the term "hinged" includes the pivotal connection of two elements or the spherical hinge connection of two elements. For example, in the embodiment, the two ends of the first transmission rod 230 are respectively pivotally connected with the first swing structure 10 and the telescopic part 212. Specifically, the first transmission rod 230 and the first swing structure 10 and the telescopic part 212 are respectively provided with a pivot hole through which a pivot shaft passes, so that the first transmission rod 230 can rotate around the central axis of the pivot shaft with the first swing structure 10 and the telescopic part 212. The central axis of the pivot shaft is parallel to the width direction Y of the walking device 1000. Of course, in some embodiments, the pivot shaft can be fixed on the first transmission rod 230 and rotatably arranged on the first swing structure 10 and the telescopic part 212; or the pivot shaft can be fixed on the first swing structure 10 and the telescopic part 212 and rotatably arranged on the first transmission rod 230, thereby simplifying the assembly operation of the pivot shaft.

[0045] In some embodiments, the two ends of the first transmission rod 230 are respectively spherical hinge connected with the first swing structure 10 and the telescopic part 212. The first transmission rod 230 is provided with a spherical protrusion, and the first swing structure 10 and the telescopic part 212 are provided with a spherical groove matched with the spherical protrusion; or the first transmission rod 230 is provided with a spherical groove, and the first swing structure 10 and the telescopic part 212 are provided with a spherical protrusion matched with the spherical groove. The spherical protrusion is rotatably accommodated in the spherical groove. The first transmission rod 230 and the first swing structure 10 and the telescopic part 212 can respectively rotate in any direction around the spherical center of the spherical protrusion. In some cases, when the walking device 1000 is disturbed by external interference, causing the output direction of the driving force of the driving mechanism 2 to deflect, the spherical hinge connection between the first transmission rod 230 and the first swing structure 10 and the telescopic part 212 can keep the first transmission rod 230 and the first swing structure 10 and the telescopic part 212 normally connected, so that the height adjusting device 500 can still work normally, improve the anti-interference ability of the height adjusting device 500, and simplify the structure of the height adjusting device 500 and facilitate assembly. Of course, in other embodiments, one end of the first transmission rod 230 is spherical hinge connected with the first swing structure 10, and the other end of the first transmission rod 230 is pivotally connected with the telescopic part 212; or one end of the first transmission rod 230 is spherical hinge connected with the telescopic part 212, and the other end of the first transmission rod 230 is pivotally connected with the first swing structure 10.

[0046] In some embodiments, the swing mechanism 1 of the height adjusting device 500 comprises both the first swing structure 10 and the second swing structure 50. The driving mechanism 2 further comprises a second transmission rod 240. One end of the second transmission rod 240 is connected with the driving member 21, and the other end of the second transmission rod 240 is connected with the second swing structure 50. The two ends of the second transmission rod 240 are respectively hinged with the driving member 21 and the second swing structure 50. Specifically, one end of the second transmission rod 240 can also be connected with the second swing structure 50 through a spherical hinge and / or a pivot joint, and the other end of the second transmission rod 240 can also be connected with the telescopic part 212 through a spherical hinge and / or a pivot joint. The second transmission rod 240 is rotatable relative to the telescopic part 212.

[0047] Please refer to FIG. 3 and FIG. 5 together, and FIG. 5 is a side view of the height adjusting device 500 of the walking equipment 1000 in FIG. 3. Along the length direction X of the walking equipment 1000, the first swing structure 10 is arranged at the rear end of the equipment main body 100, and the second swing structure 50 is arranged at the front end of the equipment main body 100. The distance between the connection point of the first transmission rod 230 with the driving member 21 and the connection point of the first transmission rod 230 with the first swing structure 10 is a first distance D1. The distance between the connection point of the second transmission rod 240 with the driving member 21 and the connection point of the second transmission rod 240 with the second swing structure 50 is a second distance D2, wherein the second distance D2 is less than the first distance D1. In this way, on the one hand, the first swing structure 10 and the second swing structure 50 share one driving mechanism 2, which improves the compactness of the height adjusting device 500 and reduces the cost; on the other hand, when the rear end of the walking equipment 1000 is provided with a grass collecting device, the center of gravity of the walking equipment 1000 is closer to the first swing structure 10, the gravity stress exerted by the equipment main body 100 on the first swing structure 10 is greater than the gravity stress exerted by the equipment main body 100 on the second swing structure 50, and the force generated by the first transmission rod 230 on the telescopic part 212 is greater than the force generated by the second transmission rod 240 on the telescopic part 212, and the vertical component of the force generated by the first transmission rod 230 on the telescopic part 212 is too large to easily form a torque on the telescopic part 212, causing damage to the driving member 21, therefore, in the present application, the output end of the telescopic part 212 is arranged on the side close to the second swing structure 50, and the distance between the hinged point of the second transmission rod 240 with the telescopic part 212 and the second swing structure 50 is less than the distance between the hinged point of the first transmission rod 230 with the telescopic part 212 and the first swing structure 10, so as to lengthen the length of the two hinged points of the first transmission rod 230 with the telescopic part 212 and the first swing structure 10, thereby increasing the horizontal component of the first transmission rod 230 and reducing the vertical component of the first transmission rod 230, and further improving the utilization rate of the driving force of the driving mechanism 2, reducing the load of the driving mechanism 2, preventing damage to the driving mechanism 2, and prolonging the service life of the height adjusting device 500.

[0048] The traveling wheels 200 include first wheels 210 and second wheels 220. Exemplarily, in the embodiment, the number of the first wheels 210 includes two, and the first wheels 210 serve as rear wheels of the traveling device 1000; the number of the second wheels 220 includes two, and the second wheels 220 serve as front wheels of the traveling device 1000. The two ends of the first swing structure 10 are respectively connected with the first wheels 210, and the two ends of the second swing structure 50 are respectively connected with the second wheels 220.

[0049] The second transmission rod 240 is arranged on the width direction Y of the traveling device 1000 and is spaced apart from the driving member 21. Exemplarily, in the embodiment, the first transmission rod 230, the telescopic part 212, and the second transmission rod 240 are arranged along the width direction Y of the traveling device 1000. Thus, based on the first transmission rod 230 and the second transmission rod 240 being located on different sides of the telescopic part 212, interference between the first transmission rod 230 and the second transmission rod 240 during transmission is avoided. Of course, in some embodiments, the first transmission rod 230 and the second transmission rod 240 are located on the same side of the telescopic part 212, and the present application does not make specific limitations.

[0050] The driving mechanism 2 further includes a pivot member 25. The number of the first transmission rod 230 and the number of the second transmission rod 240 are one, and the first transmission rod 230 and the second transmission rod 240 are located on both sides of the telescopic part 212 in the width direction Y of the traveling device 1000. The first transmission rod 230, the telescopic part 212, and the second transmission rod 240 can be pivotally connected through one or more pivot members 25. The pivot member 25 can be configured as an elastic body. Thus, on the one hand, since the pivot member 25 is provided with an elastic body, the pivot member 25 produces a certain elastic deformation when subjected to external vibration or impact, thereby reducing the influence of vibration and impact on the driving member 21 and the transmission member 23, protecting the normal operation of the driving member 21, improving the service life of the driving mechanism 2, and improving the stability of the traveling device 1000 during travel. On the other hand, the driving mechanism 2 does not need to be provided with an additional elastic member, simplifying the overall structure of the driving mechanism 2, making the structure compact and reducing costs. Specifically, in the embodiment, the pivot member 25 can be but is not limited to a pin shaft, a rivet, and the like.

[0051] Specifically, in the present embodiment, the pivot 25 can be configured as a flexible shaft, such that the material of the pivot 25 can absorb and buffer the rigid stress transmitted by the first swing structure 10 and the second swing structure 50 when the material of the pivot 25 is elastically deformed. The material of the pivot 25 can include, but is not limited to, silica gel, rubber, and the like. Of course, in some embodiments, the pivot 25 includes a pivot body and an elastic member arranged on the pivot body, and the material of the pivot body includes, but is not limited to, metal, alloy, and the like. The pivot body can be configured as a rigid structure. Thus, the pivot body can improve the rigidity of the pivot 25 to meet the requirements of a high-precision transmission system and improve the service life of the pivot 25. For example, the pivot 25 can be configured as, but is not limited to, an elastic pin coupling.

[0052] Referring back to FIGS. 3 and 4, the first swing structure 10 includes the first swing arm 13 and the rotation shaft 12. One end of the first swing arm 13 is in transmission connection with the driving member 21 through the rotation shaft 12, and the other end of the first swing arm 13 is in rotation connection with the traveling wheel 200 of the traveling device 1000. The rotation shaft 12 is used to be in rotation connection with the device body 100. The central axis of the rotation shaft 12 is spaced apart from the central axis of the traveling wheel 200. The driving member 21 is used to drive the first swing arm 13 together with the traveling wheel 200 to rotate around the central axis of the rotation shaft 12. In the present embodiment, the first swing arm 13 is connected with the first wheel 210, and the driving member 21 is used to drive the first swing arm 13 together with the first wheel 210 to rotate around the central axis of the rotation shaft 12 to adjust the ground clearance of the rack 101.

[0053] The first swing structure 10 further includes the first wheel shaft 11. The first wheel shaft 11 is used to mount the first wheel 210. The first wheel shaft 11 is arranged in a spaced-apart manner with the rotation shaft 12 and is connected to the first swing arm 13, respectively. The rotation axis of the rotation shaft 12 and the rotation axis of the first wheel shaft 11 are arranged in a spaced-apart manner and are both parallel to the width direction Y of the traveling device 1000. The rotation axis of the first wheel shaft 11 and the rotation axis of the first wheel 210 can be arranged in a collinear manner. The first swing arm 13 is connected with the first wheel shaft 11 and the rotation shaft 12 to form an integral structure. The first wheel shaft 11 is arranged coaxially with the first wheel 210, and the rotation shaft 12 is arranged eccentrically with the first wheel 210.

[0054] Exemplarily, in the embodiment, the first swing structure 10 further comprises a connecting arm 14. The connecting arm 14 is arranged independently from the first swing arm 13 and is spaced apart from the first swing arm 13. The connecting arm 14 is fixedly arranged relative to the first swing arm 13. One end of the connecting arm 14 is connected with the first transmission rod 230, and the other end of the connecting arm 14 is connected with the rotating shaft 12. One end of the first swing arm 13 is connected with the rotating shaft 12, and the other end of the first swing arm 13 is fixedly connected with the first wheel shaft 11. The driving member 21 is configured to drive the first transmission rod 230 to drive the connecting arm 14, together with the first swing arm 13 and the first wheel shaft 11, to rotate around the rotation axis of the rotating shaft 12, so as to drive the first wheel shaft 11 to drive the first wheel 210 to move relative to the frame 101, so that the rotating shaft 12 drives the frame 101 to move relative to the ground, thereby adjusting the ground clearance of the frame 101.

[0055] Exemplarily, in the embodiment, the connecting arm 14 and the first transmission rod 230 can be pivotally connected. The connecting arm 14 and the first swing arm 13 are both fixedly connected with the rotating shaft 12. Of course, in some embodiments, the connecting arm 14 and the first transmission rod 230 can also be connected by a spherical hinge. The connecting arm 14 and / or the first swing arm 13 are rotatably connected with the rotating shaft 12. The driving part 211 is configured to drive the telescopic part 212 to pull or push the first transmission rod 230, so as to drive the connecting arm 14 to rotate the rotating shaft 12, and drive the rotating shaft 12 to rotate the first swing arm 13 around the central axis of the first wheel shaft 11. The connecting arm 14 and the first swing arm 13 are configured as a rod-shaped structure. The number of the first swing arm 13 is two, and the two first swing arms 13 are connected to opposite ends of the rotating shaft 12. Of course, in some embodiments, the number of the first swing arm 13 can also be one.

[0056] Exemplarily, the first swing arm 13 can be configured as a rod. The two ends of the first swing arm 13 along the length direction are respectively connected with the rotating shaft 12 and the first wheel shaft 11. The connecting arm 14 can be independently arranged relative to the first swing arm 13, and the connecting arm 14 and the first swing arm 13 are respectively fixedly connected to the rotating shaft 12, and the connecting arm 14 is fixed relative to the first swing arm 13 through the rotating shaft. The driving member 21 is used to drive the first transmission rod 230 to drive the connecting arm 14 to rotate around the rotation axis of the rotating shaft 12, the connecting arm 14 drives the rotating shaft 12 to rotate, and the rotating shaft 12 drives the first swing arm 13 together with the first wheel shaft 11 to rotate around the rotation axis of the rotating shaft 12. The height adjusting device 500 further comprises a bearing seat 15 and a bearing. The bearing seat 15 is fixedly connected to the rack 101. The bearing is installed on the bearing seat 15. The rotating shaft 12 penetrates through the bearing. The rotating shaft 12 is rotatable relative to the rack 101 through the bearing, so as to reduce the rotation resistance of the rotating shaft 12. In some embodiments, the connecting arm 14 is fixedly connected to the first swing arm 13, or the connecting arm 14 is fixedly connected to the first swing arm 13 through a connecting structure. The connecting arm 14 and the first swing arm 13 are both rotatable relative to the rotating shaft 12. In some embodiments, the connecting arm 14 and the first swing arm 13 can be integrally formed. For example, the second swing structure 50 can be configured as a plate-shaped member, and the connecting arm 14 and the first swing arm 13 are respectively configured as part of the structure on the plate-shaped member.

