CN107010146B

CN107010146B - Balance assistant device

Info

Publication number: CN107010146B
Application number: CN201710221851.2A
Authority: CN
Inventors: 陆任行
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-04-06
Filing date: 2017-04-06
Publication date: 2022-11-18
Anticipated expiration: 2037-04-06
Also published as: CN107010146A

Abstract

The invention relates to a balance assistant device, which comprises a vehicle body, two wheels positioned at two sides of the vehicle body, a pedal connected to the upper end of the vehicle body, two first walking parts, a connecting part and a second walking part, wherein the two first walking parts are respectively connected to two sides of the vehicle body; the connecting member is connected to one end of the pedal and is rotatable relative to the pedal, and the second traveling member is connected to the connecting member. The invention can realize automatic going up and down stairs through the two first walking parts and the second walking part, and has convenient use, high flexibility and good controllability.

Description

Balance assistant device

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of balance cars, in particular to a two-wheel electric balance assistant device.

[ background of the invention ]

The two-wheeled electrodynamic balance car is an electric vehicle with a self-balancing system and a two-wheeled left-right parallel arrangement structure, utilizes a dynamic balance principle to control a high-tech intelligent product which advances and retreats, and can control the running speed and the advancing direction at will along with the inclination of a body. Two-wheeled electrodynamic balance car in the existing market can only operate on the road surface, does not have the function of automatic going upstairs and downstairs, and the function is more single.

[ summary of the invention ]

The invention aims to overcome the defects of the technology and provide a two-wheeled electric balance assistant device capable of going up and down stairs.

The invention provides a balance assistant device, which comprises a vehicle body, two wheels positioned at two sides of the vehicle body, a pedal connected to the upper end of the vehicle body, two first walking parts, a connecting part and a second walking part, wherein the two first walking parts are respectively connected to two sides of the vehicle body; the connecting member is connected to one end of the pedal and is rotatable relative to the pedal, and the second traveling member is connected to the connecting member.

Further, the first traveling member includes a first foot, a driving mechanism installed in the first foot, a driven foot rotator, and a first link assembly including a link and a fulcrum member formed at a distal end of the link to contact a ground or a step surface, one end of the first foot being fixed to the vehicle body and the other end being connected to the link through the foot rotator, so that the fulcrum member and the first foot can relatively rotate with respect to the foot rotator.

Further, the wheels are connected to the vehicle body through axles that are coaxial with, parallel to, or at an angle from the foot rotating bodies of the first traveling members on the corresponding side; the wheels and the first link assemblies of the first traveling parts on the corresponding side do not interfere with each other and overlap.

Furthermore, the number of the connecting rods is one or two, and the two connecting rods are located on the same side of the first foot part and driven by the same driving mechanism or driven by two driving mechanisms respectively.

Further, the rotation axes of the two connecting rods are overlapped, and the connecting rods do not interfere with each other and are not overlapped.

Further, the two links are divided into a primary link and a secondary link, the mounting end of the primary link is rotatably connected to the first foot, and the secondary link is rotatably connected to the end of the primary link.

Further, the second walking member includes a second foot, a driving mechanism installed in the second foot, a driven foot rotator, and a second link assembly including a link and a fulcrum member formed at a distal end of the link to contact the ground or a step surface, the second foot being fixed to the link member, and one end of the second foot being connected to the link through the foot rotator, so that the fulcrum member and the second foot can relatively rotate with respect to the foot rotator.

Further, a wheel is mounted at one end of the second foot, and when the connecting component rotates to a horizontal state relative to the pedal, the bottom of the wheel and the bottom of the wheel are located in the same horizontal plane.

Furthermore, the connecting part comprises a connecting plate and a turnover part, one end of the connecting plate is connected with the turnover part, and the other end of the connecting plate is connected with the second walking part; the overturning part comprises an overturning driving mechanism and a driven overturning rotating body; the turnover driving mechanism is connected to one end of the pedal or the connecting plate, and the turnover rotating body is connected to one end of the connecting plate or the pedal, so that the connecting plate can rotate relative to the pedal through the turnover rotating body.

