Traveling wheel adjustment device and traveling robot

Abstract

A traveling wheel adjustment device (100), comprising a frame (11), a first wheel axle (121), a second wheel axle (131) and an adjustment module (20). The frame (11) comprises a first end portion (111) and a second end portion (112), the first wheel axle (121) being mounted on the first end portion (111), and the second wheel axle (131) being mounted on the second end portion (112). The adjustment module (20) drives the first wheel axle (121) and / or the second wheel axle (131) to move. When the first wheel axle (121) moves to a first position and / or the second wheel axle (131) moves to a second position, the ground clearance of the first end portion (111) is greater than that of the second end portion (112), and the center of gravity of the traveling wheel adjustment device (100) moves forward towards the second end portion (112). Also provided is a traveling robot (1000). The traveling wheel adjustment device (100) can improve the anti-front-end-lifting capability of the traveling robot (1000).

Description

Walking wheel adjusting device and walking robot

[0001] The present application claims priority to the Chinese patent application No. 2024213143267, filed on June 7, 2024, and entitled "Walking wheel adjusting device and walking robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of robots, and in particular to a walking wheel adjusting device and a walking robot. BACKGROUND

[0003] The existing walking robot is prone to tilting when driving, which causes the walking robot to be unable to work, and thus the application range of the walking robot is small. SUMMARY

[0004] The present application provides a walking wheel adjusting device and a walking robot to solve the problem that the walking robot is prone to tilting.

[0005] In a first aspect, the present application provides a walking wheel adjusting device applied to a walking robot, wherein the walking robot comprises a collecting structure. The walking wheel adjusting device comprises a rack, a first wheel shaft, a second wheel shaft and an adjusting module. The rack comprises a first end portion and a second end portion opposite to each other in the front-rear direction of the walking robot. The first end portion is connected to the collecting structure. The first wheel shaft is installed on the first end portion. The second wheel shaft is installed on the second end portion. The adjusting module is connected to the first wheel shaft and / or the second wheel shaft and is configured to drive the first wheel shaft and / or the second wheel shaft to move relative to the rack; when the first wheel shaft moves to a first position relative to the rack and / or the second wheel shaft moves to a second position relative to the rack, the ground clearance of the first end portion is greater than that of the second end portion.

[0006] In some embodiments, the adjusting module comprises a first adjusting structure, a second adjusting structure and a driving structure. The first adjusting structure is connected to the first wheel shaft. The second adjusting structure is connected to the second wheel shaft. The driving structure is connected to the first adjusting structure and / or the second adjusting structure and is configured to drive the first adjusting structure to move the first wheel shaft relative to the rack and / or drive the second adjusting structure to move the second wheel shaft relative to the rack.

[0007] In some embodiments, the first adjusting structure comprises a first rotating shaft connected to the frame and a first swing arm, two ends of the first swing arm are connected to the first rotating shaft and the first wheel shaft respectively, and the driving structure is connected to the first rotating shaft and configured to drive the first rotating shaft to drive the first swing arm and the first wheel shaft to rotate around the rotation axis of the first rotating shaft.

[0008] In some embodiments, the first adjusting structure further comprises a rocker, one end of the rocker is connected to the driving structure, the other end of the rocker is connected to the first rotating shaft and fixed relative to the first swing arm, and the driving structure is configured to drive the rocker to drive the first swing arm to rotate around the rotation axis of the first rotating shaft.

[0009] In some embodiments, the length of the first swing arm is greater than or equal to the length of the rocker.

[0010] In some embodiments, the ground clearance of the central axis of the first wheel shaft is greater than or equal to the ground clearance of the rotation axis of the first rotating shaft, the first wheel shaft is located on the side of the first rotating shaft away from the second end portion along the length direction of the walking robot, and the first adjusting structure is configured to adjust the first wheel shaft to move relative to the first rotating shaft towards the direction away from the second end portion.

[0011] In some embodiments, when the first adjusting structure adjusts the first wheel shaft to move relative to the first rotating shaft towards the direction away from the second end portion, the distance between the center of gravity of the collecting structure and the first wheel shaft decreases.

[0012] In some embodiments, the second adjusting structure comprises a second rotating shaft and a second swing arm, the second rotating shaft, the second wheel shaft and the driving structure are connected to the second swing arm respectively, the rotation axis of the second rotating shaft is spaced apart from the central axis of the second wheel shaft, and the driving structure is configured to drive the second swing arm to drive the second wheel shaft to rotate around the rotation axis of the second rotating shaft.

[0013] In some embodiments, the driving structure comprises a driving member, a first connecting rod and a second connecting rod, the driving member is fixedly connected to the frame, one end of the first connecting rod is hingedly connected to the driving member, the other end of the first connecting rod is connected to the first rotating shaft, one end of the second connecting rod is hingedly connected to the driving member, and the other end of the second connecting rod is connected to the second swing arm.

[0014] In some embodiments, the driving member is provided as one, and the first connecting rod and the second connecting rod are jointly connected to the driving member, or the driving member is provided as two, one of the two driving members is connected to the first connecting rod, and the other of the two driving members is connected to the second connecting rod.

[0015] In some embodiments, the distance between the first wheel shaft and the first rotating shaft is greater than or equal to the distance between the second wheel shaft and the second rotating shaft.

[0016] In a second aspect, the present application provides a walking robot, which comprises a collecting structure and the walking wheel adjusting device according to any one of the above.

[0017] In the walking wheel adjusting device and the walking robot provided by the present application, the first wheel shaft is installed on the first end portion, the second wheel shaft is installed on the second end portion, the adjusting module is connected to the first wheel shaft and / or the second wheel shaft and is used to drive the first wheel shaft and / or the second wheel shaft to move relative to the frame; when the first wheel shaft moves relative to the frame to the first position and / or the second wheel shaft moves relative to the frame to the second position, the ground clearance of the first end portion is greater than the ground clearance of the second end portion, so that, on the one hand, the second end portion of the frame is inclined relative to the first end portion towards the ground, the overall center of gravity of the walking wheel adjusting device is moved forward towards the second end portion, the center of gravity of the collecting structure is close to the first end portion, and the collecting structure is raised relative to the frame away from the ground, so that the center of gravity of the collecting structure is close to the first end portion, thereby improving the anti-head-lifting capability of the walking robot, and on the other hand, when the collected objects are loaded in the collecting structure, the collected objects in the collecting structure can also be gathered towards the side close to the walking wheel adjusting device, so that the distance between the overall center of gravity of the collecting structure and the collected objects and the first end portion is reduced, thereby reducing the overturning torque formed by the collecting structure and the collected objects on the frame together, and further avoiding the problem of head lifting of the walking robot, and improving the application range of the walking robot. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0019] FIG. 1 is a structural schematic view of the walking robot provided by the present application when the adjusting module is in the first working posture.

[0020] Fig. 2 is a structural schematic diagram of the walking robot in a second working posture of the adjusting module according to an embodiment of the present application.

[0021] Fig. 3 is a structural schematic diagram of the walking wheel adjusting device according to an embodiment of the present application.

[0022] Fig. 4 is an exploded view of the walking wheel adjusting device according to an embodiment of the present application.

[0023] Fig. 5 is an enlarged view of I in Fig. 3.

[0024] Fig. 6 is a structural schematic diagram of the walking wheel adjusting device according to an embodiment of the present application, with some structures removed.

[0025] Fig. 7 is a structural schematic diagram of the walking wheel adjusting device according to an embodiment of the present application, with some structures removed.

[0026] Main figure mark explanation: walking robot 1000; walking wheel adjusting device 100; rack 11; first end part 111; second end part 112; first wheel shaft 121; first walking wheel 122; second wheel shaft 131; second walking wheel 132; adjusting module 20; first adjusting structure 21; first rotating shaft 211; fixing seat 2111; first swing arm 2122; second adjusting structure 22; second rotating shaft 221; second swing arm 222; base 2221; convex part 2222; reinforcing part 2223; mounting base 223; containing space 2231; communication hole 2232; mounting hole 2233; first sliding part 2241; second sliding part 2242; guide sliding groove 2243; guide rod 225; rotating shaft 226; fixing hole 2261; first shaft sleeve 2262; second shaft sleeve 2263; elastic part 2271; fixing part 2272; driving structure 23; driving part 231; telescopic part 2311; driving part 2312; rocker 232; first connecting rod 233; first connecting rod segment 2331; second connecting rod segment 2332; second connecting rod 234; first segment 2341; second segment 2342; third segment 2343; connecting seat 235; partition part 2361; machine shell 300; cutting structure 400; anti-collision structure 500; collection structure 600; length direction X; width direction Y; height direction Z.

[0027] The following specific implementation will further illustrate the present application in combination with the above-mentioned figures. Specific implementation

[0028] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of the present application.

[0029] Reference to "an embodiment" or "the embodiment" in this text means that a particular feature, structure, or characteristic described in connection with the embodiment or embodiments can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It is expressly understood that the embodiments described herein are merely examples from a whole class of embodiments of which the application is a part. It is further expressly understood that the application is intended to encompass all structures and their equivalents that do not depart from the spirit of the application.

[0030] It should be noted that the terms "first", "second" and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. The terms "and / or" between the list of items in the entities containing the terms "and / or" are intended to represent any of the items in the list, individually or in combination, as well as all possible combinations thereof.