[0057] The length of the connecting arm 14 is less than the length of the first swing arm 13. The distance between the connecting position of the connecting arm 14 and the first transmission rod 230 and the rotating shaft 12 is less than the distance between the connecting position of the first swing arm 13 and the first wheel shaft 11 and the rotating shaft 12. In this way, when the first transmission rod 230 drives the connecting arm 14 to drive the first swing arm 13 together with the first wheel shaft 11 to rotate relative to the rotation axis of the rotating shaft 12 through the rotating shaft 12, the connecting arm 14 only needs to move a small stroke to make the first wheel shaft 11 move a large stroke, so as to amplify the adjusting stroke of the connecting arm 14 on the first wheel shaft 11, improve the adjusting speed and efficiency of the first wheel shaft 11, and further improve the adjusting speed and efficiency of the ground clearance of the rack 101. The distance between the connecting position of the connecting arm 14 and the first transmission rod 230 and the rotating shaft 12 can be the distance between the rotation center of the connecting arm 14 relative to the first transmission rod 230 and the rotation axis of the rotating shaft 12. The distance between the connecting position of the first swing arm 13 and the first wheel shaft 11 and the rotating shaft 12 can be the distance between the rotation axis of the first wheel shaft 11 and the rotation axis of the rotating shaft 12. In some embodiments, the length of the connecting arm 14 is equal to the length of the first swing arm 13. The distance between the connecting position of the connecting arm 14 and the first transmission rod 230 and the rotating shaft 12 is equal to the distance between the connecting position of the first swing arm 13 and the first wheel shaft 11 and the rotating shaft 12.

[0058] In some embodiments, the first swing structure 10 further comprises a bearing seat 15. The rotating shaft 12 is connected with the device body 100 through the bearing seat 15. Specifically, the bearing seat 15 is fixed on the device body 100, and the rotating shaft 12 is rotatably arranged in the bearing seat 15. Thus, the rotating shaft 12 is rotatably arranged relative to the device body 100 through the bearing seat 15, so as to reduce the rotating resistance of the rotating shaft 12. For example, in the present embodiment, the bearing seat 15 is arranged close to the end of the rotating shaft 12, so as to facilitate the assembly of the device body 100 and the bearing seat 15, and avoid the problem of distortion of the device body 100 during the adjustment of the ground clearance.

[0059] Please refer to FIG. 3 and FIG. 6, FIG. 6 is a structural schematic diagram of the walking device 1000 provided in the second embodiment. In the second embodiment, the structure of the height adjustment device 500 of the walking device 1000 is similar to that of the height adjustment device 500 of the walking device 1000 in the first embodiment. The difference lies in that, in the second embodiment, the driving mechanism 2 further comprises a partition 30, the structures and arrangement modes of the first transmission rod 230 and the second transmission rod 240 of the first swing structure 10 are different from those of the first swing structure 10 in the first embodiment, and the second swing structure 50 further comprises a buffer mechanism 60.

[0060] For example, in the present embodiment, the structure and arrangement mode of the second swing structure 50 are different from those of the first swing structure 10. Of course, in some embodiments, the structure of the second swing structure 50 is similar or identical to that of the first swing structure 10. It should be noted that the other structures of the walking device 1000 in the second embodiment can refer to the specific description of the walking device 1000 in the first embodiment, which will not be described here.

[0061] Please refer to FIG. 6 and FIG. 7 again, FIG. 7 is a structural schematic diagram of the I part of the height adjustment device 500 of the walking device 1000 in FIG. 6. In some embodiments, the height adjustment device 500 further comprises a partition 30. The partition 30 is arranged at the hinge between the driving mechanism 2 and the first swing structure 10, and is located between the driving mechanism 2 and the first swing structure 10. In this way, when the driving mechanism 2 drives the first swing structure 10 to rotate, the partition 30 can separate the driving mechanism 2 and the first swing structure 10, so as to avoid the direct contact between the driving mechanism 2 and the first swing structure 10, thereby reducing the abrasion at the hinge between the driving mechanism 2 and the first swing structure 10, and improving the service life of the height adjustment device 500 and the walking device 1000.

[0062] Exemplarily, in the embodiment, the partition 30 is located between the first transmission rod 230 and the connecting arm 14. It can be understood that when the driving member 21 drives the first transmission rod 230 to drive the connecting arm 14 to rotate around the rotation axis of the rotation shaft 12, the partition 30 can separate the first transmission rod 230 from the connecting arm 14, avoiding direct contact between the first transmission rod 230 and the connecting arm 14, thereby reducing the abrasion of the first transmission rod 230 and the connecting arm 14, and improving the service life of the height adjusting device 500 and the walking equipment 1000.

[0063] The connecting arm 14 has a first connecting surface 2402. The first transmission rod 230 has a second connecting surface 2302. The first connecting surface 2402 is oppositely arranged with the second connecting surface 2302. The partition 30 is arranged between the first connecting surface 2402 and the second connecting surface 2302. In this way, by arranging the partition 30, the first connecting surface 2402 and the second connecting surface 2302 can be avoided from being in contact, thereby avoiding direct frictional contact between the first connecting surface 2402 and the second connecting surface 2302 when the first transmission rod 230 rotates relative to the connecting arm 14. In some embodiments, the partition 30 is detachably connected relative to the first transmission rod 230 and the connecting arm 14, so as to facilitate maintenance or replacement of the partition 30. The hinging of the first transmission rod 230 and the connecting arm 14 can be a pivotal connection or a spherical hinge connection between the first transmission rod 230 and the connecting arm 14.

[0064] Specifically, in some embodiments, the height adjusting device 500 further comprises a connecting shaft 31. The partition 30 is connected to at least one of the first transmission rod 230 and the connecting arm 14 through the connecting shaft 31. The central axis of the connecting shaft 31 is parallel to the width direction Y of the walking equipment 1000. Specifically, one of the first transmission rod 230 and the connecting arm 14 is provided with a first connecting hole 2401, and the connecting shaft 31 is arranged in the first connecting hole 2401; the other of the first transmission rod 230 and the connecting arm 14 is provided with a second connecting hole 2301, and the connecting shaft 31 is arranged in the second connecting hole 2301, or the other of the first transmission rod 230 and the connecting arm 14 is fixedly connected with the connecting shaft 31.

[0065] The first connecting surface 2402 is parallel to the second connecting surface 2302 and perpendicular to the rotation axis of the connecting shaft 31. In some embodiments, one of the first transmission rod 230 and the connecting arm 14 is provided with a first connecting hole 2401, and the connecting shaft 31 is rotatably arranged in the first connecting hole 2401, and the other of the first transmission rod 230 and the connecting arm 14 is fixedly connected with the connecting shaft 31. In some embodiments, one of the first transmission rod 230 and the connecting arm 14 is provided with a first connecting hole 2401, and the other of the first transmission rod 230 and the connecting arm 14 is provided with a second connecting hole 2301, and the connecting shaft 31 is rotatably arranged in the first connecting hole 2401 and the second connecting hole 2301, respectively.

[0066] The partition 30 and the connecting shaft 31 can be independently arranged. The partition 30 is provided with a communication hole and is sleeved on the connecting shaft 31. The partition 30 is rotatably arranged relative to the connecting shaft 31. The partition 30 comprises a first surface 301 and a second surface 302 opposite to the first surface 301. The first surface 301 is opposite to the first connecting surface 2402. The second surface 302 is opposite to the second connecting surface 2302. When the first transmission rod 230 and / or the connecting arm 14 rotates relative to the connecting shaft 31, the first transmission rod 230 and / or the connecting arm 14 can drive the partition 30 to rotate relative to the connecting shaft 31. Compared with the scheme that the first connecting surface 2402 and the second connecting surface 2302 directly contact, by spacing the first connecting surface 2402 and the second connecting surface 2302 through the partition 30, when the first transmission rod 230 and / or the connecting arm 14 rotates relative to the connecting shaft 31, the friction generated between the first connecting surface 2402 and the second connecting surface 2302 during relative rotation can be distributed as the friction between the first surface 301 and the first connecting surface 2402 and the friction between the second surface 302 and the second connecting surface 2302 during relative rotation, thereby reducing the wear of the first connecting surface 2402 and the second connecting surface 2302, reducing the friction loss of the first transmission rod 230 and the connecting arm 14, and improving the service life of the height adjusting device 500. In some embodiments, the partition 30 and the connecting shaft 31 can be arranged in an integrated structure.

[0067] In some embodiments, the partition 30 can be configured as a bearing, one of the driving mechanism 2 and the first swing structure 10 is connected with the inner ring of the bearing, and the other of the driving mechanism 2 and the first swing structure 10 is connected with the outer ring of the bearing, so that the wear between the driving mechanism 2 and the first swing structure 10 can be greatly reduced, and the service life of the height adjusting device 500 can be improved. For example, the partition 30 can be configured as a plane bearing, so that the friction between the first surface 301 and the first connecting surface 2402 and the friction between the second surface 302 and the second connecting surface 2302 are rolling frictions, thereby greatly reducing the wear of the first connecting surface 2402 and the second connecting surface 2302.

[0068] In some embodiments, the partition 30 can be spaced apart from the first transmission rod 230 and / or the connecting arm 14. At least one of the first surface 301 and the first connecting surface 2402, and the second surface 302 and the second connecting surface 2302, is spaced apart to reduce contact wear.

[0069] In some embodiments, the partition 30 can be configured as a spherical hinge component connected between the driving mechanism 2 and the first swing structure 10. The first transmission rod 230 and the connecting arm 14 are connected by the spherical hinge. The spherical hinge component includes a spherical head and a spherical bushing. One of the first transmission rod 230 and the connecting arm 14 is provided with a first connecting hole 2401 configured as a spherical groove in which the spherical head is rotatably accommodated, and the other of the first transmission rod 230 and the connecting arm 14 is fixedly connected with the spherical head. The spherical bushing is sleeved on the spherical head and accommodated in the spherical groove. One of the inner wall surface of the spherical groove and the outer wall surface of the spherical head is configured as the first connecting surface 2402, and the other of the inner wall surface of the spherical groove and the outer wall surface of the spherical head is configured as the second connecting surface 2302. In this way, the first connecting surface 2402 and the second connecting surface 2302 can be avoided from directly contacting each other, and the wear of the first connecting surface 2402 and the second connecting surface 2302 can be reduced when the first transmission rod 230 and the connecting arm 14 relatively rotate. In some embodiments, the spherical bushing is slidably arranged in the spherical groove. In some embodiments, the spherical bushing can be fixed in the spherical groove.

[0070] In some embodiments, the partition 30 is configured as an elastic structure. When the first transmission rod 230 and / or the connecting arm 14 exerts pressure on the partition 30, the partition 30 can be elastically deformed to absorb part of the pressure. In this way, on the one hand, the partition 30 can reduce the pressure between the first surface 301 and the first connecting surface 2402, and between the second surface 302 and the second connecting surface 2302 by elastic deformation, thereby reducing the wear between the first surface 301 and the first connecting surface 2402, and between the second surface 302 and the second connecting surface 2302 when the first transmission rod 230 and the connecting arm 14 relatively rotate; on the other hand, it can also avoid the difficulty in assembling the first transmission rod 230 and the connecting arm 14 due to errors in production, processing, etc., thereby improving the production yield and assembly efficiency.

[0071] In some embodiments, the first swing structure 10 can not include the connecting arm 14. The first transmission rod 230 is hingedly arranged with the first swing arm 13. The driving member 21 is configured to drive the first transmission rod 230 to drive the first swing arm 13 to rotate around the rotation axis of the rotation shaft 12. The partition 30 is arranged between the first transmission rod 230 and the first swing arm 13. When the driving member 21 drives the first transmission rod 230 to drive the first swing arm 13 to rotate around the rotation axis of the rotation shaft 12, the partition 30 separates the first transmission rod 230 from the first swing arm 13, avoiding direct contact between the first transmission rod 230 and the first swing arm 13, thereby reducing the wear of the first transmission rod 230 and the first swing arm 13, and improving the service life of the height adjusting device 500 and the walking device 1000. The partition 30 can be configured as a pivot component or a ball hinge component, and the first transmission rod 230 and the first swing arm 13 can be pivotally connected or ball-hingedly connected through the partition 30.

[0072] In some embodiments, the first transmission rod 230 and the telescopic part 212 are provided with the partition 30. In this way, the first transmission rod 230 and the telescopic part 212 are separated by the partition 30, avoiding direct contact between the first transmission rod 230 and the telescopic part 212, which can reduce the wear of the first transmission rod 230 relative to the telescopic part 212 when rotating, thereby improving the service life of the driving mechanism 2. The first transmission rod 230 and the telescopic part 212 can be pivotally connected.