Further, two sides of the pedal are respectively connected to the upper end of the vehicle body through movable connectors; the movable connector comprises a driving mechanism arranged on the vehicle body and two connecting support rods arranged in parallel, and two ends of each connecting support rod are connected to the side surfaces of the pedal and the vehicle body respectively through a connecting rotating body, so that the two connecting support rods, the pedal and the vehicle body form a quadrangle; the connection rotating body is driven by the driving mechanism, so that the pedal and the vehicle body can be driven by the two connecting supporting rods to perform relative translation.

The invention can realize automatic going up and down stairs through the two first walking parts and the second walking part, and has convenient use, high flexibility and good controllability.

[ description of the drawings ]

Fig. 1 is a schematic diagram of a balance assistant apparatus according to a first embodiment of the invention;

FIG. 2 is a schematic view of the balance assistant apparatus of FIG. 1 in preparation for stepping up;

fig. 3 is a schematic view of the first walking part of the balance assistant device of fig. 1 when going up a step;

fig. 4 is a schematic diagram of a balance assistant apparatus according to a second embodiment of the present invention;

FIG. 5 is a schematic view of the balance assistant device of FIG. 4 in preparation for stepping up;

fig. 6 is a schematic view of the first walking part of the balance assistant device of fig. 4 going up a step;

fig. 7 is a schematic diagram of a balance assistant apparatus according to a third embodiment of the invention;

FIG. 8 is a schematic view of the balance assistant device of FIG. 7 in preparation for stepping up;

fig. 9 is a schematic view of the first walking part of the balance assistant device of fig. 7 going up a step.

[ detailed description ] embodiments

The invention is further described below with reference to the figures and examples.

First embodiment

Referring to fig. 1, the balance assistant apparatus provided by the present invention is a two-wheeled electric balance car. The balance assistant apparatus includes a vehicle body 10, two wheels 11 located at both sides of the vehicle body 10, pedals 12 connected to the upper end of the vehicle body 10, two first traveling members 20, a connecting member 30, and a second traveling member 40. The two first traveling members 20 are attached to both sides of the vehicle body 10, respectively. The wheels 11 are connected to the vehicle body 10 through axles 25. The connecting member 30 is connected to a front end of the pedal 12 and is vertically rotatable with respect to the pedal 12. The second walking member 40 is connected to the connecting member 30. The two first and second running

members

20, 40 together realize a running motion. When on the ground, the connecting member 30 can be rotated to a vertical state with respect to the pedals 12, and the running on the ground is performed by the two wheels 11. When going up and down stairs, as shown in fig. 2, the connecting member 30 is rotated to a proper state, for example, a horizontal state with respect to the step plate 12, and the ascending and descending steps are implemented by the two first and second traveling

members

20 and 40.

The vehicle body 10 is provided with a control system for controlling the whole vehicle. The pedal 12 is provided with a handrail 14, and the handrail 14 is close to the connecting part 30. When operating on the ground, the user can grasp the direction by the handrails 14, the vehicle body 10 can be steered smoothly and accurately, and the user can be prevented from falling down due to the inclination of the body. The handrail 14 again prevents the user from falling forward or backward while ascending or descending stairs.

Both sides of the step plate 12 are connected to the upper end of the vehicle body 10 through movable connectors 13, respectively. The movable connector 13 includes a drive mechanism mounted to the vehicle body 10 and two connecting struts 131 arranged in parallel. Both ends of the connecting rod 131 are connected to the sides of the pedal 12 and the vehicle body 10 through the connecting rotor 132, respectively, so that the two connecting rods 131 form a quadrangle with the pedal 12 and the vehicle body 10. In this embodiment, the connecting struts 131 are disposed obliquely, so that the two connecting struts 131, the pedals 12 and the vehicle body 10 form a parallelogram. The attachment rotator 132 is driven by a driving mechanism. When the driving mechanism drives the connection rotating body 132 to rotate, the pedal 12 and the vehicle body 10 can be relatively translated by the two connection struts 131. Referring to fig. 2, before the connecting member 30 is rotated to a horizontal position relative to the pedal 12 to prepare for climbing up or down the stairs, the driving mechanism is controlled to drive the connecting rotator 132 to rotate a certain angle, for example, 60 degrees, toward the front end of the vehicle body 10, and the rotation of the connecting rotator 132 drives the two connecting struts 131 to rotate 60 degrees toward the front end of the vehicle body 10. The pedal 12 is driven by the two connecting struts 132 to move forward for a certain distance relative to the vehicle body 10, so that when the user goes up and down a step, the gravity center of the human body can be ensured to be located in a triangular area enclosed by the two first walking parts 20 and the second walking part 40, and the device cannot fall down when the user goes up and down the step.