[0031] Please refer to FIG. 1, FIG. 2 and FIG. 3, for a clearer description, the X-axis direction is defined as the length direction of the walking robot 1000, the Y-axis direction is defined as the width direction of the walking robot 1000, and the Z-axis direction is defined as the height direction of the walking robot 1000. The length direction X, the width direction Y and the height direction Z of the walking robot 1000 are perpendicular to each other. The length direction X of the walking robot 1000 can refer to the front-back direction of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the X-axis (the direction of the arrow) is the front side or the front end of the walking robot 1000, and the side of the walking robot 1000 along the negative direction of the X-axis is the rear side or the rear end of the walking robot 1000. The side of the walking robot 1000 along the positive direction of the Z-axis (the direction of the arrow) is the upward direction of the walking robot 1000.

[0032] Please refer to FIG. 1, FIG. 3 and FIG. 4, the walking robot 1000 comprises a walking wheel adjusting device 100, a machine shell 300 and a collection structure 600. The machine shell 300 is installed on the walking wheel adjusting device 100. The collection structure 600 is installed on the walking wheel adjusting device 100. The walking robot 1000 can be configured as a lawn mowing walking robot, a pesticide spraying walking robot, a crop harvesting walking robot, a sweeping walking robot, a transportation walking robot, etc. The walking robot 1000 can be a two-wheel walking robot, a four-wheel walking robot, etc. In this embodiment, the structure of the walking robot 1000 is specifically described by taking the walking robot 1000 configured as a lawn mowing walking robot as an example. The walking robot 1000 further comprises a cutting structure 400, which is installed on the walking wheel adjusting device 100. The cutting structure 400 is used for mowing lawns. The collection structure 600 is used for collecting grass clippings, fallen leaves, etc. on lawns.

[0033] The walking wheel adjusting device 100 comprises a frame 11, a first wheel shaft 121, a second wheel shaft 131 and an adjusting module 20. The frame 11 comprises a first end portion 111 and a second end portion 112 which are oppositely arranged along the front-rear direction of the walking robot. The first end portion 111 is close to the rear end of the walking robot 1000, and the second end portion 112 is close to the front end of the walking robot 1000. The first end portion 111 is connected with the collecting structure 600. The first wheel shaft 121 is mounted on the first end portion 111. The first wheel shaft 121 is used for mounting the first walking wheel 122. The second wheel shaft 131 is mounted on the second end portion 112. The second wheel shaft 131 is used for mounting the second walking wheel 132. The adjusting module 20 is connected with the first wheel shaft 121 and / or the second wheel shaft 131, and is used for driving the first wheel shaft 121 and / or the second wheel shaft 131 to move relative to the frame 11. When the first wheel shaft 121 moves to a first position relative to the frame 11, and / or the second wheel shaft 131 moves to a second position relative to the frame 11, the ground clearance of the first end portion 111 is greater than the ground clearance of the second end portion 112. The ground clearance refers to the distance between the frame 11 and the ground in the direction perpendicular to the ground when the walking robot 1000 is placed on the ground. In this way, the ground clearance of the first end portion 111 is greater than the ground clearance of the second end portion 112, which can make the second end portion 112 of the frame 11 tilt towards the ground relative to the first end portion 111, make the frame 11 as a whole tilt forward, make the overall center of gravity of the walking wheel adjusting device 100 move forward towards the direction of the second end portion 112, and make the collecting structure 600 tilt upward relative to the frame 11 away from the ground, so that the center of gravity of the collecting structure 600 is close to the first end portion 111, thereby improving the anti-tipping ability of the walking robot 1000. On the other hand, when the collecting structure 600 is loaded with collected objects, the forward tilting of the frame 11 can also make the collected objects in the collecting structure 600 tilt and gather towards the side close to the walking wheel adjusting device 100, so that the distance between the overall center of gravity of the collecting structure 600 and the collected objects and the first end portion 111 is reduced, thereby reducing the overturning moment formed by the collecting structure 600 and the collected objects on the frame 11, and avoiding the problem of tipping of the walking robot 1000, thereby improving the application range of the walking robot 1000.

[0034] In some embodiments, the adjusting module 20 is connected with the first wheel shaft 121 and is used for driving the first wheel shaft 121 to move relative to the frame 11. In some embodiments, the adjusting module 20 is connected with the second wheel shaft 131 and is used for driving the second wheel shaft 131 to move relative to the frame 11. In some embodiments, the adjusting module 20 is connected with both the first wheel shaft 121 and the second wheel shaft 131, and is used for driving the first wheel shaft 121 to move relative to the frame 11 and for driving the second wheel shaft 131 to move relative to the frame 11.

[0035] The adjusting module 20 comprises a first adjusting structure 21, a second adjusting structure 22, and a driving structure 23. The first adjusting structure 21 is connected with the first wheel shaft 121. The second adjusting structure 22 is connected with the second wheel shaft 131. The driving structure 23 is connected with the first adjusting structure 21 and / or the second adjusting structure 22, and is configured to drive the first adjusting structure 21 to move the first wheel shaft 121 relative to the frame 11, and / or drive the second adjusting structure 22 to move the second wheel shaft 131 relative to the frame 11, so as to adjust the tilting state of the frame 11, thereby adjusting the distribution position of the gravity center of the walking wheel adjusting device 100.

[0036] In some embodiments, the driving structure 23 is connected with the first adjusting structure 21, so as to drive the first adjusting structure 21 to move the first wheel shaft 121 relative to the frame 11, thereby adjusting the ground clearance of the first end portion 111. For example, when the walking robot 1000 is running on an uphill ground, or the weight of the collected objects loaded on the collecting structure 600 exceeds a predetermined value, the driving structure 23 can drive the first adjusting structure 21 to adjust the first wheel shaft 121 to move relative to the frame 11, so that the frame 11 moves relative to the first wheel shaft 121 towards the direction away from the ground, so that the ground clearance of the first end portion 111 is increased, and the frame 11 is in a forward tilting state, so that the overall gravity center of the walking wheel adjusting device 100, the collecting structure 600 and the collected objects is moved forward, thereby avoiding the problem of the walking robot 1000 tilting. For another example, when the walking robot 1000 is running on a downhill road, the driving structure 23 can drive the first adjusting structure 21 to adjust the first wheel shaft 121 to move relative to the frame 11, so that the frame 11 moves relative to the first wheel shaft 121 towards the direction close to the ground, so that the ground clearance of the first end portion 111 is reduced, and the frame 11 is in a backward tilting state, thereby avoiding the problem of the walking robot 1000 tilting forward, and improving the stability of the walking robot 1000 when running.

[0037] In some embodiments, the driving structure 23 is connected with the second adjusting structure 22 to drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, so as to adjust the ground clearance of the second end portion 112. For example, when the walking robot 1000 is running on an uphill ground, or the weight of the collected objects loaded in the collecting structure 600 exceeds a predetermined value, the driving structure 23 can drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, so that the frame 11 moves relative to the second wheel axle 131 towards the ground, the ground clearance of the second end portion 112 is reduced, and the frame 11 is in a forward tilting state, so that the overall center of gravity of the walking wheel adjusting device 100, the collecting structure 600 and the collected objects is moved forward, thereby avoiding the problem of the walking robot 1000 tilting. For another example, when the walking robot 1000 is running on a downhill road, the driving structure 23 can drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, so that the frame 11 moves relative to the second wheel axle 131 away from the ground, the ground clearance of the second end portion 112 is increased, and the frame 11 is in a rear tilting state, thereby avoiding the problem of the walking robot 1000 tilting forward and improving the stability of the walking robot 1000 when running.

[0038] In some embodiments, the driving structure 23 can be connected with the first adjusting structure 21 and the second adjusting structure 22 respectively to drive the first adjusting structure 21 to adjust the first wheel axle 121 to move relative to the frame 11, and drive the second adjusting structure 22 to adjust the second wheel axle 131 to move relative to the frame 11, so as to adjust the ground clearance of the first end portion 111 and the ground clearance of the second end portion 112, thereby adjusting the tilting state of the frame 11 and adjusting the center of gravity of the walking robot 1000.

[0039] The first adjusting structure 21 comprises a first rotating shaft 211 and a first swing arm 2122. The first rotating shaft 211 is connected with the frame 11. The two ends of the first swing arm 2122 are connected with the first rotating shaft 211 and the first wheel axle 121 respectively. The driving structure 23 is connected with the first rotating shaft 211 and is used to drive the first rotating shaft 211 to drive the first swing arm 2122 to rotate together with the first wheel axle 121 about the rotation axis of the first rotating shaft 211.

[0040] In some embodiments, the first adjusting structure 21 further comprises a rocker 232. The driving structure 23 is fixedly connected to the frame 11. One end of the rocker 232 is connected to the driving structure 23, and the other end is connected to the first rotating shaft 211 and fixed relative to the first swing arm 2122. The driving structure 23 is configured to drive the rocker 232 to drive the first swing arm 2122 to rotate around the rotation axis of the first rotating shaft 211. For example, the first rotating shaft 211 can be rotatably connected to the frame 11, and the rocker 232 and the first swing arm 2122 are fixedly connected to the first rotating shaft 211, respectively. The driving structure 23 is configured to drive the rocker 232 to drive the first rotating shaft 211 to rotate, and the first rotating shaft 211 drives the first swing arm 2122 to rotate together with the first wheel shaft 121 when the first rotating shaft 211 rotates.