[0073] In some embodiments, the first transmission rod 230 and the telescopic part 212 can be ball-hingedly connected. The partition 30 is configured as a ball hinge component. One of the first transmission rod 230 and the telescopic part 212 is provided with a ball head, and the other of the first transmission rod 230 and the telescopic part 212 is provided with a spherical groove. A spherical bushing is sleeved on the ball head and accommodated in the spherical groove, so as to reduce the wear of the first transmission rod 230 relative to the telescopic part 212 when rotating, thereby improving the service life of the driving mechanism 2.

[0074] Please refer to FIG. 6 and FIG. 8, FIG. 8 is an exploded view of the walking wheel 200 and the height adjusting device 500 of the walking device 1000 in FIG. 6. The second transmission rod 240 is arranged in the length direction X of the walking device 1000 and is spaced apart from the driving member 21, so that the first transmission rod 230 and the second transmission rod 240 are independently arranged, facilitating the assembly, maintenance and other operations between the first transmission rod 230 and the second transmission rod 240, and avoiding interference between the first transmission rod 230 and the second transmission rod 240 during transmission. The driving mechanism 2 includes two first transmission rods 230, and the driving member 21 is arranged between the two first transmission rods 230 in the width direction Y of the walking device 1000. In this way, the stability and reliability of the first swing structure 10 driving the lifting of the device main body 100 are improved, thereby improving the height adjustment accuracy of the walking device 1000 and improving the stability of lifting, and the structural layout is reasonable.

[0075] The first transmission rod 230 can be arranged in multiple. The multiple first transmission rods 230 are all hinged with the driving member 21. Both ends of each first transmission rod 230 are respectively hinged with the driving member 21 and the connecting arm 14. Along the width direction Y of the walking device 1000, the multiple first transmission rods 230 are arranged in a spaced manner and are distributed on both sides of the driving member 21. Arranging multiple first transmission rods 230 can improve the uniformity of the force of the first transmission rod 230 on the connecting arm 14 and improve the force balance of the connecting arm 14 and the rotating shaft 12. Among them, along the width direction Y of the walking device 1000, the driving member 21 is arranged at the middle or near the middle of the rack 101, so as to improve the balance when the driving member 21 drives the first transmission rod 230 to drive the connecting arm 14 to rotate around the rotating axis of the rotating shaft 12. Among them, the connecting arm 14 can be arranged in multiple. The number of connecting arms 14 is the same as the number of first transmission rods 230. The multiple first transmission rods 230 and the multiple connecting arms 14 are connected one by one. A partition 30 can be arranged between each first transmission rod 230 and the corresponding connecting arm 14. In some embodiments, the first transmission rod 230 can be arranged in one.

[0076] In the embodiment, the driving mechanism 2 further comprises a pivot seat 26. The pivot seat 26 is arranged on the driving member 21, and the second transmission rod 240 is pivoted with the driving member 21 through the pivot seat 26. Thus, the pivot seat 26 provides a mounting site for the second transmission rod 240, and improves the reliability and stability of the connection between the second transmission rod 240 and the driving member 21. Specifically, the pivot seat 26 is fixed to the end of the telescopic part 212 away from the driving part 211. The pivot seat 26 comprises a first pivot part 261 and a second pivot part 262. The pivot member 25 comprises a first pivot shaft 251 and a second pivot shaft 252. The first pivot part 261 is fixed to the end of the telescopic part 212 away from the driving part 211, and is used for being pivoted with the first transmission rod 230 through the first pivot shaft 251. The second pivot part 262 is arranged protruding towards the second transmission rod 240 relative to the first pivot part 261, and is used for being pivoted with the second transmission rod 240 through the second pivot shaft 252. The first pivot shaft 251 and the second pivot shaft 252 are arranged independently from each other. Thus, on the one hand, based on the transmission connection between the first transmission rod 230 and the second transmission rod 240 with the driving member 21 through different pivot members 25, the height adjustment accuracy of the walking device 1000 is improved, and the stability of lifting is improved. On the other hand, the durability of the first pivot shaft 251 and the second pivot shaft 252 is improved, and the structural layout is reasonable.

[0077] Please refer to FIG. 8, FIG. 9 and FIG. 10, FIG. 9 is an enlarged view of the second swing structure 50 of the height adjustment device 500 of the walking device 1000 in FIG. 6; FIG. 10 is an exploded view of the second swing structure of the height adjustment device 500 of the walking device 1000 in FIG. 4. The second swing structure 50 comprises a rotating shaft 52 and a second swing arm 53. One end of the second swing arm 53 is in transmission connection with the driving member 21 through the rotating shaft 52, the other end of the second swing arm 53 is in rotational connection with the walking wheel 200 of the walking device 1000, the rotating shaft 52 is used for being in rotational connection with the device main body 100, and the central axis of the rotating shaft 52 is spaced apart from the central axis of the walking wheel 200. The driving member 21 is used for driving the second swing arm 53 together with the walking wheel 200 to rotate around the central axis of the rotating shaft 52. Exemplarily, in the embodiment, the second swing arm 53 is connected with the second wheel 220, and the driving member 21 is used for driving the second swing arm 53 together with the second wheel 220 to rotate around the central axis of the rotating shaft 52, so as to adjust the ground clearance of the rack 101.

[0078] The second swing structure 50 further comprises a second wheel shaft 51. The second swing arm 53 is connected with the second wheel shaft 51 and a rotating shaft 52, which is configured to be connected with the device body 100. The second transmission rod 240 is connected with the second swing arm 53 at an end opposite to the telescopic part 212. The second transmission rod 240, the second wheel shaft 51 and the rotating shaft 52 are arranged in pairs with a spacing between each pair. The driving mechanism 2 is configured to drive the second swing arm 53 to rotate around the central axis of the rotating shaft 52, so that the second swing arm 53 drives the second wheel shaft 51 to rotate around the rotating shaft 52, to adjust the ground clearance of the device body 100. In this way, the second swing arm 53 is arranged eccentrically relative to the rotating shaft 52. The driving mechanism 2 drives the second telescopic part 212 to pull or push the second swing arm 53, to drive the second wheel shaft 51 to rotate around the central axis of the rotating shaft 52, to adjust the ground clearance of the device body 100. When the second wheel shaft 51 rotates relative to the rotating shaft 52 towards the side close to the ground, the rotating shaft 52 drives the device body 100 to move away from the ground, to increase the ground clearance of the device body 100. When the second wheel shaft 51 rotates relative to the rotating shaft 52 towards the side away from the ground, the rotating shaft 52 drives the device body 100 to move towards the ground, to decrease the ground clearance of the device body 100. In addition, when the driving mechanism 2 drives the second swing arm 53 to drive the second wheel shaft 51 to rotate around the rotating shaft 52, the distance between the second wheel shaft 51 and the center of gravity of the walking device 1000 along the length direction X of the walking device 1000 can also be adjusted. For example, when the second wheel shaft 51 rotates towards the side close to the center of gravity of the walking device 1000, the distance between the second wheel shaft 51 and the center of gravity of the walking device 1000 along the length direction X of the walking device 1000 decreases, so that the mass distribution of the walking device 1000 can be concentrated towards the center of gravity, to reduce the moment of inertia of the walking device 1000, to reduce the rotation resistance of the walking device 1000 when rotating, to reduce the turning radius of the walking device 1000, and to improve the flexibility of the walking device 1000. For another example, when the second wheel shaft 51 rotates towards the side away from the center of gravity of the walking device 1000, the distance between the second wheel shaft 51 and the center of gravity of the walking device 1000 along the length direction X of the walking device 1000 increases, so that the driving stability of the walking device 1000 can be improved. In some cases, when the rear side of the walking device 1000 is provided with a grass collecting member for collecting grass clippings, fallen leaves and other debris, moving the second wheel shaft 51 away from the center of gravity of the walking device 1000 can also move the overall center of gravity of the walking device 1000 away from the grass collecting member, to improve the load capacity of the walking device 1000, to improve the capacity of the grass collecting member, and to reduce the risk of the walking device 1000 tilting.

[0079] The second wheel shaft 51 is connected with the second wheel 220. Exemplarily, in the embodiment, the number of the second wheel shaft 51 is two, and each end of each second wheel shaft 51 is connected with the second swing arm 53 and the second wheel 220 respectively. The number of the second swing arm 53 is two. The two second swing arms 53 are independently arranged and are spaced apart. The rotation shaft 52 is connected between the two second swing arms 53. Of course, in some embodiments, the two second swing arms 53 can also be independently arranged and fixedly connected with each other, or the two second swing arms 53 can be integrated into a whole structure. The second wheel shaft 51 can be rotatably connected with the second swing arm 53 or fixedly connected with the second swing arm 53. The second transmission rod 240 is hinged with the second swing arm 53.

[0080] The rotation axis of the second wheel 220 is spaced apart from the rotation axis of the rotation shaft 52. The second wheel shaft 51 is used for mounting the second wheel 220. The rotation axis of the second wheel shaft 51 can be arranged in line with the rotation axis of the second wheel 220. The driving member 21 is used for driving the second transmission rod 240 to drive the second swing arm 53 and the second wheel shaft 51 to rotate around the rotation axis of the rotation shaft 52.

[0081] In some embodiments, the rotation shaft 52 is rotatably connected with the second swing arm 53. In some embodiments, the rotation shaft 52 is fixedly connected with the second swing arm 53, and the rotation shaft 52 is rotatable relative to the frame 101 along the circumferential direction of the rotation shaft 52. The rotation shaft 52 and the second swing arm 53 can be independently arranged, fixedly connected together by bonding, clamping, screwing, welding or the like, or fixedly connected together by a fastener or the like, or the rotation shaft 52 and the second swing arm 53 can also be integrally formed.

[0082] The second wheel shaft 51 and the second swing arm 53 can be rotatably connected or fixedly connected. Exemplarily, the second wheel shaft 51 is fixedly connected with the second swing arm 53. The second wheel shaft 51 and the second swing arm 53 can be independently arranged, fixedly connected together by bonding, clamping, screwing, welding or the like, or fixedly connected together by a fastener or the like. In some embodiments, the second wheel shaft 51 and the second swing arm 53 can also be integrally formed. At least one of the first wheel 210 and the second wheel 220 can be provided with a hub motor, so as to make the structure of the walking device 1000 compact.

[0083] The second swing structure 50 includes two second swing arms 53. The two second swing arms 53 are located near the middle of the width direction Y of the walking device 1000. The second wheels 220 are arranged apart from the second swing arms 53 along the width direction Y of the walking device 1000. The middle of the width direction Y of the walking device 1000 can refer to the midpoint of the width direction Y of the walking device 1000 or a position near the midpoint. The midpoint of the width direction Y of the walking device 1000 can be located between the two second swing arms 53. Along the width direction Y of the walking device 1000, the distance between the second swing arm 53 and the midpoint of the width direction Y of the walking device 1000 is less than the distance between the second swing arm 53 and the second wheel 220. The housing 102 and the frame 101 enclose a receiving space, and the second swing arm 53, the rotating shaft 52, and the driving mechanism 2 are located in the receiving space to avoid grass stalks from winding around the second swing arm 53, the rotating shaft 52, and the driving mechanism 2.

[0084] It should be noted that in the present embodiment, the distance from the hinge point of the first transmission rod 230 and the telescopic part 212 to the first swing structure 10 refers to the distance from the hinge point of the first transmission rod 230 and the telescopic part 212 to the center of the rotating shaft 12 in the projection plane perpendicular to the width direction Y of the walking device 1000. The distance from the hinge point of the second transmission rod 240 and the telescopic part 212 to the second swing structure 50 refers to the distance from the hinge point of the second transmission rod 240 and the telescopic part 212 to the center of the rotating shaft 52 of the second swing structure 50 in the projection plane perpendicular to the width direction Y of the walking device 1000.

[0085] The length of the first transmission rod 230 in the length direction X of the walking device 1000 is greater than the length of the second transmission rod 240 in the length direction X of the walking device 1000. The length of the first transmission rod 230 in the length direction X of the walking device 1000 refers to the distance between the two ends of the first transmission rod 230 in the projection plane perpendicular to the walking device 1000. The length of the second transmission rod 240 in the length direction X of the walking device 1000 refers to the distance between the two ends of the second transmission rod 240 in the projection plane perpendicular to the walking device 1000.

[0086] In the embodiment, the hinge joint of the first transmission rod 230 and the telescopic part 212 coincides with the hinge joint of the second transmission rod 240 and the telescopic part 212. In this way, on the one hand, the assembly of the telescopic part 212 and the first transmission rod 230 and the second transmission rod 240 is facilitated; on the other hand, the relationship between the telescopic distance of the telescopic part 212 and the transmission parameter of the first transmission rod 230 is calculated, which improves the accuracy of the height adjustment device 500 in adjusting the ground clearance of the equipment main body 100; on the other hand, the output end of the telescopic part 212 has good structural strength, and the overall structure of the height adjustment device 500 is more compact. Of course, in some embodiments, the hinge joint of the first transmission rod 230 and the telescopic part 212 can also not coincide with the hinge joint of the second transmission rod 240 and the telescopic part 212.