The connecting member 30 includes a connecting plate 31 and a turning part. The rear end of the connecting plate 31 is connected to the inverting part, and the front end is connected to the second traveling member 40. The overturning part comprises an overturning driving mechanism and a driven overturning rotating body 33, the overturning driving mechanism comprises a motor 32 and a driver, and the motor 32 is used for driving the overturning rotating body 33. In this embodiment, the motor 32 is connected to the front end of the pedal 12 through a connecting member. The tumble rotator 33 is coupled to the coupling plate 31. The reverse rotating body 33 is a double-output shaft, and the reverse rotating body 33 is provided on the motor 32. One end of the link plate 31 adjacent to the pedal 12 has a connection port, and both ends of the turnover rotating body 33 are respectively connected to inner walls of the corresponding connection ports, so that the motor 32 drives the turnover rotating body 33 to vertically rotate the link plate 31 with respect to the pedal 12. Of course, it will be appreciated that tumble rotor 33 may also be a single output shaft, with tumble rotor 33 being attached to the inner wall of one of the sides of the connection port. The overturning driving mechanism is provided with a sensor for detecting whether steps exist or not and feeding back a detection result to the control system. The turnover driving mechanism is connected with the control system and can control the motor 32 according to signals of the control system.

In another alternative, the motor 32 is connected to the connection plate 31 by a connection. The roll-over rotator 33 is attached to the front end of the pedal 12. The reverse rotating body 33 is a double output shaft and is provided on the motor 32. The front end of the pedal 12 has connection ports, and both ends of the turnover rotating body 33 are respectively connected to the inner walls of the corresponding connection ports, so that the turnover rotating body 33 is driven by the motor 32 to allow the connection plate 31 to vertically rotate with respect to the pedal 12.

The first travel member 20 includes a first foot 21, a drive mechanism mounted in the first foot 21, a driven foot rotator 24, and a first link assembly. The driving mechanism comprises a motor, is connected with the control system and can control the motor according to signals of the control system, and the motor is used for driving the foot rotating body 24. The first link assembly includes a link 22. The first foot 21 has one end fixed to the vehicle body 10 and the other end connected to a link 22 through a foot rotator 24, and the link 22 has a mounting end fixed to the foot rotator 24 to rotate as the foot rotator 24 rotates. The end of the link 22 forms a fulcrum member 23, and the fulcrum member 23 is adapted to contact the ground or a step surface. The link 22 is integrally formed with the fulcrum member 23, and preferably, the fulcrum member 23 is circular in shape.

It is to be understood that, when the driving mechanism drives the link 22 to rotate, if the first foot portion 21 is taken as a reference position, the fulcrum member 23 rotates relative to the first foot portion 21; if the fulcrum member 23 is taken as a reference position, it is the first foot portion 21 that rotates with respect to the fulcrum member 23.