[0041] In some embodiments, the first rotating shaft 211 is rotatably connected to the frame 11, and the rocker 232 and the first swing arm 2122 are rotatably connected to the first rotating shaft 211. The driving structure 23 is configured to drive the rocker 232 to drive the first rotating shaft 211 to rotate, and the first rotating shaft 211 drives the first swing arm 2122 to rotate together with the first wheel shaft 121 when the first rotating shaft 211 rotates.

[0042] In some embodiments, the rocker 232 and the first swing arm 2122 can be rotatably connected to the first rotating shaft 211, the first rotating shaft 211 can be rotatably connected to the frame 11 or fixedly connected to the frame 11, and the rocker 232 and the first swing arm 2122 are fixedly connected or fixedly connected through a connecting member.

[0043] In some embodiments, the length of the first swing arm 2122 is greater than the length of the rocker 232. In this way, when the driving structure 23 drives the rocker 232 to drive the first swing arm 2122 to rotate around the rotation axis of the first rotating shaft 211, the rocker 232 moves a smaller stroke to make the first swing arm 2122 drive the first wheel shaft 121 to move a larger stroke, thereby amplifying the adjusting stroke of the rocker 232 on the first wheel shaft 121, improving the adjusting speed and efficiency of the first wheel shaft 121, and further improving the adjusting speed and efficiency of the ground clearance of the first end portion 111. In some embodiments, the length of the first swing arm 2122 is equal to the length of the rocker 232.

[0044] The driving structure 23 comprises a driving member 231 and a first connecting rod 233. The driving member 231 is fixedly connected to the frame 11. One end of the first connecting rod 233 is hingedly connected to the driving member 231, and the other end of the first connecting rod 233 is connected to the first rotating shaft 211. The first connecting rod 233 is connected to the first rotating shaft 211 through a rocker 232, and the first connecting rod 233 is hingedly connected to the end of the rocker 232 away from the first rotating shaft 211. The first connecting rod 233 and the rocker 232 are arranged at an included angle. The driving member 231 is used to drive the first connecting rod 233 to move the rocker 232.

[0045] The first connecting rod 233 can be provided in a plurality. The plurality of first connecting rods 233 are respectively hingedly connected to the driving member 231. Along the width direction Y of the walking robot 1000, the plurality of first connecting rods 233 are arranged at intervals and distributed on both sides of the driving member 231. The rocker 232 is provided in a plurality, and the number of the rockers 232 corresponds to the number of the first connecting rods 233. The plurality of first connecting rods 233 are connected to the plurality of rockers 232 one by one. Since the collecting structure 600 is installed on the walking robot 1000, the center of gravity of the walking robot 1000 is closer to the first end portion 111 of the frame 11, and the rocker 232 generates a greater force on the first connecting rod 233. In the embodiment, based on the plurality of first connecting rods 233 being distributed on both sides of the driving member 231, on the one hand, the force of the rocker 232 can be dispersed, the force acting on a single first connecting rod 233 can be reduced, and the service life of the driving structure 23 can be improved; on the other hand, the balance of the first connecting rod 233 driving the rocker 232 and the first rotating shaft 211 rotating together can be improved, and the first rotating shaft 211 can be balanced. For example, the number of the first connecting rods 233 is provided as an even number, the even number of first connecting rods 233 is divided into two groups, and the two groups of first connecting rods 233 are distributed on both sides of the driving member 231. For example, the first connecting rod 233 can be provided as two, four, etc.

[0046] Please refer to FIG. 3, FIG. 4 and FIG. 5, in some embodiments, the adjusting module 20 further comprises a partition 2361. The partition 2361 is located between the first connecting rod 233 and the rocker 232. When the driving member 231 drives the first connecting rod 233 to drive the rocker 232 to rotate around the rotation axis of the first rotating shaft 211, the partition 2361 can separate the first connecting rod 233 from the rocker 232, avoiding direct contact between the first connecting rod 233 and the rocker 232, thereby reducing the wear of the first connecting rod 233 and the rocker 232 and improving the service life of the driving structure 23. The partition 2361 can be configured as a plane bearing, so that the friction between the partition 2361 and the first connecting rod 233 and the friction between the partition 2361 and the rocker 232 is rolling friction, thereby reducing wear.

[0047] The hinging of the first connecting rod 233 with the rocker 232 can be a pivotal connection or a spherical hinge connection. In some embodiments, a pivot is arranged on the partition 2361, and a connecting hole is formed on the rocker 232 and the first connecting rod 233 respectively, and the pivot is rotatably arranged in the connecting hole; or a connecting hole is formed on one of the rocker 232 and the first connecting rod 233, and the pivot is rotatably arranged in the connecting hole, and the other one of the rocker 232 and the first connecting rod 233 is fixedly connected with the pivot. In some embodiments, the partition 2361 can be configured as a spherical hinge assembly, which includes a ball head and a spherical bushing, one of the rocker 232 and the first connecting rod 233 is provided with a spherical groove, the ball head and the spherical bushing are accommodated in the spherical groove, and the other one of the rocker 232 and the first connecting rod 233 is fixedly connected with the ball head. The spherical bushing is used to separate the inner wall of the spherical groove from the outer wall of the ball head, so as to avoid direct contact between the inner wall of the spherical groove and the outer wall of the ball head, thereby avoiding abrasion.

[0048] Please refer to FIG. 3, FIG. 4 and FIG. 6, the adjustment module 20 has a first state and a second state. When the adjustment module 20 is in the first state, the ground clearance of the first end portion 111 is at a minimum value. When the adjustment module 20 is in the second state, the ground clearance of the first end portion 111 is at a maximum value.

[0049] In the first exemplary embodiment of the present application, the ground clearance of the center axis of the first wheel shaft 121 is greater than or equal to the ground clearance of the rotation axis of the first rotation shaft 211. The first wheel shaft 121 is located on the side of the first rotation shaft 211 away from the second end portion 112 along the length direction X of the walking robot 1000. The first adjusting structure 21 is configured to adjust the movement of the first wheel shaft 121 relative to the first rotation shaft 211 towards the direction away from the second end portion 112. The connection point P1 between the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 between the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotation shaft 211 away from the ground. When the adjusting module 20 is transitioning from the first state to the second state, the driving member 231 is configured to drive the first connecting rod 233 to push the rocker 232 to swing towards the direction away from the second end portion 112, so that the first wheel shaft 121 moves towards the ground and the direction away from the second end portion 112, the ground clearance of the first end portion 111 increases, and the distance between the center of gravity of the walking wheel adjusting device 100 and the first wheel shaft 121 increases, so that the distance between the center of gravity of the collecting structure 600 and the first wheel shaft 121 decreases, and the anti-head-lifting ability of the walking robot 1000 is improved. When the adjusting module 20 is transitioning from the second state to the first state, the driving member 231 is configured to drive the first connecting rod 233 to pull the rocker 232 to swing towards the direction close to the second end portion 112, so that the first wheel shaft 121 moves away from the ground and towards the direction close to the second end portion 112, the ground clearance of the first end portion 111 decreases, and the distance between the center of gravity of the walking wheel adjusting device 100 and the first wheel shaft 121 decreases.

[0050] In the second exemplary embodiment of the present application, the ground clearance of the center axis of the first wheel axle 121 is greater than or equal to the ground clearance of the rotation axis of the first rotation axle 211. The first wheel axle 121 is located on the side of the first rotation axle 211 away from the second end portion 112 along the length direction X of the walking robot 1000. The connection point P1 of the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 of the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotation axle 211 close to the ground. When the adjustment module 20 is in transition from the first state to the second state, the driving member 231 is configured to drive the first connecting rod 233 to pull the rocker 232 to swing towards the second end portion 112, so that the first wheel axle 121 moves towards the ground and away from the second end portion 112, the ground clearance of the first end portion 111 is increased, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is increased, so that the distance between the center of gravity of the collection structure 600 and the first wheel axle 121 is reduced, and the anti-head-raising ability of the walking robot 1000 is improved. When the adjustment module 20 is in transition from the second state to the first state, the driving member 231 is configured to drive the first connecting rod 233 to push the rocker 232 to swing away from the second end portion 112, so that the ground clearance of the first end portion 111 is reduced.

[0051] In the third exemplary embodiment of the present application, the ground clearance of the center axis of the first wheel axle 121 is less than or equal to the ground clearance of the rotation axis of the first rotation axle 211. The first wheel axle 121 is located on the side of the first rotation axle 211 close to the second end portion 112 along the length direction X of the walking robot 1000. The first adjustment structure 21 is configured to adjust the first wheel axle 121 to move away from the second end portion 112 relative to the first rotation axle 211. The connection point P1 of the rocker 232 and the first connecting rod 233 is located on the side of the line L1 between the connection point P2 of the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotation axle 211 away from the ground. When the adjustment module 20 is in transition from the first state to the second state, the driving member 231 is configured to drive the first connecting rod 233 to pull the rocker 232 to swing towards the second end portion 112, so that the first wheel axle 121 moves towards the ground and away from the second end portion 112, the ground clearance of the first end portion 111 is increased, and the distance between the center of gravity of the walking wheel adjustment device 100 and the first wheel axle 121 is increased, so that the distance between the center of gravity of the collection structure 600 and the first wheel axle 121 is reduced, and the anti-head-raising ability of the walking robot 1000 is improved. When the adjustment module 20 is in transition from the second state to the first state, the driving member 231 is configured to drive the first connecting rod 233 to push the rocker 232 to swing away from the second end portion 112, so that the ground clearance of the first end portion 111 is reduced.