[0087] Of course, in some embodiments, the number of driving members 21 can be one or more. In the embodiment, the driving member 21 is provided as one, and the first transmission rod 230 and the second transmission rod 240 are connected to the driving member 21 together to achieve common adjustment of the first wheel shaft 11 and the second wheel shaft 51, and to reduce the structural complexity of the driving mechanism 2. In some embodiments, the number of driving members 21 is two, one of which is connected with the first swing structure 10 and is used to drive the first swing structure 10 to rise and fall, and the other of which is connected with the second swing structure 50 and is used to drive the second swing structure 50 to rise and fall. In this way, the two driving mechanisms 2 can independently drive the first transmission rod 230 and the second transmission rod 240, thereby being able to independently adjust the rotation of the first wheel shaft 11 relative to the rotation axis of the rotating shaft 12 and independently adjust the rotation of the second wheel shaft 51 relative to the rotation axis of the rotating shaft 52, improving the flexibility of the adjustment of the ground clearance of the rack 101.

[0088] The second swing structure 50 further comprises a first sliding member 541. The first sliding member 541 is connected to the second swing arm 53. The second transmission rod 240 is connected to the second swing arm 53 through the first sliding member 541. The second transmission rod 240 is used to drive the first sliding member 541 to move along the length direction X of the walking equipment 1000, so that the first sliding member 541 drives the second swing arm 53 to rotate around the rotation axis of the rotating shaft 52. The driving mechanism 2 is used to drive the second transmission rod 240 to push or pull the first sliding member 541 to move along the length direction X of the walking equipment 1000, so that the first sliding member 541 drives the second swing arm 53 to rotate around the central axis of the rotating shaft 52. The two axially opposite ends of the first sliding member 541 are respectively connected to the two second swing arms 53, so that the driving mechanism 2 can drive the two second swing arms 53 to rotate synchronously through the first sliding, which simplifies the connection between the driving mechanism 2 and the two second swing arms 53. The connection between the first sliding member 541 and the second swing arm 53 can be a rotatable connection or a fixed connection.

[0089] The second swing arm 53 can be configured as a swing plate. The second swing arm 53 includes a base 531 and protrusions 532 protruding from the base 531 along the width direction Y of the walking device 1000. The base 531 is provided in a plate shape. The protrusions 532 are provided with connecting holes. The protrusions 532 are provided in three, and each of the protrusions 532 corresponds to the rotating shaft 52, the second wheel shaft 51 and the first sliding piece 541, respectively, and the rotating shaft 52, the second wheel shaft 51 and the first sliding piece 541 are respectively inserted into the connecting holes in the corresponding protrusions 532. The protrusions 532 can increase the connection length of the rotating shaft 52, the second wheel shaft 51 and the first sliding piece 541 with the second swing arm 53, and improve the connection stability. The base 531 can be substantially triangular, and the three protrusions 532 are respectively arranged at the three corners of the base 531.

[0090] In some embodiments, the second swing arm 53 further includes a reinforcing portion 533 protruding from the base 531. The reinforcing portion 533 can be connected between the protrusions 532 and the base 531 to improve the connection stability of the protrusions 532 and the base 531, and improve the bending resistance of the base 531. The reinforcing portion 533 can be provided in multiple. The multiple reinforcing portions 533 can be arranged side by side and spaced apart.

[0091] The height adjusting device 500 further includes a mounting base 56, a second sliding piece 542 and a guide sliding rod 57. The mounting base 56 is fixedly arranged relative to the device body 100. The mounting base 56 is provided with an accommodating space 5601. The first sliding piece 541, the second sliding piece 542 and the guide sliding rod 57 are all located in the accommodating space 5601. The axial direction of the guide sliding rod 57 is perpendicular to the width direction Y. The axial direction of the guide sliding rod 57 can be arranged perpendicular to the axial direction of the rotating shaft 52. The second sliding piece 542 is slidably sleeved on the guide sliding rod 57.

[0092] The first sliding member 541 and the second sliding member 542 are in sliding abutment. A guide sliding groove 5401 is formed on one of the first sliding member 541 and the second sliding member 542, and the other one is arranged in the guide sliding groove 5401 and can slide in the guide sliding groove 5401. For example, the guide sliding groove 5401 is formed on the second sliding member 542, and the first sliding member 541 is arranged in the guide sliding groove 5401. The guide sliding groove 5401 is in a strip shape. The rotation shaft 52 can be perpendicular to the length direction X of the walking device 1000 along the height direction Z of the walking device 1000 relative to the rotation plane of the device body 100, and the guide sliding groove 5401 can extend along the height direction Z of the walking device 1000. When the rotation shaft 52 rotates along the height direction Z of the walking device 1000 relative to the device body 100, the rotation shaft 52 drives the second swing arm 53 and the first sliding member 541 to rotate relative to the device body 100, and the first sliding member 541 rotates in the guide sliding groove 5401 relative to the second sliding member 542. In some embodiments, the guide sliding groove 5401 is formed on the first sliding member 541, and the second sliding member 542 is arranged in the guide sliding groove 5401. The guide sliding groove 5401 is formed along the width direction Y of the walking device 1000. Along the width direction Y of the walking device 1000, the width of the guide sliding groove 5401 is greater than the width of the second sliding member 542.

[0093] For example, in this embodiment, the first sliding member 541 can be configured as a columnar body, and the cross section of the first sliding member 541 can be configured as a circle to reduce the contact area between the side wall of the first sliding member 541 and the groove wall of the guide sliding groove 5401, and reduce the sliding resistance when the first sliding member 541 slides. In some embodiments, the cross section of the first sliding member 541 can also be configured as a square, an ellipse, a regular polygon, etc. The central axis of the first sliding member 541 passes through the geometric center of the cross section of the first sliding member 541.

[0094] In some embodiments, at least one of the first sliding member 541 and the second sliding member 542 is provided with a lubricating structure to reduce the wear when the first sliding member 541 and the second sliding member 542 slide relative to each other, improve the service life, and reduce the noise. The lubricating structure can be configured as a lubricating grease. The outer surface of the first sliding member 541 is coated with the lubricating grease, or the inner wall of the guide sliding groove 5401 is coated with the lubricating grease, or the outer surface of the first sliding member 541 and the inner wall of the guide sliding groove 5401 are respectively coated with the lubricating grease. In some embodiments, the first sliding member 541 can be configured as a self-lubricating structure, and / or the second sliding member 542 can be configured as a self-lubricating structure. The lubricating structure can be configured as the outer wall of the first sliding member 541 and / or the inner wall of the guide sliding groove 5401. The material of the self-lubricating structure can include a plastic structure with a self-lubricating function.

[0095] The second transmission rod 240 is rotationally connected with the second sliding piece 542 to drive the second sliding piece 542 to slide along the guide sliding rod 57, so that the second sliding piece 542 pushes or pulls the first sliding piece 541 to drive the second swing arm 53 to rotate around the rotation axis of the rotation shaft 52, and the second swing arm 53 drives the second wheel shaft 51 to rotate around the rotation shaft 52. Exemplarily, in the embodiment, the second transmission rod 240 is hinged with the second sliding piece 542.

[0096] The mounting base 56 is provided with a communication hole 5602. A limiting communication accommodation space 5601 is arranged. The second transmission rod 240 is arranged in the communication hole 5602. In some cases, the communication hole 5602 can limit the second transmission rod 240, reduce or avoid the second transmission rod 240 from shaking. The mounting base 56 includes two mounting pieces 561, which are arranged in the length direction X of the walking device 1000. The accommodation space 5601 is located between the two mounting pieces 561. The two mounting pieces 561 can be independently arranged, or the two mounting pieces 561 can be integrally formed. In the width direction Y of the walking device 1000, the mounting base 56 is located between the two second swing arms 53. The second swing arm 53 configured as a swing plate can also be used together with the mounting base 56 to protect the first sliding piece 541, the second sliding piece 542, the rotation shaft 52 and the main rotation shaft 58 located or partially located in the accommodation space 5601, and reduce or avoid the problem of grass stalk winding.

[0097] The number of guide sliding rods 57 can be set to multiple. The central axes of the multiple guide sliding rods 57 are parallel to each other and are arranged at intervals. Exemplarily, the guide sliding rod 57 can be set to four. The four guide sliding rods 57 are arranged in an array. The four corners of the second sliding piece 542 are provided with through holes 5402, and the four guide sliding rods 57 are correspondingly arranged in the four through holes 5402. The communication hole 5602 can also make the connection between the second transmission rod 240 and the second sliding piece 542 located at the geometric center of the four guide sliding rods 57, so as to improve the uniformity of the limiting force of the four guide sliding rods 57 on the second sliding piece 542 when the second sliding piece 542 is driven to slide by the second transmission rod 240, thereby reducing the sliding resistance between the second sliding piece 542 and the guide sliding rod 57, reducing the wear of the second sliding piece 542 and the guide sliding rod 57, and improving the service life. In some embodiments, the number of guide sliding rods 57 can also be one, two, three, five, six, etc., which can be specifically set according to actual needs by those skilled in the art, and the embodiment of the present application is not limited.

[0098] In some embodiments, the rotating shaft 52 is rotatable relative to the frame 101 along the height direction Z of the walking device 1000. Along the width direction Y of the walking device 1000, the two ends of the rotating shaft 52 opposite to each other are swingable up and down relative to the middle part of the rotating shaft 52 along the height direction Z of the walking device 1000. Here, the rotating shaft 52 being rotatable relative to the frame 101 along the height direction Z of the walking device 1000 means that the rotating plane of the rotating shaft 52 along the height direction Z of the walking device 1000 is parallel to or forms an acute angle with the height direction Z of the walking device 1000. When the rotating shaft 52 swings up and down relative to the frame 101, the second swing arm 53 and the second wheel shaft 51 are swung relative to the frame 101. In this way, when the walking device 1000 passes through an uneven road surface, the influence of the uneven road surface on the frame 101 can be offset by the up and down rotation of the rotating shaft 52, so that the frame 101 remains relatively stable when the walking device 1000 is running, thereby improving the stability of the walking device 1000 when running.

[0099] Here, the guide sliding groove 5401 is arranged along the rotating plane of the rotating shaft 52 relative to the frame 101 along the height direction Z of the walking device 1000. When the rotating shaft 52 rotates relative to the frame 101 along the height direction Z of the walking device 1000, the rotating shaft 52 can drive the second swing arm 53 to rotate relative to the frame 101, and the first sliding member 541 rotates relative to the second sliding member 542 in the guide sliding groove 5401. For example, the rotating plane of the rotating shaft 52 relative to the frame 101 along the height direction Z of the walking device 1000 can be perpendicular to the length direction X of the walking device 1000.

[0100] The height adjusting device 500 further comprises a main rotating shaft 58. The main rotating shaft 58 is used to connect with the device main body 100. The main rotating shaft 58 is connected with the frame 101. The rotating shaft 52 is connected with the main rotating shaft 58. The rotation axis of the main rotating shaft 58 is arranged perpendicular to the rotation axis of the rotating shaft 52. The rotating shaft 52 is connected with the main rotating shaft 58. The rotating shaft 52 is rotatable around the rotation axis of the main rotating shaft 58. When the walking device 1000 runs on an uneven ground, the second wheel 220 can adaptively drive the rotating shaft 52 to rotate relative to the rotation axis of the main rotating shaft 58, so that the device main body 100 remains parallel or substantially parallel to the ground, greatly reducing the bumping and vibration of the walking device 1000 when running on an uneven ground, and improving the stability of the walking device 1000 when running.

[0101] Exemplarily, the rotation axis of the main rotating shaft 58 can be parallel to the length direction X of the walking device 1000. The axial direction of the rotating shaft 52 is perpendicular to the length direction X of the walking device 1000. When the rotating shaft 52 rotates around the rotation axis of the main rotating shaft 58, the rotation plane formed by the rotating shaft 52 is parallel to the height direction Z of the walking device 1000. In some embodiments, the rotation axis of the main rotating shaft 58 can also be arranged at an angle with the length direction X of the walking device 1000. The rotation axis of the main rotating shaft 58 is located in a plane parallel to the height direction Z and the length direction X of the walking device 1000. When the rotating shaft 52 rotates around the rotation axis of the main rotating shaft 58, the rotation plane formed by the rotating shaft 52 is arranged at an acute angle with the height direction Z of the walking device 1000.

[0102] In some embodiments, the main rotating shaft 58 is rotatably arranged relative to the device body 100 around the rotation axis of the main rotating shaft 58. The main rotating shaft 58 is rotatably connected to the mounting base 56. The mounting base 56 is provided with a mounting hole 5603. The main rotating shaft 58 is arranged in the mounting hole 5603. Exemplarily, the height adjusting device 500 further comprises a first shaft sleeve 591. The first shaft sleeve 591 is sleeved on the main rotating shaft 58 and arranged in the mounting hole 5603 of the mounting base 56. The first shaft sleeve 591 is used to reduce the abrasion between the main rotating shaft 58 and the mounting base 56 when the main rotating shaft 58 rotates relative to the mounting base 56, thereby prolonging the service life.