The wheels 11 are connected to the vehicle body 10 through axles 25. In the present embodiment, the axle 25 is coaxial with the foot turning body 24 of the first travel member 20 on the corresponding side. The wheel 11 is located outside the first travelling member 20. Specifically, the axle 25 is extended from the foot rotator 24 on the corresponding side, and the axle 25 is driven by a wheel driving mechanism mounted to the vehicle body 10, the wheel 11 is not overlapped with the first link assembly of the first travel unit 20 on the corresponding side by interference, and the movement of the wheel 11 and the first link assembly is independent. It is to be understood that the axle 25 may be parallel to or at an angle with respect to the foot rotator 24 of the first traveling member 20 on the corresponding side. The radius of the wheel 11 is smaller than the length of the connecting rod 22 and larger than the radius of the first foot 21, the wheel 11 is used for running on the road surface, and the connecting rod 22 is used for going up and down steps, so that the function of the balance assistant device can be realized, namely, the balance assistant device can run on the road surface and can go up and down stairs.

Second chassis member 40 includes a second foot portion 41, a drive mechanism mounted within second foot portion 41, a driven foot rotator 44, and a second linkage assembly. The drive mechanism includes a motor, and is coupled to the control system, and is operable to control the motor based on signals from the control system, the motor being operable to drive the foot rotator 44. The second linkage assembly includes a link 42. The second foot 41 is fixed to the connection member 30, and one end of the second foot 41 is connected to the link 42 through the foot rotator 44. The mounting end of the link 42 is fixed to the foot rotator 44 to rotate as the foot rotator 44 rotates. The end of the link 42 forms a fulcrum member 43, and the fulcrum member 43 is adapted to contact the ground or step surface. The link 42 is integrally formed with the fulcrum member 43, and preferably, the fulcrum member 43 is circular in shape.

It is understood that when the driving mechanism drives the link 42 to rotate, if the second foot 41 is taken as a reference position, the fulcrum member 43 rotates relative to the second foot 41; if the fulcrum member 43 is taken as the reference position, it is the second foot portion 41 that rotates with respect to the fulcrum member 43.

The end of the second foot 41 facing away from the link 42 is fitted with a wheel 46 via an axle. The radius of the wheel 46 is smaller than the length of the link 42 and larger than the radius of the second foot 41 to ensure that the second walking member 40 can ascend and descend steps. The wheels 46 are provided to increase the speed of the second traveling member 40 when walking up and down steps. When the link 30 is rotated to a horizontal state with respect to the pedals 12, as shown in fig. 2, the bottom of the wheel 46 is positioned in the same horizontal plane as the bottom of the wheel 11 to ensure the balance of the vehicle body 10.

The principle of the present invention for ascending and descending stairs will be described below by taking the first traveling member 20 as an example for ascending and descending stairs.

As shown in fig. 2, before the upper and lower steps, the motor 32 drives the turnover rotator 33 to rotate the connecting plate 31 to a horizontal state relative to the pedals 12, so that the bottoms of the wheels 46 and the bottoms of the two wheels 11 are located in the same horizontal plane. The driving mechanism is controlled to drive the connecting rotor 132 to rotate a certain angle towards the front end of the vehicle body 10, and the rotation of the connecting rotor 132 drives the two connecting support rods 131 to rotate a certain angle towards the front end of the vehicle body 10. The pedal 12 is driven by the two connecting struts 132 to move forward for a certain distance relative to the vehicle body 10, so as to ensure that the center of gravity of the human body is located in a triangular region enclosed by the two first walking parts 20 and the second walking part 40.

Referring to fig. 3, a schematic view of the step on the first traveling member 20 is shown. The center of rotation of the foot rotating body 24 is defined as O, and the center of the fulcrum member 23 is defined as O1. In a first step, when the first traveling member 20 is in the initial state, the corresponding wheel 11 contacts the level lower by one step 100. The driving mechanism drives the connecting rod 22 to rotate, the connecting rod 22 rotates around the rotation center O until the bottom of the fulcrum part 23 contacts the horizontal plane of the first-level step 100 and reacts against the mounting end of the connecting rod 22, the second step is carried out, the mounting end of the connecting rod 22 rotates around the fulcrum part 23 under the reverse acting force according to the lever principle, namely the connecting rod 22 rotates around the center O1 of the fulcrum part 23, the first foot part 21 (not shown in the figure) is overturned forwards, the corresponding wheel 11 is also driven to overturn forwards until the wheel 11 contacts the horizontal plane of the first-level step 100, the third step is carried out, and the driving mechanism drives the connecting rod 22 to rotate again and then the fourth step is carried out. The operation of going up the steps can be completed by repeating the above steps. The principle of the lower step of the first walking member 20 is similar to that of the upper step and will not be described herein. Similarly, the second walking member 40 is similar in principle to the first walking member 20 in that the second foot 41 is turned forward during the stepping operation, so that the wheels 46 are turned forward instead of the wheels 11. In this way, the vehicle body 10 is moved up and down the stairs by the combined action of the two first traveling members 20 and the second traveling member 40.