[0052] In the fourth exemplary embodiment of the present application, the ground clearance of the center axis of the first wheel shaft 121 is less than or equal to the ground clearance of the rotation axis of the first rotation shaft 211. The first wheel shaft 121 is located on the side of the first rotation shaft 211 close to the second end portion 112 along the length direction X of the walking robot 1000. The first adjusting structure 21 is used to adjust the movement of the first wheel shaft 121 relative to the first rotation shaft 211 in a direction away from the second end portion 112. Wherein, the connection point P1 of the rocker 232 and the first connecting rod 233 is located on the side close to the ground of the line L1 between the connection point P2 of the first connecting rod 233 and the driving member 231 and the rotation axis of the first rotation shaft 211. When the adjusting module 20 is in transition from the first state to the second state, the driving member 231 is used to drive the first connecting rod 233 to push the rocker 232 to swing in a direction away from the second end portion 112, so that the first wheel shaft 121 moves in a direction close to the ground and away from the second end portion 112, the ground clearance of the first end portion 111 is increased, and the distance between the center of gravity of the walking wheel adjusting device 100 and the first wheel shaft 121 is increased, so that the distance between the center of gravity of the collecting structure 600 and the first wheel shaft 121 is reduced, and the anti-head-raising ability of the walking robot 1000 is improved. When the adjusting module 20 is in transition from the second state to the first state, the driving member 231 is used to drive the first connecting rod 233 to pull the rocker 232 to swing in a direction close to the second end portion 112, so that the ground clearance of the first end portion 111 is reduced.

[0053] Please refer to FIG. 3, FIG. 4, FIG. 6 and FIG. 7, the second adjusting structure 22 includes a second rotation shaft 221 and a second swing arm 222. The second rotation shaft 221, the second wheel shaft 131 and the driving structure 23 are connected to the second swing arm 222 respectively. The rotation axis of the second rotation shaft 221 is spaced apart from the center axis of the second wheel shaft 131. The driving structure 23 is also used to drive the second swing arm 222 to drive the second wheel shaft 131 to rotate around the rotation axis of the second rotation shaft 221.

[0054] In some embodiments, the second rotation shaft 221 and the second swing arm 222 can be rotatably connected. In some embodiments, the second rotation shaft 221 and the second swing arm 222 are fixedly connected, and the second rotation shaft 221 is rotatable relative to the frame 11 along the circumferential direction of the second rotation shaft 221. Wherein, the second rotation shaft 221 and the second swing arm 222 can be independently arranged relative to each other, the second rotation shaft 221 and the second swing arm 222 can be fixedly connected together by bonding, clamping, screwing, welding or the like, or connected together by fasteners or the like, or the second rotation shaft 221 and the second swing arm 222 can also be integrally formed.

[0055] The second wheel shaft 131 can be rotatably connected or fixedly connected with the second swing arm 222. For example, the second wheel shaft 131 is fixedly connected with the second swing arm 222. The second wheel shaft 131 and the second swing arm 222 can be independently arranged, and the second wheel shaft 131 and the second swing arm 222 can be fixedly connected by bonding, clamping, screwing, welding or the like, or by fastening or the like. In some embodiments, the second wheel shaft 131 and the second swing arm 222 can be integrally formed. At least one of the first walking wheel 122 and the second walking wheel 132 can be provided with a wheel hub motor, so as to make the structure of the walking robot 1000 compact.

[0056] The second swing arm 222 is provided in two, and the two second swing arms 222 are located near the middle of the walking robot 1000 along the width direction Y. The second walking wheel 132 is spaced apart from the second swing arm 222 along the width direction Y of the walking robot 1000. The middle of the walking robot 1000 along the width direction Y can refer to the middle point of the walking robot 1000 along the width direction Y or a position near the middle point. The middle point of the walking robot 1000 along the width direction Y can be located between the two second swing arms 222. Along the width direction Y of the walking robot 1000, the distance between the second swing arm 222 and the middle point of the walking robot 1000 along the width direction Y is less than the distance between the second swing arm 222 and the second walking wheel 132. The second swing arm 222, the second rotating shaft 221 and the driving structure 23 are located in the accommodation space enclosed by the casing 300 and the frame 11, so as to avoid the grass stalks from being wound on the second swing arm 222, the second rotating shaft 221 and the driving structure 23.

[0057] The driving structure 23 further comprises a second connecting rod 234. One end of the second connecting rod 234 is hingedly connected with the driving member 231, and the other end of the second connecting rod 234 is connected with the second swing arm 222. The driving member 231 is used to drive the second swing arm 222 to rotate about the rotation axis of the second rotating shaft 221.

[0058] The second adjusting structure 22 further comprises a first sliding piece 2241. The first sliding piece 2241 is connected to the second swing arm 222. A second connecting rod 234 is used to connect with the first sliding piece 2241 to drive the first sliding piece 2241 to move along the length direction X of the walking robot 1000, so that the first sliding piece 2241 drives the second swing arm 222 to rotate around the central axis of the second rotating shaft 221. The first sliding piece 2241 is connected to the two second swing arms 222 in the two first wheel shaft modules 12 respectively at two axially opposite ends, so that the second connecting rod 234 can drive the two second swing arms 222 to rotate synchronously through the first sliding piece 2241, and the connection between the second connecting rod 234 and the two second swing arms 222 is simplified. The first sliding piece 2241 and the second swing arm 222 can be rotatably connected or fixedly connected.

[0059] The second swing arm 222 can be configured as a swing plate. The second swing arm 222 comprises a base 2221 and a protruding portion 2222 protruding on the base 2221 along the width direction Y of the walking robot 1000. The base 2221 is provided in a plate shape. The protruding portion 2222 is provided with a connecting hole. The protruding portion 2222 is provided in three, and the three protruding portions 2222 correspond to the second rotating shaft 221, the second wheel shaft 131 and the first sliding piece 2241 respectively, and the second rotating shaft 221, the second wheel shaft 131 and the first sliding piece 2241 are inserted into the connecting holes in the corresponding protruding portions 2222. The protruding portion 2222 can increase the connection length of the second rotating shaft 221, the second wheel shaft 131 and the first sliding piece 2241 with the second swing arm 222, and improve the connection stability. The base 2221 can be substantially triangular, and the three protruding portions 2222 are arranged at the three corners of the base 2221 respectively.

[0060] In some embodiments, the second swing arm 222 further comprises a reinforcing portion 2223 protruding on the base 2221. The reinforcing portion 2223 can be connected between the protruding portion 2222 and the base 2221 to improve the connection stability of the protruding portion 2222 and the base 2221, and improve the bending resistance of the base 2221. The reinforcing portion 2223 can be provided in a plurality. The plurality of reinforcing portions 2223 can be arranged side by side and spaced apart.

[0061] The second adjusting structure 22 further comprises a mounting base 223, a second sliding piece 2242 and a guide rod 225. The mounting base 223 is fixed relative to the frame 11. The mounting base 223 is provided with an accommodating space 2231. The first sliding piece 2241, the second sliding piece 2242 and the guide rod 225 are all located in the accommodating space 2231. The axial direction of the guide rod 225 is perpendicular to the width direction Y of the walking robot 1000. The axial direction of the guide rod 225 can be perpendicular to the axial direction of the second rotating shaft 221. The second sliding piece 2242 is slidably sleeved on the guide rod 225.

[0062] The first sliding member 2241 and the second sliding member 2242 slide against each other. A guide sliding groove 2243 is formed on one of the first sliding member 2241 and the second sliding member 2242, and the other of the first sliding member 2241 and the second sliding member 2242 is arranged in the guide sliding groove 2243 and can slide in the guide sliding groove 2243. For example, the guide sliding groove 2243 can be formed on the second sliding member 2242, and the first sliding member 2241 is arranged in the guide sliding groove 2243. The guide sliding groove 2243 is in a strip shape. The guide sliding groove 2243 extends along the height direction Z of the walking robot 1000. Along the height direction Y of the walking robot 1000, the height dimension of the guide sliding groove 2243 is greater than the height dimension of the first sliding member 2241. In some embodiments, the guide sliding groove 2243 can be formed on the first sliding member 2241, and the second sliding member 2242 is arranged in the guide sliding groove 2243. The guide sliding groove 2243 is formed along the width direction Y of the walking robot 1000. Along the width direction Y of the walking robot 1000, the width of the guide sliding groove 2243 is greater than the width of the second sliding member 2242.