[0103] The main rotating shaft 58 is provided with a fixing hole 5801. The rotating shaft 52 is arranged in the fixing hole 5801. The main rotating shaft 58 is rotatably connected to the rotating shaft 52. Exemplarily, in this embodiment, the height adjusting device 500 further comprises a second shaft sleeve 592. The second shaft sleeve 592 is sleeved on the rotating shaft 52 and arranged in the fixing hole 5801. The second shaft sleeve 592 is used to reduce the abrasion between the rotating shaft 52 and the main rotating shaft 58 when the rotating shaft 52 rotates relative to the main rotating shaft 58, thereby prolonging the service life. The first end of the second shaft sleeve 592 is located in the fixing hole 5801. The second end of the second shaft sleeve 592 is located outside the fixing hole 5801 and between the second swing arm 53 and the main rotating shaft 58. The second end of the second shaft sleeve 592 is used to reduce the abrasion between the second swing arm 53 and the main rotating shaft 58 when the second swing arm 53 rotates around the rotation axis of the rotating shaft 52, thereby prolonging the service life of the height adjusting device 500. In some embodiments, the main rotating shaft 58 and the rotating shaft 52 can be fixedly connected. The main rotating shaft 58 and the rotating shaft 52 can be fixedly connected together by means of, but not limited to, adhesion, screwing, clamping, welding, etc. Alternatively, the main rotating shaft 58 and the rotating shaft 52 can be integrally formed. The rotating shaft 52 is arranged in the main rotating shaft 58, or the main rotating shaft 58 is arranged in the rotating shaft 52.

[0104] In some embodiments, the main rotating shaft 58 can be provided with a fixing hole 5801, and the rotating shaft 52 is arranged in the fixing hole 5801, and the rotating shaft 52 is rotatable relative to the main rotating shaft 58. The main rotating shaft 58 is rotatable or fixed relative to the rack 101 of the device body 100. The main rotating shaft 58 and the mounting base 56 can be fixedly connected by means of, but not limited to, adhesion, screwing, clamping, welding, or the main rotating shaft 58 and the mounting base 56 can be integrally formed.

[0105] In some embodiments, the rotating shaft 52 and the main rotating shaft 58 are provided with a bearing sleeve at the connection position. Thus, when the rotating shaft 52 rotates relative to the main rotating shaft 58, the abrasion between the rotating shaft 52 and the main rotating shaft 58 is reduced, and the service life is improved. The main rotating shaft 58 is rotatable or fixed relative to the rack 101 of the device body 100. The main rotating shaft 58 and the mounting base 56 can be fixedly connected by means of, but not limited to, adhesion, screwing, clamping, welding, or the main rotating shaft 58 and the mounting base 56 can be integrally formed. In some embodiments, the rotating shaft 52 can be provided with a through hole, and the main rotating shaft 58 is arranged in the through hole. The rotating shaft 52 is fixed relative to the main rotating shaft 58, and the main rotating shaft 58 is rotatable relative to the device body 100.

[0106] Exemplarily, in the present embodiment, the first transmission rod 230 is configured as a bent rod structure, thereby improving the compression resistance and tensile resistance of the first transmission rod 230. The first transmission rod 230 comprises a first transmission part 231 and a second transmission part 232 connected with the first transmission part 231, and an end of the second transmission part 232 away from the first transmission part 231 is connected with the first swing structure 10. The first transmission part 231 is arranged transversely in the length direction X of the walking device 1000, and the second transmission part 232 is arranged obliquely in the length direction X of the walking device 1000.

[0107] Specifically, one end of the first transmission part 231 is connected with the driving member 21, and the other end of the first transmission part 231 is connected with the second transmission part 232. One end of the first transmission part 231 is hingedly connected with the telescopic part 212, and the other end of the first transmission part 231 is connected with the second transmission part 232. The end of the second transmission part 232 away from the first transmission part 231 is hingedly connected with the first swing arm 13, and the second transmission part 232 is obliquely arranged. The side of the second transmission part 232 facing the ground relative to the first transmission part 231 is obliquely arranged. In this way, the length of the crank of the connecting arm 14 is shortened, so as to reduce the telescopic stroke of the telescopic part 212, improve the structural compactness of the height adjusting device 500, and improve the swing frequency of the connecting arm 14, so as to increase the rotation stroke of the first swing arm 13; and avoid the risk of scratching the equipment main body 100 when the connecting arm 14 swings around the rotation shaft 12. It should be noted that the telescopic stroke of the telescopic part 212 refers to the maximum displacement of the telescopic part 212 in the telescopic process. The length of the crank of the connecting arm 14 refers to the distance between the two hinged points of the connecting arm 14, the first transmission rod 230 and the rotation shaft 12.

[0108] Exemplarily, in the present embodiment, the included angle formed between the first transmission part 231 and the second transmission part 232 is obtuse. The extension direction of the first transmission part 231 is parallel to the telescopic direction F of the telescopic part 212, so as to increase the ground clearance of the first transmission part 231, and avoid the problem of scratching the bottom obstacle or winding the grass column. Of course, in some embodiments, the extension direction of the first transmission part 231 can also be arranged at an angle with the telescopic direction F of the telescopic part 212.

[0109] In some embodiments, the first transmission rod 230 is configured as a straight rod structure. The first transmission rod 230 is arranged transversely in the length direction X of the walking equipment 1000. Specifically, the extension direction of the first transmission rod 230 is parallel to the telescopic direction F of the telescopic part 212, so that the included angle between the telescopic direction F of the telescopic part 212 and the transmission direction of the first transmission rod 230 is almost zero, thereby improving the utilization rate of the driving force exerted by the telescopic part 212 on the first transmission rod 230, and reducing the vertical component force exerted by the first transmission rod 230 on the telescopic part 212, avoiding the problem of bending damage of the telescopic part 212 under the action of the vertical component force, and prolonging the service life of the driving mechanism 2.

[0110] In some embodiments, the second transmission rod 240 is configured as a bent rod structure. The second transmission rod 240 can include a first transmission part 231, a second transmission part 232 and a third transmission segment 243 connected in sequence. The first transmission part 231 is configured to be connected with the second sliding piece 542. The third transmission segment 243 is configured to be connected with the driving mechanism 2. The first transmission part 231 and the second transmission part 232 are arranged at an angle, and the second transmission part 232 and the third transmission segment 243 are arranged at an angle. In some embodiments, the second transmission rod 240 can also be arranged in an arc shape, a broken line shape or the like.

[0111] In some embodiments, the height adjusting device 500 further includes a buffer mechanism 60. The buffer mechanism 60 is connected with the rack 101 and the swing mechanism 1, and is configured to elastically deform when the swing mechanism 1 rotates relative to the device body 100. The buffer mechanism 60 includes a buffer piece 61 and a fixing piece 62. The fixing piece 62 is fixedly connected with the device body 100. One end of the buffer piece 61 is connected with the end of the fixing piece 62, and the other end of the buffer piece 61 is connected with the second swing structure 50. In this way, the buffer mechanism 60 can reduce the rigid conduction between the driving mechanism 2 and the swing mechanism 1. When the swing mechanism 1 rotates relative to the rack 101, the buffer mechanism 60 can buffer the rigid force between the swing mechanism 1 and the driving mechanism 2 through elastic deformation, avoid the impact force on the driving mechanism 2 exceeding the working range of the driving mechanism 2, and improve the service life of the driving mechanism 2. Of course, in some embodiments, the fixing piece 62 can be omitted, i.e., the buffer mechanism 60 can only include the buffer piece 61, and the buffer piece 61 can also be directly connected with the device body 100 and / or the mounting base 56.

[0112] One end of the buffer piece 61 is connected with the mounting base 56, and the other end of the buffer piece 61 is connected with one of the rotating shaft 52, the second swing arm 53 and the second wheel shaft 51. The buffer piece 61 is configured to buffer the rotation of the rotating shaft 52 when the rotating shaft 52 swings relative to the rack 101 along the height direction Z of the walking device 1000, slow down the rotation speed of the rotating shaft 52, reduce the impact force of the rotating shaft 52 on the vehicle body, improve the driving stability of the walking device 1000, and provide a reset force for the rotating shaft 52 to reset the rotating shaft 52 in time.

[0113] Exemplarily, in the embodiment, one end of the buffer 61 is connected to the mounting base 56 through the fixing member 62. The mounting base 56 is connected to the frame 101, and the other end is connected to the first wheel shaft 11 and / or the first swing arm 13. Specifically, along the width direction Y of the walking device 1000, the rotating shaft 52 penetrates the second swing arm 53, and the end of the rotating shaft 52 protrudes relative to the second swing arm 53 in the axial direction. The end of the rotating shaft 52 protruding relative to the second swing arm 53 can be provided with a clamping groove, and the buffer 61 is buckled in the clamping groove to prevent the buffer 61 from sliding off the rotating shaft 52. The buffer 61 is provided in two, and the two buffers 61 are connected to the two ends of the rotating shaft 52 in the axial direction. The buffer 61 can be configured as a spring, an elastic band, etc.

[0114] In some embodiments, one end of the buffer 61 can also be directly connected to the mounting base 56, and the buffer 61 is connected to the first swing arm 13. When the first swing arm 13 rotates around the rotation axis of the rotating shaft 52, the buffer 61 elastically deforms. The connection position of the buffer 61 and the first swing arm 13 can be arranged close to the first wheel shaft 11 to improve the buffering effect of the buffer 61 on the first swing arm 13. The connection position of the buffer 61 and the first swing arm 13 can be specifically arranged according to actual needs. In some embodiments, the buffer 61 can be connected to the first wheel shaft 11. In some embodiments, the buffer 61 can be connected to the first swing arm 13 and the first wheel shaft 11, respectively.

[0115] The end of the fixing member 62 protrudes relative to the mounting base 56 along the width direction Y of the walking device 1000. The buffer 61 is connected to the end of the fixing member 62. The fixing member 62 is used to avoid interference between the buffer 61 and other structures, and facilitates the installation of the buffer 61. The fixing member 62 can be configured as a fixed rod. The end of the fixing member 62 can be provided with a buckling groove, and the buffer 61 is buckled in the buckling groove to prevent the buffer 61 from sliding off the fixing member 62.

[0116] The second swing arm 53 and the buffer 61 are provided in two, respectively. The two second swing arms 53 are connected to the two ends of the rotating shaft 52 in the axial direction. The two buffers 61 are connected to the two second swing arms 53, respectively, to buffer the two second swing arms 53, respectively. The housing 102 and the frame 101 enclose a receiving space, and the first swing arm 13, the rotating shaft 52, the buffer 61, and the driving mechanism 2 are located in the receiving space to avoid the grass stems from winding around the first swing arm 13, the rotating shaft 52, the buffer 61, and the driving mechanism 2. The spacing distance between the second wheel 220 and the first swing arm 13 can be arranged according to actual needs, which is not limited in the present application. The lengths of the two first wheel shafts 11 along the width direction Y of the walking device 1000 can be the same or different. Exemplarily, the lengths of the two first wheel shafts 11 are the same.

[0117] Specifically, the fixing member 62 is connected to the mounting base 56 and fixedly connected to the rack 101 through the mounting base 56. The end of the fixing member 62 protrudes relative to the mounting base 56 along the width direction Y of the walking device 1000. The fixing member 62 is used to avoid interference between the buffer member 61 and other structures, and facilitate the installation of the buffer member 61. The fixing member 62 can be configured as a fixed rod. The end of the fixing member 62 can be provided with a buckling groove, and the buffer member 61 is buckled in the buckling groove to avoid the buffer member 61 from sliding off the fixing member 62. The buffer member 61 is used to buffer the rotation of the second swing structure 50 when the second swing structure 50 rotates around the rotation axis of the rotation shaft 52, and reduce the rigid transmission between the second swing structure 50 and the driving mechanism 2. The buffer member 61 can be configured as one of a coil spring, a gas spring, a torsion spring, and an elastic belt.

[0118] In some embodiments, the buffer member 61 is arranged between the second swing structure 50 and the rack 101. When the second swing structure 50 rotates relative to the rotation axis of the rotation shaft 52, the buffer member 61 elastically deforms to reduce the rigid transmission between the driving mechanism 2 and the second swing structure 50, buffer the rigid force between the second swing structure 50 and the driving mechanism 2, avoid the impact force on the driving mechanism 2 exceeding the working range of the driving mechanism 2, and improve the service life of the driving mechanism 2.