Second embodiment

Referring to fig. 4, the present embodiment is different from the first embodiment in that the first link assembly includes two links divided into a primary link 22a and a secondary link 22b. The mounting end of the primary link 22a is fixed to the foot rotator 24 to rotate as the foot rotator 24 rotates. The distal end of the primary link 22a forms a fulcrum member 23a and is provided with a rotor 26. The mounting end of the secondary link 22b is mounted to the rotor 26. The distal end of the secondary link 22b forms a fulcrum member 23b. A transmission may be installed in the primary link 22a so that the primary link 22a and the secondary link 22b may be driven by the same or different driving mechanisms.

Preferably, the fulcrum part 23a of the primary link 22a and the fulcrum part 23b of the secondary link 22b are both semicircular in shape, the diameter of the fulcrum part 23a of the primary link 22a is the same as the width of the primary link 22a, and the diameter of the fulcrum part 23b of the secondary link 22b is the same as the width of the secondary link 22b. Of course, it will be appreciated that the

fulcrum members

23a, 23b of the primary link 22a and the secondary link 22b may also be circular in shape. Because of the presence of the secondary link 22b, the fulcrum part 23a of the primary link 22a may not contact the ground or the step surface. The primary connecting rod 22a and the secondary connecting rod 22b can enable the first walking part 20 to walk more flexibly and have stronger bearing capacity. The radius of the wheel 11 is smaller than the length of the primary link 22a and larger than the radius of the first foot 21, so that the function of the balance assistant device can be achieved while traveling on the road and going up and down stairs.

The process of moving the first traveling member 20 up and down the steps will be described with reference to fig. 5 and 6.

As shown in fig. 5, before the upper and lower steps, the motor 32 drives the turning rotator 33 to turn the connecting plate 31 to a horizontal state with respect to the pedals 12, so that the bottoms of the wheels 46 and the bottoms of the two wheels 11 are located in the same horizontal plane. The driving mechanism is controlled to drive the connection rotator 132 to rotate a certain angle towards the front end of the vehicle body 10, and the rotation of the connection rotator 132 drives the two connection struts 131 to rotate a certain angle towards the front end of the vehicle body 10. The pedal 12 is driven by the two connecting struts 132 to move forward for a certain distance relative to the vehicle body 10, so as to ensure that the center of gravity of the human body is located in a triangular region enclosed by the two first walking parts 20 and the second walking part 40.

Referring to fig. 6, a schematic view of the step on the first traveling member 20 is shown. The center of rotation of the foot rotating body 24 is defined as O, the center of rotation of the rotating body 26 is defined as O1, and the center of the fulcrum part 23b of the secondary link 22b is defined as O2. In a first step, when the first traveling unit 20 is in an initial state, the first foot 21 (not shown) does not contact the horizontal surface of the lower step 100, the corresponding wheel 11 contacts the horizontal surface of the lower step 100, the driving mechanism drives the first link 22a to rotate, the first link 22a rotates about the rotation center O, the transmission drives the second link 22b to rotate, the second link 22b rotates about the rotation center O1 until the bottom of the fulcrum 23b of the second link 22b contacts the horizontal surface of the higher step 100, and in a second step, the fulcrum 23b of the second link 22b reacts against the mounting end of the second link 22b, the second link 22b rotates forward about the center O2 of the fulcrum 23b, the first link 21 rotates forward, the corresponding wheel 11 is driven to rotate forward to disengage from the horizontal surface of the lower step 100, and in a third step, the first foot 21 drives the corresponding wheel 11 to rotate forward until the wheel 11 contacts the horizontal surface of the higher step 100, the first link 22a rotates forward about the rotation center O1, and the second link 22b rotates forward about the fulcrum 22b, and the horizontal surface of the higher link 22b disengages from the fulcrum O1. The steps can be finished by repeating and alternating the above steps. The principle of the lower step of the first walking member 20 is similar to that of the upper step and will not be described herein.