[0063] In some embodiments, the first sliding member 2241 can be configured as a columnar body, and the cross section of the first sliding member 2241 can be configured as a circle, so as to reduce the contact area between the side wall of the first sliding member 2241 and the groove wall of the guide sliding groove 2243, and reduce the sliding resistance when the first sliding member 2241 slides. In some embodiments, the cross section of the first sliding member 2241 can also be configured as a square, an ellipse, a regular polygon, etc. The central axis of the first sliding member 2241 passes through the geometric center of the cross section of the first sliding member 2241.

[0064] In some embodiments, at least one of the first sliding member 2241 and the second sliding member 2242 is provided with a lubricating structure, so as to reduce the abrasion when the first sliding member 2241 and the second sliding member 2242 slide against 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 2241 is coated with the lubricating grease, or the inner wall of the guide sliding groove 2243 is coated with the lubricating grease, or the outer surface of the first sliding member 2241 and the inner wall of the guide sliding groove 2243 are respectively coated with the lubricating grease. In some embodiments, the first sliding member 2241 can be configured as a self-lubricating structure, and / or the second sliding member 2242 can be configured as a self-lubricating structure. The lubricating structure can be configured as the outer wall of the first sliding member 2241 and / or the inner wall of the guide sliding groove 2243. The material of the self-lubricating structure can include a plastic structure with a self-lubricating function.

[0065] The second connecting rod 234 is rotationally connected to the second sliding member 2242 to drive the second sliding member 2242 to slide along the guide rod 225, so that the second sliding member 2242 pushes or pulls the first sliding member 2241 to drive the second swing arm 222 to rotate around the central axis of the second rotating shaft 221, and the second swing arm 222 drives the second wheel shaft 131 to rotate around the second rotating shaft 221 together with the second walking wheel 132.

[0066] The mounting base 223 is provided with a communication hole 2232. The communication hole 2232 communicates with the accommodation space 2231. The second connecting rod 234 is arranged in the communication hole 2232. In some cases, the communication hole 2232 can limit the second connecting rod 234 to reduce or avoid the second connecting rod 234 from shaking. The mounting base 223 includes two mounting members which are arranged at intervals along the length direction X of the walking robot 1000. The accommodation space 2231 is located between the two mounting members. The two mounting members can be independently arranged or integrally formed. Along the width direction Y of the walking robot 1000, the mounting base 223 is located between the two second swing arms 222.

[0067] The number of the guide rods 225 can be multiple. The central axes of the multiple guide rods 225 are parallel to each other and spaced apart. For example, the number of the guide rods 225 can be four. The four guide rods 225 are arranged in an array. The second sliding member 2242 is provided with four through holes at four corners. The four guide rods 225 are arranged in the four through holes. The communication hole 2232 can also make the connection between the second connecting rod 234 and the second sliding member 2242 located at the geometric center of the line connecting the four guide rods 225, so as to improve the uniformity of the limiting force of the four guide rods 225 on the second sliding member 2242 when the second connecting rod 234 drives the second sliding member 2242 to slide, thereby reducing the sliding resistance between the second sliding member 2242 and the guide rod 225, reducing the wear of the second sliding member 2242 and the guide rod 225, and improving the service life. In some embodiments, the number of the guide rods 225 can also be one, two, three, five, six, etc. Those skilled in the art can make specific arrangements according to actual needs, which are not limited in the embodiments.

[0068] In some embodiments, the second rotating shaft 221 is rotatable relative to the frame 11 along the height direction Z of the walking robot 1000. Along the width direction Y of the walking robot 1000, the two opposite ends of the second rotating shaft 221 are capable of swinging up and down relative to the middle part of the second rotating shaft 221 along the height direction Z of the walking robot 1000. Here, the rotatable relative to the frame 11 along the height direction Z of the walking robot 1000 of the second rotating shaft 221 means that the rotation plane of the second rotating shaft 221 along the height direction Z of the walking robot 1000 is parallel to or forms an acute angle with the height direction Z of the walking robot 1000. When the second rotating shaft 221 swings up and down relative to the frame 11, the second swinging arm 222 and the second wheel shaft 131 are capable of swinging relative to the frame 11. In this way, when the walking robot 1000 passes through an uneven road, the second rotating shaft 221 can swing up and down to offset the influence of the uneven road on the frame 11, so that the frame 11 remains relatively stable when the walking robot 1000 is running, thereby improving the stability of the walking robot 1000 when running.

[0069] Here, the guide sliding groove 2243 is arranged along the rotation plane of the second rotating shaft 221 relative to the frame 11 along the height direction Z of the walking robot 1000. When the second rotating shaft 221 rotates relative to the frame 11 along the height direction Z of the walking robot 1000, the second rotating shaft 221 is capable of rotating the second swinging arm 222 together with the first sliding member 2241 relative to the frame 11, and the first sliding member 2241 rotates relative to the second sliding member 2242 in the guide sliding groove 2243. For example, the rotation plane of the second rotating shaft 221 relative to the frame 11 along the height direction Z of the walking robot 1000 can be perpendicular to the length direction X of the walking robot 1000.

[0070] The walking wheel adjusting device 100 further comprises a rotating shaft 226. The rotating shaft 226 is used to be connected with the frame 11. The second rotating shaft 221 is connected with the rotating shaft 226. The central axis of the rotating shaft 226 is perpendicular to the rotation axis of the second rotating shaft 221. The second rotating shaft 221 is rotatable around the central axis of the rotating shaft 226. When the walking robot 1000 runs on uneven ground, the second walking wheel 132 can adaptively drive the second rotating shaft 221 to rotate relative to the central axis of the rotating shaft 226 according to the ups and downs of the ground, so that the frame 11 remains parallel or substantially parallel to the ground, greatly reducing the bumping vibration of the walking robot 1000 when running on uneven ground, and improving the stability of the walking robot 1000 when running.

[0071] Exemplarily, the central axis of the rotating shaft 226 can be parallel to the length direction X of the walking robot 1000. The axial direction of the second rotating shaft 221 is perpendicular to the length direction X of the walking robot 1000. When the second rotating shaft 221 rotates around the central axis of the rotating shaft 226, the rotation plane formed by the second rotating shaft 221 is parallel to the height direction Z of the walking robot 1000. In some embodiments, the central axis of the rotating shaft 226 can also be arranged at an angle with the length direction X of the walking robot 1000. The central axis of the rotating shaft 226 is located in a plane perpendicular to the width direction Y of the walking robot 1000. When the second rotating shaft 221 rotates around the central axis of the rotating shaft 226, the rotation plane formed by the second rotating shaft 221 is arranged at an acute angle with the height direction Z of the walking robot 1000.

[0072] In some embodiments, the rotating shaft 226 is rotatable relative to the frame 11 around the central axis of the rotating shaft 226. The rotating shaft 226 is rotatably connected to the mounting base 223. The mounting base 223 is provided with a mounting hole 2233. The rotating shaft 226 is arranged in the mounting hole 2233. Exemplarily, the walking wheel adjusting device 100 further comprises a first shaft sleeve 2262. The first shaft sleeve 2262 is sleeved on the rotating shaft 226 and arranged in the mounting hole 2233 of the mounting base 223. The first shaft sleeve 2262 is used to reduce the abrasion between the rotating shaft 226 and the mounting base 223 when the rotating shaft 226 rotates relative to the mounting base 223, thereby prolonging the service life.

[0073] The rotating shaft 226 is provided with a fixing hole 2261. The second rotating shaft 221 is arranged in the fixing hole 2261. The rotating shaft 226 and the second rotating shaft 221 are rotatably connected. Exemplarily, the walking wheel adjusting device 100 further comprises a second shaft sleeve 2263. The second shaft sleeve 2263 is sleeved on the second rotating shaft 221 and arranged in the fixing hole 2261. The second shaft sleeve 2263 is used to reduce the abrasion between the second rotating shaft 221 and the rotating shaft 226 when the second rotating shaft 221 rotates relative to the rotating shaft 226, thereby prolonging the service life. The second shaft sleeve 2263 comprises a first shaft sleeve portion located in the fixing hole 2261 and a second shaft sleeve portion connected to the first shaft sleeve portion. The second shaft sleeve portion is located outside the fixing hole 2261 and between the second swing arm 222 and the rotating shaft 226. The second shaft sleeve portion is used to reduce the abrasion between the second swing arm 222 and the rotating shaft 226 when the second swing arm 222 rotates around the rotating axis of the second rotating shaft 221, thereby prolonging the service life of the walking wheel adjusting device 100. In some embodiments, the rotating shaft 226 and the second rotating shaft 221 can be fixedly connected. The rotating shaft 226 and the second rotating shaft 221 can be fixedly connected by means of, but not limited to, adhesion, screwing, clamping, welding, etc., or the rotating shaft 226 and the second rotating shaft 221 can be integrally formed.

[0074] In some embodiments, the second rotating shaft 221 can be provided with a fixing hole 2261, and a rotating shaft 226 is arranged in the fixing hole 2261, and the second rotating shaft 221 is rotatable relative to the rotating shaft 226. The rotating shaft 226 is rotatable or fixed relative to the rack 11. The rotating shaft 226 and the mounting base 223 can be fixedly connected together by means of, but not limited to, adhesion, screwing, clamping, welding, or the rotating shaft 226 and the mounting base 223 can be integrally formed. In some embodiments, the second rotating shaft 221 can be provided with a fixing hole 2261, and a rotating shaft 226 is arranged in the fixing hole 2261, and the second rotating shaft 221 is fixed relative to the rotating shaft 226, and the rotating shaft 226 is rotatable relative to the rack 11.