[0119] Please refer to 6 and FIG. 11, which is a structural diagram of the height adjustment device 500 of the walking device 1000 in FIG. 6. The connection point of the telescopic part 212 and the first transmission rod 230 is the first connection point P1, and the line between the first connection point P1 and the rotation axis of the rotating shaft 12 is the first line L1. The extension direction of the first line L1 is arranged at an angle with the telescopic direction F of the telescopic part 212. The connection point of the telescopic part 212 and the second transmission rod 240 is the second connection point P2, and the line between the second connection point P2 and the rotation axis of the rotating shaft 52 is the second line L2. The extension direction of the second line L2 is arranged at an angle with the telescopic direction F of the telescopic part 212. The force of the first transmission rod 230 acting on the telescopic part 212 is along the extension direction of the first line L1 between the first connection point P1 of the telescopic part 212 and the rotating shaft 12. The force of the second transmission rod 240 acting on the telescopic part 212 is along the extension direction of the second line L2 between the second connection point P2 of the telescopic part 212 and the rotating shaft 52. The force of the first transmission rod 230 and the second transmission rod 240 acting on the telescopic part 212 can be decomposed into a first component along the telescopic direction F of the telescopic part 212 and a second component perpendicular to the telescopic direction F of the telescopic part 212. The first component causes compression or stretching of the telescopic part 212. The second component generates torque on the telescopic part 212 and tends to bend the telescopic part 212, and tends to increase the friction between the telescopic part 212 and the driving part 211, resulting in increased wear between the telescopic part 212 and the driving part 211, reducing the service life of the driving member 21. In some cases, when the walking device 1000 drives over a bump or a protrusion on the ground, the first wheel 210 and the second wheel 220 impact the ground, causing the first transmission rod 230 and the second transmission rod 240 to impact the telescopic part 212, and when the second component is too large, the second component is likely to cause the telescopic part 212 to bend, causing damage to the telescopic part 212. In this embodiment, based on the driving part 211 driving the telescopic part 212 to extend away from the rotating shaft 12 or to retract towards the rotating shaft 12, the distance between the telescopic part 212 and the first connection point P1 of the first transmission rod 230 and the rotation axis of the rotating shaft 12 can be increased, thereby reducing the angle θ between the telescopic direction F of the telescopic part 212 and the extension direction of the first line L1 between the first connection point P1 of the telescopic part 212 and the rotating shaft 12, and further reducing the second component of the first transmission rod 230 acting on the telescopic part 212, reducing the risk of bending damage to the telescopic part 212, reducing the friction between the telescopic part 212 and the driving part 211, reducing the wear between the telescopic part 212 and the driving part 211, and improving the service life of the driving member 21.It should be noted that the relationship between the first connecting line L1 and the second connecting line L2 and the stretching direction F of the stretching part 212 is applicable to the first embodiment, and the present application does not make specific limitations.

[0120] Please refer to FIG. 6 and FIG. 12 together, FIG. 12 is a structural schematic diagram of the walking device 1000 omitting part of the structure provided by the second embodiment of the present application. In some embodiments, the driving mechanism 2 is provided with an elastic member 22, which is used to buffer the rigid stress conducted by the swinging mechanism 1.

[0121] It can be understood that under the action of gravity, the weight of the walking device 1000 itself will act on the walking wheel 200, the walking wheel 200 will generate a torque on the swinging mechanism 1, and the swinging mechanism 1 will act the torque on the driving mechanism 2, thereby causing the driving mechanism 2 to be prone to damage. When the walking device 1000 travels on the concave-convex ground, the walking device 1000 generates jolting vibration, which causes the rigid stress generated on the swinging mechanism 1 to be conducted to the driving mechanism 2, thereby causing the driving mechanism 2 to be prone to damage. The height adjusting device 500 provided by the present application is based on the driving mechanism 2 being provided with an elastic member 22, so that the elastic member 22 can be used to buffer the rigid stress conducted by the swinging mechanism 1. On the one hand, the rigid stress conducted by the swinging mechanism 1 is reduced to prevent the driving mechanism 2 from being damaged, thereby improving the service life of the driving mechanism 2. On the other hand, the elastic member 22 can also absorb the impact force generated by the ground on the walking device 1000 when it is elastically deformed, thereby improving the stability of the walking device 1000 when it travels on the concave-convex road.

[0122] Exemplarily, in the present embodiment, the driving mechanism 2 further comprises a pivoting member 25. One end of the transmission member 23 is in transmission connection with the driving member 21 through the pivoting member 25, and the other end of the transmission member 23 is in transmission connection with the swinging mechanism 1. At least one of the transmission member 23 and the pivoting member 25 is provided with an elastic member 22. Thus, the transmission member 23 and / or the pivoting member 25 provided with the elastic member 22 can buffer the rigid stress conducted by the swinging mechanism 1, thereby reducing the rigid stress conducted by the swinging mechanism 1 to prevent the driving mechanism 2 from being damaged, thereby improving the service life of the driving mechanism 2 and the stability of the walking device 1000 when it travels.

[0123] Please refer to FIG. 6, in the first embodiment, the pivot joint 25 can be provided with the elastic member 22, and the transmission member 23 can not be provided with the elastic member 22. Thus, on the one hand, since the pivot joint 25 is provided with the elastic member 22, the pivot joint 25 produces a certain elastic deformation when subjected to external vibration or impact, thereby reducing the influence of vibration and impact on the driving member 21 and the transmission member 23, protecting the normal operation of the driving member 21, improving the service life of the driving mechanism 2, and improving the stability of the walking equipment 1000 running. On the other hand, the driving mechanism 2 does not need to be provided with an additional elastic member 22, which simplifies the overall structure of the driving mechanism 2, is compact in structure and reduces cost. Specifically, in this embodiment, the pivot joint 25 can be but not limited to a pin shaft, a rivet, etc.

[0124] It should be noted that the pin shaft refers to a transmission element that transmits power between mechanical parts and other components, used for the hinge connection of two parts. The rivet refers to a nail-shaped object used to connect two mechanical parts with holes, with a cap at one end.

[0125] Specifically, for example, in this embodiment, the pivot joint 25 can be configured as a flexible shaft and serve as the elastic member 22, so that the material of the pivot joint 25 can absorb and buffer the rigid stress transmitted by the swing mechanism 1 when it is elastically deformed. The material of the pivot joint 25 can include but is not limited to silicone, rubber, etc. Of course, in some embodiments, the pivot joint 25 includes a pivot body and an elastic member 22 provided on the pivot body, and the material of the pivot body includes but is not limited to metal, alloy, etc. The pivot body can be configured as a rigid structure. Thus, the pivot body can improve the rigidity of the pivot joint 25 to meet the needs of high-precision transmission systems and improve the service life of the pivot joint 25. For example, the pivot joint 25 can be configured as but not limited to an elastic column pin coupling.

[0126] Please refer to Figs. 6 and 12, in the second embodiment, the transmission member 23 and the pivot member 25 are both provided with the elastic member 22. Thus, on the one hand, since the transmission member 23 and the pivot member 25 are both provided with the elastic member 22, the transmission member 23 and the pivot member 25 can be elastically deformed when subjected to external vibration or impact, thereby further reducing the influence of vibration and impact on the driving member 21 and the transmission member 23, protecting the normal operation of the driving member 21, improving the service life of the driving mechanism 2, and improving the stability of the walking equipment 1000 in driving. On the other hand, the transmission member 23 can be elastically deformed when subjected to pressure or tension, thereby buffering the pressure or tension acting on the transmission member 23, reducing the rigid conduction of the transmission member 23, avoiding the pressure or tension acting on the transmission member 23 being too large to cause the transmission member 23 to bend under pressure or crack under tension, and prolonging the service life of the transmission member 23. Of course, in other embodiments, the transmission member 23 can be provided with the elastic member 22, and the pivot member 25 can not be provided with the elastic member 22.

[0127] Exemplarily, in the present embodiment, the first transmission rod 230 and the second transmission rod 240 are both in transmission connection with the driving member 21 through the pivot member 25, the first transmission rod 230 is in transmission connection with the first swing structure 10 at the end away from the pivot member 25, and the second transmission rod 240 is in transmission connection with the second swing structure 50 at the end away from the pivot member 25. Thus, on the one hand, based on the first swing structure 10 and the second swing structure 50 being respectively arranged at the front end and the rear end of the equipment body 100, the height adjusting device 500 can conveniently adjust the lifting of the equipment body 100, improve the driving comfort of the walking equipment 1000, and realize better passability of the walking equipment 1000 in complex road conditions, such as wading, climbing, etc. On the other hand, based on the first transmission rod 230 and the second transmission rod 240 being in transmission connection with the driving member 21 through the same pivot member 25, the overall structure of the height adjusting device 500 is simplified, and the cost is reduced.

[0128] As shown in FIG. 6, the number of the first transmission rods 230 is two. The driving member 21 is arranged between the two first transmission rods 230 along the width direction Y of the walking device 1000. The second transmission rod 240 is arranged with the driving member 21 along the length direction X of the walking device 1000. Exemplarily, in the embodiment, the two first transmission rods 230 are both provided with the elastic member 22, so as to further improve the buffering capacity of the elastic member 22 to the rigid force transmitted by the swing mechanism 1. The two first transmission rods 230 are pivoted by the same pivot member 25; or, the two first transmission rods 230 can also be pivoted by different pivot members 25. Of course, in some embodiments, one of the two first transmission rods 230 is provided with the elastic member 22. It should be noted that the number of the first transmission rods 230 can also be one, three or more than three, which is not limited in the present application.

[0129] It should be noted that the term "pivoted" includes the pivoted connection of two elements or the spherical pivoted connection of two elements. For example, in the embodiment, the connecting arm 14 is pivoted with the first transmission rod 230. The connecting arm 14 and the first transmission rod 230 are pivoted by the first pivoted shaft 251 of the pivot member 25, and the central axis of the first pivoted shaft 251 is parallel to the width direction Y of the walking device 1000. The pivot member 25 can be arranged independently with the connecting arm 14 and the first transmission rod 230. The pivot member 25 can also be fixedly connected with the connecting arm 14 or the first transmission rod 230, so as to simplify the assembly operation of the pivot member 25. Of course, in some embodiments, the connecting arm 14 and the first transmission rod 230 can also be spherical pivoted by a spherical pivoted structure.

[0130] Specifically, in the embodiment, the pivot member 25 includes the first pivoted shaft 251 and the second pivoted shaft 252. The first transmission rod 230 is transmissionally connected with the driving member 21 by the first pivoted shaft 251, and the second transmission rod 240 is transmissionally connected with the driving member 21 by the second pivoted shaft 252. The first pivoted shaft 251 and the second pivoted shaft 252 are arranged independently. Thus, on the one hand, based on the transmissionally connecting the first transmission rod 230 and the second transmission rod 240 with the driving member 21 by different pivot members 25, the height adjustment precision of the height adjustment device 500 is improved, and the stability of lifting is improved; on the other hand, the durability of the first pivoted shaft 251 and the second pivoted shaft 252 is improved, and the structural layout is reasonable.

[0131] At least one of the first pivot shaft 251 and the second pivot shaft 252 is configured as a flexible shaft and serves as the elastic member 22. In the embodiment, both the first pivot shaft 251 and the second pivot shaft 252 are configured as flexible shafts, so that the first pivot shaft 251 can absorb the rigid stress of one of the swing mechanisms 1 transmitted to the first transmission rod 230, and the second pivot shaft 252 can absorb the rigid stress of the other of the swing mechanisms 1 transmitted to the second transmission rod 240, thereby improving the service life of the driving mechanism 2 and the stability of the walking device 1000 in running. Of course, in some embodiments, one of the first pivot shaft 251 and the second pivot shaft 252 can be configured as a flexible shaft, and the other of the first pivot shaft 251 and the second pivot shaft 252 can be configured as a rigid shaft.

[0132] The central axis of the first pivot shaft 251 and the central axis of the second pivot shaft 252 can be parallel to the width direction Y of the walking device 1000. The first pivot shaft 251 and the second pivot shaft 252 are arranged along the length direction X of the walking device 1000, thereby facilitating the assembly efficiency of the first transmission rod 230 and the second transmission rod 240 with the pivot member 25.

[0133] The driving member 21 includes a driving part 211 and an extension part 212. One end of the extension part 212 is in transmission connection with the driving part 211, and the other end of the extension part 212 is hingedly connected with the transmission member 23. The driving part 211 is used to drive the extension part 212 to push and pull the transmission member 23. Since at least one of the pivot member 25 or the transmission member 23 is provided with the elastic member 22, it is avoided that the driving part 211 is damaged and cannot drive the swing mechanism 1 to rotate to drive the device body 100 to rise or fall relative to the horizontal base surface, thereby improving the service life of the driving part 211 and ensuring the normal operation of the height adjusting device 500. Specifically, the first transmission rod 230 is hingedly connected with the extension part 212 through the first pivot shaft 251, and the second transmission rod 240 is hingedly connected with the extension part 212 through the second pivot shaft 252, so that the driving force output by the driving part 211 can be transmitted to the swing mechanism 1 through the first transmission rod 230 and the second transmission rod 240.

[0134] In some embodiments, the driving mechanism 2 further includes a pivot seat 26. The pivot seat 26 is fixedly connected with the driving member 21. Specifically, the pivot seat 26 is fixed to the end of the extension part 212 away from the driving part 211. The pivot seat 26 includes a first pivot part 261 and a second pivot part 262. The first pivot part 261 is fixed to the end of the extension part 212 away from the driving part 211 and is used to be hingedly connected with the first transmission rod 230 through the first pivot shaft. The second pivot part 262 is protrudingly arranged relative to the first pivot part 261 towards the second transmission rod 240 and is used to be hingedly connected with the second transmission rod 240 through the second pivot shaft.