In this way, the vehicle body 10 is moved up and down the stairs by the combined action of the two first traveling members 20 and the second traveling member 40.

Third embodiment

Referring to fig. 7, the present embodiment is different from the first embodiment in that the present embodiment has a double link structure. Specifically, the first link assembly includes two

links

22a, 22b, and the

foot rotors

24a, 24b are two and extend from the center of the same side of the first foot 21, and the two

foot rotors

24a, 24b are coaxial. The foot rotator 24a is fitted to the outer circumference of the foot rotator 24 b. Each of the foot-rotating bodies drives a corresponding one of the links. The distal end of each link forms a fulcrum member.

The process of the first traveling member 20 to go up and down the step 100 will be described below with reference to fig. 8 and 9. For ease of description, the double links are designated 22a and 22b, respectively, and the fulcrum members are designated 23a and 23b, respectively.

As shown in fig. 8, before the upper step 100 and the lower step 100, the motor 32 drives the turning rotator 33 to turn the connecting plate 31 to a horizontal state with respect to the pedals 12, so that the bottoms of the wheels 46 and the bottoms of the two wheels 11 are located in the same horizontal plane. The driving mechanism is controlled to drive the connection rotator 132 to rotate a certain angle towards the front end of the vehicle body 10, and the rotation of the connection rotator 132 drives the two connection struts 131 to rotate a certain angle towards the front end of the vehicle body 10. The pedal 12 is driven by the two connecting struts 132 to move forward for a certain distance relative to the vehicle body 10, so as to ensure that the center of gravity of the human body is located in a triangular region enclosed by the two first walking parts 20 and the second walking part 40.

Referring to fig. 9, a schematic view of the step 100 of the first walking member 20 is shown. The center of rotation of the first foot 21 is defined as O, the center of rotation of the foot rotator 24b is defined as O1, and the center of the foot rotator 24a is defined as O2. In a first step, when the first traveling member 20 is in the initial state, the bottom of the fulcrum member 23b of one of the links 22b contacts the horizontal surface of the lower step 100, and the center O of the first foot 21 is rotated about the center O1 of the fulcrum member 23b by the driving mechanism, and the other link 22a is rotated with respect to the center O of the first foot 21, so that the bottom of the fulcrum member 23a contacts the horizontal surface of the upper step 100. In the second step, the link 22a located at the higher step 100 is continuously driven, so that the center O of the first foot 21 is flipped forward relative to the center O2 of the fulcrum part 23a of the link 22a, and the fulcrum part 23b of the driving link 22b is moved away from the horizontal plane of the lower step 100. It will be appreciated that the drive mechanism also drives the link 22a in rotation. Third, the first foot 21 continues to roll forward and the link 22b continues to rotate forward until the fulcrum member 23b of the link 22b contacts the level of the step 100, e.g., the level of the current step 100. At this time, the center O of the first foot 21 is located between the fulcrum parts of the

links

22a, 22b, thereby having high stability. Next, the first foot 21 is flipped forward about the center O1 of the fulcrum member 23b of the link 22b, and the link 22a is rotated forward about the center O of the first foot 21. And fourthly, performing the step of. This is repeated alternately until the fulcrum part 23a of one of the links, for example, the link 22a, contacts the level of the one-step-higher step 100, in a state similar to the first step. The steps from the first step to the fourth step are continuously cycled to continue the step up 100.