[0075] In some embodiments, the walking wheel adjusting device 100 further comprises an elastic member 2271. One end of the elastic member 2271 is connected with the mounting base 223, and the other end of the elastic member 2271 is connected with one of the second rotating shaft 221, the second swing arm 222 and the second wheel shaft 131. The elastic member 2271 is used to buffer the rotation of the second rotating shaft 221 when the second rotating shaft 221 swings relative to the rack 11 along the height direction Z of the walking robot 1000, slow down the rotation speed of the second rotating shaft 221, reduce the impact force generated by the second rotating shaft 221 on the vehicle body, improve the driving stability of the walking robot 1000, and provide a reset force for the second rotating shaft 221 to reset the second rotating shaft 221 in time.

[0076] For example, the elastic member 2271 is connected with the second rotating shaft 221. Along the width direction Y of the walking robot 1000, the second rotating shaft 221 penetrates through the second swing arm 222, and the end of the second rotating shaft 221 protrudes relative to the second swing arm 222 along the axial direction. The end of the second rotating shaft 221 protruding relative to the second swing arm 222 can be provided with a clamping groove, and the elastic member 2271 is buckled in the clamping groove to prevent the elastic member 2271 from sliding off the second rotating shaft 221. The elastic member 2271 is provided in two, and the two elastic members 2271 are connected to the two ends of the second rotating shaft 221 along the axial direction. The elastic member 2271 can be configured as a spring, an elastic band or the like.

[0077] In some embodiments, the walking wheel adjusting device 100 further comprises a fixing member 2272. The fixing member 2272 is connected to the mounting base 223. The end of the fixing member 2272 protrudes along the width direction Y of the walking robot 1000 relative to the mounting base 223. The elastic member 2271 is connected to the end of the fixing member 2272. The fixing member 2272 is used to avoid the interference between the elastic member 2271 and other structures, and facilitate the installation of the elastic member 2271. The fixing member 2272 can be configured as a fixed rod. The end of the fixing member 2272 can be provided with a buckling groove, and the elastic member 2271 is buckled in the buckling groove to avoid the elastic member 2271 from sliding off the fixing member 2272.

[0078] The adjusting module 20 further comprises a third state and a fourth state. When the adjusting module 20 is in the third state, the ground clearance of the second end portion 112 is at a minimum value. When the adjusting module 20 is in the fourth state, the ground clearance of the second end portion 112 is at a maximum value.

[0079] In the exemplary fifth embodiment of the present application, the ground clearance of the center axis of the second wheel shaft 131 is greater than the ground clearance of the rotation axis of the second rotation shaft 221. The second wheel shaft 131 is located on the side of the second rotation shaft 221 close to the first end portion 111 along the length direction X of the walking robot 1000. The second adjusting structure 22 is used to adjust the movement of the second wheel shaft 131 relative to the second rotation shaft 221 towards the direction close to the first end portion 111. In this embodiment, the connection point P3 between the first sliding member 2241 and the second swing arm 222 is located on the side of the line L2 away from the ground, between the connection point P4 between the second connecting rod 234 and the driving member 231 and the rotation axis of the second rotation shaft 221. When the adjusting module 20 is in the transition from the third state to the fourth state, the driving member 231 drives the second connecting rod 234 to pull the second sliding member 2242 to drive the first sliding member 2241 to move towards the direction close to the first end portion 111, and the first sliding member 2241 drives the second wheel shaft 131 to move relative to the rotation axis of the second rotation shaft 221 towards the direction close to the ground and close to the first end portion 111 through the second swing arm 222, so as to increase the ground clearance of the second end portion 112 and reduce the distance between the center of gravity of the walking wheel adjusting device 100 and the second wheel shaft 131. When the adjusting module 20 is in the transition from the fourth state to the third state, the driving member 231 drives the second connecting rod 234 to push the second sliding member 2242 to drive the first sliding member 2241 to move towards the direction away from the first end portion 111, and the first sliding member 2241 drives the second wheel shaft 131 to move relative to the rotation axis of the second rotation shaft 221 towards the direction away from the ground and away from the first end portion 111 through the second swing arm 222, so as to decrease the ground clearance of the second end portion 112 and increase the distance between the center of gravity of the walking wheel adjusting device 100 and the second wheel shaft 131. In some embodiments, the position of the second wheel shaft 131 relative to the second rotation shaft 221 can also be specifically set according to actual needs. The connection point P3 between the first sliding member 2241 and the second swing arm 222 can be located on the side of the line L2 away from or close to the ground, between the connection point P4 between the second connecting rod 234 and the driving member 231 and the rotation axis of the second rotation shaft 221.

[0080] Please refer to FIG. 1 and FIG. 2, the adjusting module 20 also has a first working posture and a second working posture. When the adjusting module 20 is in the first working posture, the interval distance between the first wheel shaft 121 and the second wheel shaft 131 along the height direction Z of the walking robot 1000 is at a maximum value, the first wheel shaft 121 is located on the side of the second wheel shaft 131 away from the ground, at this time, the first wheel shaft 121 is in the first position, the second wheel shaft 131 is in the second position, and the ground clearance of the first end portion 111 is greater than the ground clearance of the second end portion 112. When the adjusting module 20 is in the second working posture, the interval distance between the first wheel shaft 121 and the second wheel shaft 131 along the height direction Z of the walking robot 1000 is zero, at this time, the ground clearance of the first end portion 111 is equal to the ground clearance of the second end portion 112.

[0081] In some embodiments, the adjusting module 20 is connected with the first wheel shaft 121. The adjusting module 20 in the first working posture can be that the adjusting module 20 is in the second state. The adjusting module 20 in the second working posture can be that the adjusting module 20 is in the first state.

[0082] In some embodiments, the adjusting module 20 is connected with the second wheel shaft 131. The adjusting module 20 in the first working posture can be that the adjusting module 20 is in the third state. The adjusting module 20 in the second working posture can be that the adjusting module 20 is in the fourth state.

[0083] In some embodiments, the adjusting module 20 is connected with the first wheel shaft 121 and the second wheel shaft 131 respectively. The adjusting module 20 in the first working posture can be that the adjusting module 20 is in an intermediate state when the adjusting module 20 is in transition from the first state to the second state, or in transition from the third state to the fourth state, or can be that the adjusting module 20 is in the second state and the fourth state. The adjusting module 20 in the second working posture can be that the adjusting module 20 is in the first state and the third state.

[0084] Please refer to FIG. 3, FIG. 4, FIG. 6 and FIG. 7, the distance between the first wheel shaft 121 and the first rotating shaft 211 is greater than the distance between the second wheel shaft 131 and the second rotating shaft 221. When the adjusting module 20 is in the second working posture, the included angle between the connecting line between the central axis of the first wheel shaft 121 and the rotating axis of the first rotating shaft 211 and the horizontal ground is greater than the included angle between the connecting line between the central axis of the second wheel shaft 131 and the rotating axis of the second rotating shaft 221 and the horizontal ground. In this way, when the driving structure 23 drives the first adjusting structure 21 to move the first wheel shaft 121 and drives the second adjusting structure 22 to move the second wheel shaft 131, the change amount of the ground clearance of the first end portion 111 is greater than the change amount of the ground clearance of the second end portion 112, so that the adjusting module 20 can adjust the ground clearance of the first end portion 111 to be greater than the ground clearance of the second end portion 112.

[0085] The first connecting rod 233 is at least partially configured as an elastic structure, and / or the second connecting rod 234 is at least partially configured as an elastic structure. In some embodiments, the first connecting rod 233 is at least partially configured as an elastic structure. It can be understood that, under the action of gravity, the weight of the walking robot 1000 itself acts on the first wheel shaft 121, the first wheel shaft 121 generates a torque about the rotation axis of the first rotation shaft 211 on the second swing arm 222, the first rotation shaft 211 transmits the torque to the first connecting rod 233 through the rocker 232, and the rocker 232 generates a pressure or a tension force on the first connecting rod 233. In some cases, when the first walking wheel 122 falls into a pit on the ground or collides with a protrusion on the ground, the pressure or the tension force of the rocker 232 on the first connecting rod 233 is too large, which easily causes the first connecting rod 233 to bend under the action of the pressure or to crack under the action of the tension. In the embodiments of the present application, the first connecting rod 233 is at least partially configured as an elastic structure, which can reduce the rigid conduction between the first connecting rod 233 and the driving member 231, the first connecting rod 233 can elastically deform when subjected to the pressure or the tension, thereby buffering the pressure or the tension acting on the first connecting rod 233, avoiding damage to the first connecting rod 233, and improving the service life of the first connecting rod 233; on the other hand, the first connecting rod 233 can absorb the impact force of the rocker 232 acting on the first connecting rod 233 when elastically deforming, reducing the impact of the first connecting rod 233 on the driving member 231, and improving the service life of the driving structure 23; on the other hand, the first connecting rod 233 can also absorb the impact force of the ground on the walking robot 1000 when elastically deforming, improving the stability of the walking robot 1000 when driving on a concave-convex road surface.