[0135] Of course, in some other embodiments, the first pivot part 261 can also be pivotally connected to the first transmission rod 230 through a ball hinge structure, and the second pivot part 262 can also be pivotally connected to the second transmission rod 240 through a ball hinge structure, which are not limited in the embodiments of the present application. For example, one of the first pivot part 261 and the first transmission rod 230 is provided with a spherical protrusion, and the other one of the first pivot part 261 and the first transmission rod 230 is provided with a spherical groove matched with the spherical protrusion, so that the first transmission rod 230 and the first pivot part 261 can rotate around the spherical center of the spherical protrusion in any direction, respectively. One of the second pivot part 262 and the second transmission rod 240 is provided with a spherical protrusion, and the other one of the second pivot part 262 and the second transmission rod 240 is provided with a spherical groove matched with the spherical protrusion, so that the second transmission rod 240 and the second pivot part 262 can rotate around the spherical center of the spherical protrusion in any direction, respectively. In some cases, when the walking device 1000 is disturbed by external interference, causing the output direction of the driving force of the driving member 21 to deflect, the ball hinge connection between the first transmission rod 230 and the first pivot part 261 and the second transmission rod 240 and the second pivot part 262 can make the first transmission rod 230 and the first pivot part 261 and the second transmission rod 240 and the second pivot part 262 remain normally connected, so that the height adjusting device 500 can still work normally, improving the anti-interference ability of the height adjusting device 500, simplifying the structure of the height adjusting device 500, and facilitating assembly.

[0136] At least one of the first transmission rod 230 and the second transmission rod 240 is provided with an elastic member 22. For example, in the embodiment, the first transmission rod 230 is provided with the elastic member 22. Of course, in some embodiments, the second transmission rod 240 can also be provided with the elastic member 22; or, the first transmission rod 230 and the second transmission rod 240 are both provided with the elastic member 22. Thus, the first transmission rod 230 and / or the second transmission rod 240 provided with the elastic member 22 can absorb the rigid stress of the swing mechanism 1 transmitted to the first transmission rod 230 and / or the second transmission rod 240, thereby improving the service life of the driving mechanism 2 and improving the stability of the walking device 1000 in driving. The first transmission rod 230 and the second transmission rod 240 are configured as rigid members, so as to facilitate the assembly of the first transmission rod 230 and the second transmission rod 240 with the driving member 21 and the swing mechanism 1, and to ensure that the first transmission rod 230 and the second transmission rod 240 can transmit the driving force applied by the driving member 21 to the swing mechanism 1 to realize the lifting of the device main body 100 driven by the swing mechanism 1.

[0137] Specifically, at least one of the first transmission rod 230 and the second transmission rod 240 comprises a first transmission part 231 and a second transmission part 232, and the elastic member 22 is connected between the first transmission part 231 and the second transmission part 232. In this way, on the one hand, the first transmission part 231 and the second transmission part 232 are facilitated to be assembled with the swing mechanism 1, the driving member 21 and the pivoting member 25, and the elastic member 22 is facilitated to be installed; on the other hand, the buffering capacity of the elastic member 22 to the rigid stress transmitted by the swing mechanism 1 is improved. The elastic member 22 is at least one of a spring, a spring piece, an elastic body and a gas spring. In the embodiment, the elastic member 22 is a spring. In this way, on the one hand, the spring has good durability and can withstand long-term repeated use without being easily damaged; on the other hand, the spring has high resilience, and after being stretched or compressed, the spring can quickly recover its original shape, absorb impact force and reduce the influence of vibration on the walking device 1000. In some embodiments, the elastic member 22 is integrally formed with the first transmission part 231 and the second transmission part 232, thereby facilitating the processing and molding of the transmission member 23, and facilitating the assembly, maintenance and replacement of the transmission member 23 and other parts.

[0138] In the embodiment, the first transmission rod 230 and / or the second transmission rod 240 can be configured as a bent rod structure, thereby improving the compression resistance and tensile resistance of the first transmission rod 230 and / or the second transmission rod 240. Specifically, the first transmission rod 230 comprises a first transmission part 231 and a second transmission part 232, the first transmission part 231 is in transmission connection with the driving member 21, one end of the second transmission part 232 is connected with the first transmission part 231, and the other end of the second transmission part 232 is in transmission connection with the swing mechanism 1. The extension direction of the first transmission part 231 is parallel or substantially parallel to the horizontal base surface, and the second transmission part 232 is inclined relative to the first transmission part 231 towards the horizontal base surface, thereby increasing the ground clearance of the first transmission part 231, avoiding the problem of scratching with ground obstacles or winding with grass columns, and avoiding damage to the driving member 21.

[0139] In some embodiments, the first transmission part 231 is provided with an elastic member 22. Specifically, the first transmission part 231 comprises a first segment 2311 and a second segment 2312. The first segment 2311 and the second segment 2312 are spaced apart along the length direction X of the walking device 1000 and form an installation gap 2310. In this way, when the swing mechanism 1 drives the device main body 100 to swing to a position where the ground clearance of the device main body 100 is smallest, the ground clearance of the end of the second transmission part 232 away from the first transmission part 231 is smaller than the ground clearance of the end of the second transmission part 232 close to the first transmission part 231, thereby avoiding the problem of the elastic member 22 winding with grass or other impurities when the swing mechanism 1 drives the device main body 100 to swing to a position where the ground clearance of the device main body 100 is smallest.

[0140] Of course, in some embodiments, the second transmission part 232 can also be provided with the elastic member 22. The second transmission part 232 can also include the first segment 2311 and the second segment 2312 which are arranged at intervals. Specifically, the second transmission part 232 is provided with the mounting gap 2310 to form the first segment 2311 and the second segment 2312, thereby avoiding the problem of interference with the elastic member 22 when the driving member 21 moves. Of course, in other embodiments, both the first transmission part 231 and the second transmission part 232 can be provided with the elastic member 22; or one end of the elastic member 22 is connected with the first transmission part 231, and the other end of the elastic member 22 is connected with the second transmission part 232.

[0141] In the present embodiment, the second transmission rod 240 includes the first transmission segment 241, the second transmission segment 242, and the third transmission segment 243 which is arranged in a bent manner relative to the second transmission segment 242, and the extending direction of the third transmission segment 243 is opposite to the extending direction of the first transmission part 231. At least one of the first transmission segment 241, the second transmission segment 242, and the third transmission segment 243 can also be provided with the elastic member 22.

[0142] In other embodiments, the first transmission rod 230 and / or the second transmission rod 240 can also be configured in a straight rod structure. For example, the extending direction of the first transmission part 231 is the same as the extending direction of the second transmission part 232, and is parallel to the pushing and pulling direction of the telescopic part 212, so that the included angle between the pushing and pulling direction of the telescopic part 212 and the transmission direction of the first transmission rod 230 is almost zero, thereby improving the utilization rate of the driving force exerted by the telescopic part 212 on the first transmission rod 230, and reducing the vertical component force exerted by the first transmission rod 230 on the telescopic part 212, avoiding the problem of bending damage of the telescopic part 212 under the action of the vertical component force, and prolonging the service life of the driving member 21.

[0143] Please refer to FIG. 12 and FIG. 13, FIG. 13 is a structural schematic diagram of another embodiment of the first transmission rod 230 of the height adjustment device 500 of the walking device 1000 in FIG. 12. In some embodiments, at least part of the structure of the first transmission rod 230 and the second transmission rod 240 is configured as a curved structure to form the elastic member 22, and the curved structure is arranged to be curved along the width direction Y of the walking device 1000, thereby avoiding the problem of assembly interference between the first transmission rod 230 and the device body 100 or other components in the device body 100, and improving the compactness of the first transmission rod 230. The first transmission rod 230 can be made of a metal material, on the one hand, facilitating the processing and forming of the first transmission rod 230, and enabling the first transmission rod 230 to better withstand pressure, tension and bending force, thereby prolonging the service life of the first transmission rod 230; on the other hand, avoiding the problem of aging of the first transmission rod 230 due to environmental influence. The curved structure can be configured as, but is not limited to, a wave-shaped structure, an arc-shaped structure or a broken line-shaped structure.

[0144] Please refer to FIG. 12 and FIG. 14, FIG. 14 is a structural schematic diagram of part II of the walking device 1000 in FIG. 12. In some embodiments, at least one of the first segment 2311 and the second segment 2312 is provided with a guide rod 27. In the length direction X of the walking device 1000, the sum of the extension lengths of all the guide rods 27 is less than the distance between the first segment 2311 and the second segment 2312, and the elastic member 22 is sleeved on the guide rod 27. In this way, on the one hand, the guide rod 27 plays a guiding role in the deformation of the elastic member 22, thereby avoiding the problem of interference between the elastic member 22 and other elements or external obstacles due to excessive deformation of the elastic member 22; on the other hand, facilitating the assembly of the elastic member 22, and improving the reliability and stability of the elastic member 22 and the first segment 2311 and the second transmission connection. It should be noted that the sum of the extension lengths of all the guide rods 27 refers to the sum of the extension lengths of all the guide rods 27 sleeved in the same elastic member 22.

[0145] Exemplarily, in the embodiment, the first segment 2311 and the second segment 2312 are respectively provided with the guide rods 27, the guide rod 27 of the first segment 2311 is spaced apart from the guide rod 27 of the second segment 2312, thereby avoiding the problem that the guide rod 27 of the first segment 2311 interferes with the guide rod 27 of the second segment 2312 when the elastic member 22 is compressed, and the elastic member 22 can be directly sleeved in the two guide rods 27 without the need to set an additional mounting structure, facilitating the alignment assembly of the elastic member 22, and avoiding the displacement of the elastic member 22. Of course, in some embodiments, the two ends of the elastic member 22 are respectively fixedly connected to the guide rod 27 of the first segment 2311 and the guide rod 27 of the second segment 2312, thereby improving the connection reliability and stability between the elastic member 22 and the first segment 2311 and the second segment 2312, and avoiding the displacement of the elastic member 22. One of the first segment 2311 and the second segment 2312 can be provided with the guide rod 27. One end of the elastic member 22 is fixedly mounted on the first segment 2311 or the second segment 2312, and the other end of the elastic member 22 is movably sleeved on the guide rod 27, thereby simplifying the assembly between the elastic member 22 and the first segment 2311 or the second segment 2312. In some embodiments, the number of the elastic members 22 includes a plurality of elastic members 22, and the plurality of elastic members 22 are spaced apart along the height direction Z of the walking device 1000, thereby improving the buffering capacity of the elastic member 22 to the rigid stress conducted by the swing mechanism 1. Exemplarily, in the embodiment, the number of the elastic members 22 includes three, and the three elastic members 22 are spaced apart along the height direction Z of the walking device 1000. The extension directions of the three elastic members 22 are parallel to each other. In other embodiments, the number of the elastic members 22 can also include one, two or more than three, and the embodiments of the present application are not limited in this regard.

[0146] The elastic member 22 and the first transmission rod 230 and the second transmission rod 240 can be fixedly connected together by means of, but not limited to, bonding, clamping, screwing, welding and the like, or connected together by means of fasteners and the like; or the elastic member 22 can also be integrally formed with the first transmission rod 230 and the second transmission rod 240.

[0147] In some embodiments, the driving mechanism 2 further comprises a support frame 28, and the at least one elastic member 22 is installed between the first segment 2311 and the second segment 2312 through the support frame 28. In this way, the support frame 28 can provide a more correct installation site for the elastic member 22, thereby facilitating the assembly efficiency of the elastic member 22 and the transmission member 23. Specifically, one of the elastic members 22 is directly installed between the first segment 2311 and the second segment 2312, and the other two elastic members 22 are indirectly installed between the first segment 2311 and the second segment 2312 through the support frame. Of course, in some embodiments, all the elastic members 22 are installed between the first segment 2311 and the second segment 2312 through the support frame 28; or, the support frame 28 can be omitted, and all the elastic members 22 are directly installed between the first segment 2311 and the second segment 2312 and directly fixedly connected.

[0148] In the present embodiment, the support frame 28 is protrudingly arranged relative to the transmission member 23 in the height direction Z of the walking device 1000, thereby providing sufficient space for the deformation of the plurality of elastic members 22, avoiding the problem of interference of the elastic members 22 during the deformation process, and reducing the assembly difficulty of the plurality of elastic members 22 and the transmission member 23, and improving the assembly efficiency. Of course, in some embodiments, the support frame 28 can also be arranged flush relative to the transmission member 23 in the height direction Z of the walking device 1000, and the present application is not limited specifically in the embodiment.