[0086] Exemplarily, the first connecting rod 233 is arranged in a bent or curved shape. The first connecting rod 233 can include a first connecting rod segment 2331 and a second connecting rod segment 2332 connected to the first connecting rod segment 2331. The end of the first connecting rod segment 2331 away from the second connecting rod segment 2332 is connected to the rocker 232. The end of the second connecting rod segment 2332 away from the first connecting rod segment 2331 is connected to the driving member 231. The first connecting rod segment 2331 and the second connecting rod segment 2332 are arranged at an included angle. In some embodiments, the first connecting rod 233 can also be arranged in a wave shape, an arc shape, a polyline shape, etc. In some embodiments, the first connecting rod 233 can be partially arranged in a curved shape, for example, at least one of the first connecting rod segment 2331 and the second connecting rod segment 2332 is arranged in a wave shape, an arc shape, a polyline shape, etc. In some embodiments, the first connecting rod 233 is partially or entirely configured as a spring. For example, at least one of the first connecting rod segment 2331 and the second connecting rod segment 2332 is partially or entirely configured as a spring. In some embodiments, the material of the first connecting rod 233 is partially or entirely configured as an elastic material, such as rubber, plastic, etc.

[0087] In some embodiments, the second connecting rod 234 is at least partially configured as an elastic structure. It can be understood that under the action of gravity, the weight of the walking robot 1000 itself acts on the second wheel shaft 131, the second wheel shaft 131 generates a torque about the rotation axis of the second rotation shaft 221 on the second swing arm 222, the torque acts on the second connecting rod 234 through the first sliding piece 2241 and the second sliding piece 2242, and generates a pressure or a tension on the second connecting rod 234. When the walking robot 1000 travels on the uneven ground, the second walking wheel 132 will rise and fall with the concave and convex ground, causing the walking robot 1000 to vibrate, resulting in the torque generated by the second wheel shaft 131 on the second swing arm 222 becoming larger or smaller, and the pressure of the second sliding piece 2242 on the second connecting rod 234 increasing or decreasing. In some cases, when the second walking wheel 132 falls into the pit on the ground or collides with the protrusion on the ground, the pressure or tension of the second sliding piece 2242 on the second connecting rod 234 is too large, which can easily cause the second connecting rod 234 to bend under the pressure or crack under the tension. In the embodiments of the present application, the second connecting rod 234 is at least partially configured as an elastic structure. On the one hand, the second connecting rod 234 can elastically deform when subjected to pressure or tension, thereby buffering the pressure or tension acting on the second connecting rod 234, avoiding damage to the second connecting rod 234 and improving the service life of the second connecting rod 234. On the other hand, the second connecting rod 234 can absorb the impact force acting on the second connecting rod 234 from the second swing arm 222 when it elastically deforms, reducing the impact of the second connecting rod 234 on the driving piece 231 and improving the service life of the driving piece 231. On the other hand, the second connecting rod 234 can also absorb the impact force generated by the ground on the walking robot 1000 when it elastically deforms, improving the stability of the walking robot 1000 when traveling on uneven road surfaces.

[0088] The second connecting rod 234 can be arranged in a curved manner. For example, the second connecting rod 234 is arranged in a wavy manner. The second connecting rod 234 can include a first segment 2341, a second segment 2342 and a third segment 2343 connected in sequence. The first segment 2341 is configured to be connected with the second sliding member 2242. The third segment 2343 is configured to be connected with the driving member 231. The first segment 2341 and the second segment 2342, and the second segment 2342 and the third segment 2343 are arranged at an angle, respectively. The first segment 2341, the second segment 2342 and the third segment 2343 are arranged in a wavy manner. In some embodiments, the second connecting rod 234 can also be arranged in an arc shape, a polyline shape or the like. In some embodiments, the second connecting rod 234 can also be arranged in a curved manner locally, for example, at least one of the first segment 2341, the second segment 2342 and the third segment 2343 is arranged in a wavy manner, an arc shape, a polyline shape or the like. In some embodiments, the second connecting rod 234 is configured as a spring locally or as a whole. For example, at least one of the first segment 2341, the second segment 2342 and the third segment 2343 is configured as a spring. In some embodiments, the second connecting rod 234 is made of an elastic material locally or as a whole, for example, rubber, plastic or the like. In some embodiments, the first connecting rod 233 and the second connecting rod 234 are configured as elastic structures at least partially, so as to improve the service life of the driving structure 23 and improve the stability of the walking robot 1000 when walking.

[0089] The driving member 231 includes an extension part 2311 and a driving part 2312. The driving part 2312 is fixedly connected with the frame 11. The extension part 2311 is hingedly connected with the first connecting rod 233 and the second connecting rod 234, respectively. The first connecting rod 233 and the second connecting rod 234 are rotatable relative to the extension part 2311. The driving part 2312 is configured to drive the extension part 2311 to extend towards the front of the walking robot 1000 or to retract towards the back of the walking robot 1000 relative to the driving part 2312. The extension direction D1 of the extension part 2311 is parallel or collinear with the extension direction. The first walking wheel 122 is configured as a rear walking wheel of the walking robot 1000. The second walking wheel 132 is configured as a front walking wheel of the walking robot 1000.

[0090] It can be understood that the extension direction D1 of the telescopic part 2311 and the extension direction of the line L1 between the connection P2 of the telescopic part 2311 and the first connecting rod 233 and the rotation axis of the first rotating shaft 211 are arranged at an angle. The extension direction D1 of the telescopic part 2311 and the extension direction of the line L2 between the connection P4 of the telescopic part 2311 and the second connecting rod 234 and the rotation axis of the second rotating shaft 221 are arranged at an angle. The force of the first connecting rod 233 acting on the telescopic part 2311 is along the extension direction of the line L1 between the connection P2 of the telescopic part 2311 and the first connecting rod 233 and the rotation axis of the first rotating shaft 211. The force of the second connecting rod 234 acting on the telescopic part 2311 is along the extension direction of the line L2 between the connection P4 of the telescopic part 2311 and the second connecting rod 234 and the rotation axis of the second rotating shaft 221. The force of the first connecting rod 233 and the second connecting rod 234 acting on the telescopic part 2311 can be decomposed into a first component along the extension direction D1 of the telescopic part 2311 and a second component perpendicular to the extension direction D1 of the telescopic part 2311. The first component causes compression or stretching of the telescopic part 2311. The second component generates torque on the telescopic part 2311 and tends to bend the telescopic part 2311, and tends to increase the friction between the telescopic part 2311 and the driving part 2312, resulting in increased wear between the telescopic part 2311 and the driving part 2312, reducing the service life of the driving member 231. In some cases, when the walking robot 1000 drives over a bump or protrusion on the ground, the first walking wheel 122 and the second walking wheel 132 impact the ground, causing the first connecting rod 233 and the second connecting rod 234 to impact the telescopic part 2311, and when the second component is too large, the second component is likely to cause the telescopic part 2311 to bend, causing damage to the telescopic part 2311.

[0091] In this embodiment, based on the driving part 2312 driving the telescopic part 2311 to extend towards the front of the walking robot 1000 or to retract towards the back of the walking robot 1000, the distance between the connection point P2 of the telescopic part 2311 and the first rotating shaft 211 can be increased, thereby reducing the angle θ formed by the extension direction D1 of the telescopic part 2311 and the line L1 connecting the connection point P2 of the telescopic part 2311 and the rotating axis of the first rotating shaft 211, further reducing the second component force of the first connecting rod 233 acting on the telescopic part 2311, reducing the risk of bending damage of the telescopic part 2311, reducing the friction between the telescopic part 2311 and the driving part 2312, reducing the wear between the telescopic part 2311 and the driving part 2312, and prolonging the service life of the driving part 231.

[0092] In some embodiments, a partition 2361 is arranged between the first connecting rod 233 and the telescopic part 2311 to separate the first connecting rod 233 from the telescopic part 2311, avoiding direct contact between the first connecting rod 233 and the telescopic part 2311, reducing the wear of the first connecting rod 233 when rotating relative to the telescopic part 2311, and prolonging the service life of the driving structure 23.

[0093] In some embodiments, the first connecting rod 233 and the telescopic part 2311 can be connected by a spherical hinge. One of the first connecting rod 233 and the telescopic part 2311 is provided with a ball head, and the other of the first connecting rod 233 and the telescopic part 2311 is provided with a spherical groove. A partition 2361 is arranged between the first connecting rod 233 and the telescopic part 2311, the partition 2361 is sleeved on the ball head and accommodated in the spherical groove, to reduce the wear of the first connecting rod 233 when rotating relative to the telescopic part 2311, and prolong the service life of the driving structure 23.

[0094] The driving member 231 can be provided as one or more. In some embodiments, the driving member 231 is provided as one, and the first connecting rod 233 and the second connecting rod 234 are jointly connected to the driving member 231 to achieve joint adjustment of the first wheel shaft 121 and the second wheel shaft 131 and reduce the structural complexity of the driving structure 23. In some embodiments, the driving member 231 is provided as two, one of the two driving members 231 is used to be connected with the first connecting rod 233, and the other of the two driving members 231 is used to be connected with the second connecting rod 234. In this way, the two driving members 231 can independently drive the first connecting rod 233 and the second connecting rod 234, so as to be able to independently adjust the rotation of the first wheel shaft 121 relative to the rotation axis of the first rotating shaft 211 and independently adjust the rotation of the second wheel shaft 131 relative to the rotation axis of the second rotating shaft 221, thereby improving the flexibility of the adjustment of the ground clearance of the rack 11.

[0095] The driving member 231 can be configured as one of an electric push rod, a screw nut assembly, a gear rack assembly, and a piston cylinder. Exemplarily, the driving member 231 can be configured as an electric push rod, the telescopic part 2311 is configured as a push rod, and the driving part 2312 is configured as a driving motor. In some embodiments, the driving member 231 can also be configured as a screw nut assembly, one of the telescopic part 2311 and the driving part 2312 is configured as a screw rod, and the other is configured as a nut. In some embodiments, the driving member 231 can be configured as a gear rack assembly, the telescopic part 2311 is configured as a rack, and the driving part 2312 is configured as a gear. In some embodiments, the driving member 231 can be configured as a piston cylinder, the telescopic part 2311 is configured as a piston rod, and the driving part 2312 is configured as a cylinder.

[0096] The driving structure 23 further comprises a connecting seat 235. The connecting seat 235 is fixed relative to the rack 11. The driving part 2312 is mounted on the connecting seat 235. Among them, the connecting seat 235 is provided as a plurality. Exemplarily, the connecting seat 235 is provided as two. The two connecting seats 235 are located at the two ends of the driving part 2312 along the length direction X of the walking robot 1000, and the two ends of the driving part 2312 are respectively connected with the two connecting seats 235, so as to fix the driving part 2312 to the rack 11.

[0097] Referring to FIG. 1, in some embodiments, the walking robot 1000 further comprises a bumping structure 500. The bumping structure 500 can be mounted on the frame 11 or the housing 300 and arranged on the front side of the walking robot 1000. When there is an obstacle in the direction of travel of the walking robot 1000, the bumping structure 500 can be used to touch the obstacle to avoid the collision between the housing 300 and the obstacle, so as to prevent the damage of the vehicle body. In some embodiments, the bumping structure 500 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 robot 1000 performs an obstacle avoidance operation when encountering the obstacle.

[0098] 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 various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements 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 wheel adjusting device applied to a walking robot, the walking robot comprising a collecting structure, characterized in that, The walking wheel adjusting device comprises: a frame comprising a first end portion and a second end portion opposite to each other along a front-rear direction of the walking robot, the first end portion being connected to the collecting structure; a first wheel shaft installed on the first end portion; a second wheel shaft installed on the second end portion; an adjusting module connected to the first wheel shaft and / or the second wheel shaft and configured to drive the first wheel shaft and / or the second wheel shaft to move relative to the frame; when the first wheel shaft moves to a first position relative to the frame and / or the second wheel shaft moves to a second position relative to the frame, the ground clearance of the first end portion is greater than that of the second end portion.

2. The walking wheel adjustment device of claim 1, wherein, The adjusting module comprises a first adjusting structure connected to the first wheel shaft, a second adjusting structure connected to the second wheel shaft, and a driving structure connected to the first adjusting structure and / or the second adjusting structure and configured to drive the first adjusting structure to move the first wheel shaft relative to the frame and / or drive the second adjusting structure to move the second wheel shaft relative to the frame.

3. The walking wheel adjustment device of claim 2, wherein, The first adjusting structure comprises a first rotating shaft connected to the frame and a first swing arm having two ends connected to the first rotating shaft and the first wheel shaft respectively, and the driving structure is connected to the first rotating shaft and configured to drive the first rotating shaft to rotate the first swing arm together with the first wheel shaft about an axis of rotation of the first rotating shaft.

4. The walking wheel adjustment device of claim 3, wherein, The first adjusting structure further comprises a rocker having one end connected to the driving structure and the other end connected to the first rotating shaft and fixed relative to the first swing arm, and the driving structure is configured to drive the rocker to rotate the first swing arm about the axis of rotation of the first rotating shaft.

5. The walking wheel adjustment device of claim 4, wherein, The length of the first swing arm is greater than or equal to the length of the rocker.

6. The walking wheel adjustment device of claim 3, wherein, The ground clearance of the axis of the first wheel shaft is greater than or equal to the ground clearance of the axis of rotation of the first rotating shaft, and the first wheel shaft is located on the side of the first rotating shaft away from the second end portion along the length direction of the walking robot, and the first adjusting structure is configured to adjust the first wheel shaft to move relative to the first rotating shaft away from the second end portion.

7. The walking wheel adjustment device of claim 3, wherein, The second adjusting structure comprises a second rotating shaft, a second swing arm, and the driving structure connected to the second swing arm respectively, the axis of rotation of the second rotating shaft is spaced apart from the axis of the second wheel shaft, and the driving structure is configured to drive the second swing arm to rotate the second wheel shaft about the axis of rotation of the second rotating shaft.

8. The walking wheel adjustment device of claim 7, wherein, The driving structure comprises a driving member fixedly connected to the frame, a first connecting rod having one end hinged to the driving member and the other end connected to the first rotating shaft, and a second connecting rod having one end hinged to the driving member and the other end connected to the second swing arm.

9. The track wheel adjustment device of claim 8, wherein, The driving member is provided as one, and the first connecting rod and the second connecting rod are jointly connected to the driving member, or the driving member is provided as two, one of the two driving members is connected to the first connecting rod, and the other of the two driving members is connected to the second connecting rod.

10. The track wheel adjustment device of claim 7, wherein, The distance between the first wheel shaft and the first rotating shaft is greater than or equal to the distance between the second wheel shaft and the second rotating shaft.

11. A walking wheel adjusting device applied to a walking robot, the walking robot comprising a collecting structure, characterized in that, The walking wheel adjusting device comprises: A frame comprising a first end portion and a second end portion opposite to each other along the front-rear direction of the walking robot, the first end portion being connected to the collecting structure; A first wheel shaft mounted on the first end portion; A second wheel shaft mounted on the second end portion; A first adjusting structure connected to the first wheel shaft; A driving structure connected to the first adjusting structure and used for driving the first adjusting structure to move the first wheel shaft relative to the frame; when the first adjusting structure adjusts the first wheel shaft to move in a direction away from the second end portion, the distance between the center of gravity of the collecting structure and the first wheel shaft is reduced.

12. The track wheel adjustment device of claim 11, wherein, The first adjusting structure comprises a first rotating shaft connected to the frame and a first swing arm, two ends of the first swing arm being connected to the first rotating shaft and the first wheel shaft respectively, and the driving structure being connected to the first rotating shaft and used for driving the first rotating shaft to drive the first swing arm to rotate together with the first wheel shaft about the rotation axis of the first rotating shaft.

13. The track wheel adjustment device of claim 12, wherein, The first adjusting structure further comprises a rocker, one end of the rocker being connected to the driving structure, the other end of the rocker being connected to the first rotating shaft and fixed relative to the first swing arm, and the driving structure being used for driving the rocker to drive the first swing arm to rotate about the rotation axis of the first rotating shaft.

14. The track wheel adjustment device of claim 13, wherein, The length of the first swing arm is greater than or equal to the length of the rocker.

15. The track wheel adjustment device of claim 12, wherein, The ground clearance of the central axis of the first wheel shaft is greater than or equal to the ground clearance of the rotation axis of the first rotating shaft, the first wheel shaft is located on the side of the first rotating shaft away from the second end portion along the length direction of the walking robot, and the first adjusting structure is used for adjusting the first wheel shaft to move relative to the first rotating shaft in a direction away from the second end portion.

16. The track wheel adjustment device of claim 12, wherein, The walking wheel adjusting device further comprises a second adjusting structure connected to the second wheel shaft, and the driving structure is connected to the second adjusting structure and used for driving the second adjusting structure to move the second wheel shaft relative to the frame; when the second adjusting structure adjusts the second wheel shaft to move in a direction away from the first end portion, the ground clearance of the second end portion is reduced.

17. The track wheel adjustment device of claim 16, wherein, The second adjusting structure comprises a second rotating shaft, a second swing arm, and the driving structure, the second rotating shaft, the second wheel shaft, and the driving structure being connected to the second swing arm respectively, the rotation axis of the second rotating shaft being spaced apart from the central axis of the second wheel shaft, and the driving structure being used for driving the second swing arm to drive the second wheel shaft to rotate about the rotation axis of the second rotating shaft.

18. The track wheel adjustment device of claim 17, wherein, The driving structure comprises a driving member, a first connecting rod and a second connecting rod, the driving member is fixedly connected with the frame, one end of the first connecting rod is hingedly connected with the driving member, the other end of the first connecting rod is connected with the first rotating shaft, one end of the second connecting rod is hingedly connected with the driving member, and the other end of the second connecting rod is connected with the second swing arm.

19. The track wheel adjustment device of claim 17, wherein, The distance between the first wheel shaft and the first rotating shaft is greater than or equal to the distance between the second wheel shaft and the second rotating shaft.

20. A walking robot characterized by comprising: The walking robot comprises a collecting structure and the walking wheel adjusting device according to any one of claims 1-10 or the walking wheel adjusting device according to any one of claims 11-19, and the collecting structure is connected to the walking wheel adjusting device.

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