[0149] It can be understood that under the action of gravity, the weight of the walking device 1000 itself acts on the axle of the first wheel 210, the first axle 11 connected with the first wheel 210 generates a torque around the central axis of the rotating shaft 12 on the first swing arm 13, and the rotating shaft 12 acts the torque on the first transmission rod 230 through the first swing arm 13, so that the first swing arm 13 generates a pressure or tension on the first transmission rod 230. When the walking device 1000 runs on the uneven ground, the walking device 1000 generates a bumping vibration, which causes the pressure or tension of the first swing arm 13 on the first transmission rod 230 to be too large, which easily causes the first transmission rod 230 to be bent under the action of the pressure or to be cracked under the action of the tension. The height adjusting device 500 provided by the application is based on the elastic member 22 arranged on the first transmission rod 230 and / or the first pivot shaft 251. On the one hand, the elastic member 22 can be elastically deformed when the first transmission rod 230 is subjected to the pressure or tension, thereby buffering the pressure or tension acting on the first transmission rod 230, reducing the rigidity of the first swing arm 13 at one end conducted through the first transmission rod 230, avoiding damage to the first transmission rod 230 and the driving member 21, and prolonging the service life of the first transmission rod 230 and the driving member 21. On the other hand, the first transmission rod 230 can absorb the impact force of the first swing arm 13 acting on the first transmission rod 230 when it is elastically deformed, reduce the impact of the first transmission rod 230 on the driving member 21, and prolong the service life of the driving member 21. On the other hand, the first transmission rod 230 can also absorb the impact force of the ground on the walking device 1000 when it is elastically deformed, thereby improving the stability of the walking device 1000 when running on the uneven road.

[0150] Under the action of gravity, the weight of the walking device 1000 itself also acts on the second axle 51 connected with the second wheel 220, and the second axle 51 generates a torque about the central axis of the rotation shaft 52 on the second swing arm 53, and the rotation shaft 52 acts the torque on the second transmission rod 240 through the second swing arm 53, so that the second swing arm 53 generates a pressure or a tension on the second transmission rod 240. In some cases, when the first wheel 210 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or the tension of the second swing arm 53 on the second transmission rod 240 is too large, which easily causes the second transmission rod 240 to be bent under the action of the pressure or to be cracked under the action of the tension. In the embodiment of the present application, the elastic member 22 is arranged on the second transmission rod 240 and / or the second pivot shaft 252, on the one hand, the elastic member 22 can be elastically deformed when the second transmission rod 240 is subjected to the pressure or the tension, thereby buffering the pressure or the tension acting on the second transmission rod 240, reducing the rigidity of the second swing arm 53 at one end of the second transmission rod 240, avoiding damage to the second transmission rod 240 and the driving member 21, and prolonging the service life of the second transmission rod 240 and the driving member 21; on the other hand, the elastic member 22 can absorb the impact force of the second swing arm 53 acting on the second transmission rod 240 when the second transmission rod 240 is elastically deformed, reducing the impact of the second transmission rod 240 on the driving member 21, and prolonging the service life of the driving member 21; and on the other hand, the elastic member 22 can also absorb the impact force of the ground on the walking device 1000 when the second transmission rod 240 is elastically deformed, improving the stability of the walking device 1000 when driving on the uneven road.

[0151] Please refer to FIG. 15, which is a structural schematic diagram of the walking device 1000 provided by the third embodiment of the present application. In some embodiments, the walking device 1000 further comprises a collision prevention device 400. The collision prevention device 400 can be mounted on the frame 101 or the machine shell 102, and is arranged on the front side of the walking device 1000. When there is an obstacle in the direction of the walking device 1000, the collision prevention device 400 can be used to touch the obstacle to avoid damage to the machine shell 102 caused by the collision with the obstacle. In some embodiments, the collision prevention device 400 is provided with a touch sensor (such as a contact sensor, an ultrasonic sensor, a visual sensor, etc.), which is used to identify the obstacle in a contact or non-contact manner, and the walking device 1000 performs an obstacle avoidance operation when encountering the obstacle. In some embodiments, the walking device 1000 further comprises a collection device 600. The collection device 600 can be mounted on the frame 101 or the machine shell 102, and is arranged on the rear side of the walking device 1000. The collection device 600 is used to collect grass clippings, fallen leaves and the like on the lawn.

[0152] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A walking apparatus, characterized by, The walking device comprises: a device body; a first swing structure arranged on the device body for driving the device body to lift relative to the ground; a driving mechanism arranged on the device body in the length direction of the walking device, the driving mechanism comprising a driving member and a first transmission rod, the first transmission rod being arranged in the width direction of the walking device and spaced apart from the driving member, one end of the first transmission rod being connected with the driving member, and the other end of the first transmission rod being connected with the first swing structure, the driving member being used for driving the first transmission rod to move in the length direction of the walking device.

2. The walking apparatus according to claim 1, wherein In the length direction of the walking device, the first swing structure is arranged at one end of the device body.

3. The walking apparatus according to claim 1, wherein In the length direction of the walking device, the first swing structure is arranged at the rear end of the device body, the driving member comprises a driving part and an extension part, one end of the extension part being connected with the driving part, and the other end of the extension part being hinged with the first transmission rod, the driving part being used for driving the extension part to drive the first transmission rod to move in the length direction of the walking device, and the connection point between the extension part and the driving part being located between the connection point between the extension part and the first transmission rod and the connection point between the first transmission rod and the first swing structure.

4. The walking apparatus of claim 1, wherein The walking device further comprises a second swing structure, and the driving mechanism further comprises a second transmission rod, one end of the second transmission rod being connected with the driving member, and the other end of the second transmission rod being connected with the second swing structure.

5. The walking apparatus of claim 4, wherein, In the length direction of the walking device, the first swing structure is arranged at the rear end of the device body, and the second swing structure is arranged at the front end of the device body, the distance from the connection point between the first transmission rod and the driving member to the connection point between the first transmission rod and the first swing structure being a first distance, and the distance from the connection point between the second transmission rod and the driving member to the connection point between the second transmission rod and the second swing structure being a second distance, wherein the second distance is less than the first distance.

6. The walking apparatus of claim 4, wherein, The second transmission rod is arranged in the width direction of the walking device and spaced apart from the driving member; or the second transmission rod is arranged in the length direction of the walking device and spaced apart from the driving member.

7. The walking apparatus of claim 4, wherein, The driving mechanism further comprises a hinge seat arranged on the driving member, and the second transmission rod is hinged with the driving member through the hinge seat.

8. The walking apparatus of claim 1, wherein, The driving mechanism comprises two first transmission rods, and the driving mechanism is arranged between the two first transmission rods in the width direction of the walking device.

9. The walking apparatus of claim 1, wherein, The first transmission rod comprises a first transmission part and a second transmission part, one end of the first transmission part being connected with the driving member, the other end of the first transmission part being connected with the second transmission part, the end of the second transmission part away from the first transmission part being connected with the first swing structure, the first transmission part being arranged transversely in the length direction of the walking device, and the second transmission part being arranged obliquely in the length direction of the walking device.

10. The walking apparatus of claim 1, wherein, The first transmission rod is arranged transversely to the length direction of the walking device.

11. The walking apparatus of claim 1, wherein, The driving mechanism is provided with an elastic member for buffering the rigid stress transmitted by the first swing structure.

12. The walking apparatus of claim 11, wherein, The driving mechanism further comprises a pivot member, one end of the first transmission rod is in transmission connection with the driving member through the pivot member, the other end of the first transmission rod is in transmission connection with the first swing structure, and at least one of the first transmission rod and the pivot member is provided with the elastic member.

13. The walking apparatus of claim 12, wherein, The walking device further comprises a second swing structure, the first swing structure is arranged at the rear end of the device body and the second swing structure is arranged at the front end of the device body in the length direction of the walking device, and the driving mechanism further comprises a second transmission rod, the first transmission rod and the second transmission rod are both in transmission connection with the driving member through the pivot member, and one end of the second transmission rod away from the pivot member is in transmission connection with the second swing structure.

14. The walking apparatus of claim 13, wherein, The pivot member comprises a first pivot shaft and a second pivot shaft, the first transmission rod is in transmission connection with the driving member through the first pivot shaft, the second transmission rod is in transmission connection with the driving member through the second pivot shaft, and the first pivot shaft and the second pivot shaft are independently arranged.

15. The walking apparatus of claim 14, wherein, At least one of the first pivot shaft and the second pivot shaft is configured as a flexible shaft and serves as the elastic member.

16. The walking apparatus of claim 13, wherein, At least one of the first transmission rod and the second transmission rod is provided with the elastic member.

17. The walking apparatus of claim 16, wherein, At least one of the first transmission rod and the second transmission rod comprises a first segment and a second segment, and the elastic member is connected between the first segment and the second segment.

18. The walking apparatus of claim 17, wherein, At least one of the first segment and the second segment is provided with a guide rod, the sum of the extension lengths of all the guide rods is less than the distance between the first segment and the second segment in the length direction of the walking device, and the elastic member is sleeved on the guide rod.

19. The walking apparatus of claim 17, wherein, The number of the elastic members comprises a plurality, and the plurality of elastic members are arranged at intervals in the height direction of the walking device.

20. The walking apparatus of claim 19, wherein, The driving mechanism further comprises a support frame, and at least one of the elastic members is installed between the first segment and the second segment through the support frame.

21. The walking apparatus of claim 20, wherein, The support frame is arranged protrudingly relative to the first transmission rod in the height direction of the walking device.

22. The walking apparatus of claim 11, wherein, The elastic member is configured as at least one of a spring, a spring piece, an elastic body and a gas spring.

23. The walking apparatus of claim 13, wherein, The first swing structure comprises a first swing arm and a rotating shaft, one end of the first swing arm is in transmission connection with the driving member through the rotating shaft, the other end of the first swing arm is in rotation connection with the walking wheel of the walking device, the rotating shaft is used for being in rotation connection with the device body, the central axis of the rotating shaft is spaced from the central axis of the walking wheel, and the driving member is used for driving the first swing arm and the walking wheel to rotate around the central axis of the rotating shaft.

24. The walking apparatus of claim 23, wherein, The first swing structure further comprises a connecting arm, the connecting arm is arranged in space with the first swing arm, one end of the connecting arm is hinged with the first transmission rod, and the other end of the connecting arm is connected with the rotating shaft.

25. The walking apparatus of claim 24, wherein, The walking device further comprises a partition, the partition is arranged at the hinge of the first transmission rod and the first swing structure and is located between the first transmission rod and the first swing structure.

26. The walking apparatus of claim 25, wherein, In the width direction of the walking device, the partition is located between the first transmission rod and the connecting arm.

27. The walking apparatus of claim 26, wherein, The driving mechanism further comprises a connecting shaft, the partition is connected to at least one of the first transmission rod and the connecting arm through the connecting shaft, the central axis of the connecting shaft is parallel to the width direction of the walking device; or the partition is configured as a spherical hinge component connected between the first transmission rod and the connecting arm; or the partition is configured as a bearing, one of the first transmission rod and the connecting arm is connected with the inner ring of the bearing, and the other is connected with the outer ring of the bearing.

28. The walking apparatus of claim 24, wherein, The length of the connecting arm is less than or equal to the length of the first swing arm.

29. The walking apparatus of claim 1, wherein, The first transmission rod is arranged in plurality, both ends of each first transmission rod are hinged with the driving member and the first swing structure respectively, the plurality of first transmission rods are arranged in space and distributed on both sides of the driving member.

30. The walking apparatus of claim 23, wherein, The walking device further comprises a buffer mechanism, the buffer mechanism is connected with the device body and the second swing structure respectively and is used for elastically deforming when the second swing structure rotates relative to the device body.

31. The walking apparatus of claim 30, wherein, The buffer mechanism comprises a fixing member and a buffer member, the fixing member is fixedly connected with the device body, one end of the buffer member is connected with the end of the fixing member, and the other end of the buffer member is connected with the second swing structure.

32. The walking apparatus of claim 30, wherein, The second swing structure further comprises a second wheel shaft, the rotating shaft and the second wheel shaft are connected with the second swing arm respectively, the second wheel shaft is used for mounting the walking wheel, and the end of the buffer mechanism away from the device body is connected with one of the second wheel shaft, the second swing arm and the rotating shaft.

33. The walking apparatus of claim 30, wherein, The second swing arms are arranged in two, and the two second swing arms are connected to the axial ends of the rotating shaft.

34. The walking apparatus of claim 30, wherein, The buffer mechanism is configured as one of a spiral spring, a gas spring, a torsion spring and an elastic belt.

35. The walking apparatus of claim 23, wherein, The second swing structure further comprises a main rotating shaft, the main rotating shaft is connected to the equipment body, the rotating shaft is connected to the main rotating shaft and can rotate relative to the rotating axis of the main rotating shaft, and the rotating axis of the rotating shaft is perpendicular to the rotating axis of the main rotating shaft.

36. The walking apparatus of claim 23, wherein, The second swing structure further comprises a mounting base, a guide sliding rod, a first sliding member and a second sliding member, the mounting base is fixedly connected to the equipment body, the mounting base is provided with an accommodating space, the guide sliding rod is located in the accommodating space, the axial direction of the guide sliding rod is perpendicular to the width direction of the walking equipment, the second sliding member is slidably sleeved on the guide sliding rod, one of the first sliding member and the second sliding member is provided with a sliding groove, the other of the first sliding member and the second sliding member is arranged in the sliding groove, and the driving member is connected to the second sliding member and is used to drive the second sliding member to slide along the guide sliding rod.

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