In the structure using the double link, the first foot 21 and the wheel 11 may not contact the horizontal surface of the step 100. The steps can be finished by repeating and alternating the above steps. The principle of the lower step of the first walking member 20 is similar to that of the upper step and will not be described herein.

Thus, the vehicle body 10 is moved up and down the stairs by the cooperation of the two first and second traveling

members

20 and 40.

The first link assembly or the second link assembly of the present invention may have other structures besides the above structure, for example, the first link assembly or the second link assembly includes a plurality of links. The plurality of connecting rods are driven by the same driving mechanism or driven by a plurality of driving mechanisms respectively. The axes of rotation of the plurality of links coincide, or are parallel. The number of the connecting rods is different, the load capable of being borne is also different, and the connecting rods can be selected according to actual conditions.

The above examples merely represent preferred embodiments of the present invention, which are described in more detail and detail, but are not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications, such as combinations of different features in various embodiments, may be made without departing from the spirit of the invention, and these are within the scope of the invention.

Claims

1. A balance assistant apparatus comprising a vehicle body, two wheels located on both sides of the vehicle body, and a pedal connected to an upper end of the vehicle body, characterized in that: the two first walking parts are respectively connected to two sides of the vehicle body; the connecting part is connected to one end of the pedal and can rotate relative to the pedal, and the second walking part is connected to the connecting part; the first traveling member includes a first foot part, a driving mechanism installed in the first foot part, a driven foot rotator, and a first link assembly including a link and a fulcrum member formed at a distal end of the link for contacting a ground or a step surface, the first foot part being fixed at one end to the vehicle body and connected at the other end to the link through the foot rotator so that the fulcrum member and the first foot part can relatively rotate with respect to the foot rotator; the second walking member includes a second foot, a driving mechanism installed in the second foot, a driven foot rotator, and a second link assembly, the second link assembly includes a link and a fulcrum member formed at an end of the link for contacting the ground or a step surface, the second foot is fixed to the link member, and one end of the second foot is connected to the link through the foot rotator, so that the fulcrum member and the second foot can relatively rotate with respect to the foot rotator.

2. The balanced assistant device according to claim 1, wherein: the wheels are connected to the vehicle body through an axle, and the axle is coaxial with, parallel to or kept at a certain angle with the foot rotating body of the first walking part on the corresponding side; the wheels and the first link assemblies of the first traveling parts on the corresponding side do not interfere with each other and overlap.

3. The balanced assistant device according to claim 1, wherein: the number of the connecting rods is one or two, and the two connecting rods are located on the same side of the first foot part and driven by the same driving mechanism or driven by two driving mechanisms respectively.

4. The balanced assistant device according to claim 3, wherein: the rotation axes of the two connecting rods are overlapped, and the connecting rods are not mutually interfered and overlapped.

5. The balanced assistant device according to claim 3, wherein: the two connecting rods are divided into a primary connecting rod and a secondary connecting rod, the mounting end of the primary connecting rod is rotatably connected to the first foot, and the secondary connecting rod is rotatably connected to the tail end of the primary connecting rod.

6. The balanced assistant device according to claim 1, wherein: and a wheel is mounted at one end of the second foot part, and when the connecting part rotates to a horizontal state relative to the pedal, the bottom of the wheel and the bottom of the wheel are positioned in the same horizontal plane.

7. The balanced assistant device according to claim 1, wherein: the connecting part comprises a connecting plate and an overturning part, one end of the connecting plate is connected with the overturning part, and the other end of the connecting plate is connected with the second walking part; the overturning part comprises an overturning driving mechanism and a driven overturning rotating body; the turnover driving mechanism is connected to one end of the pedal or the connecting plate, and the turnover rotating body is connected to one end of the connecting plate or the pedal, so that the connecting plate can rotate relative to the pedal through the turnover rotating body.

8. The balanced assistant device according to claim 1, wherein: two sides of the pedal are respectively connected to the upper end of the vehicle body through movable connectors; the movable connector comprises a driving mechanism arranged on the vehicle body and two connecting support rods arranged in parallel, and two ends of each connecting support rod are connected to the side surfaces of the pedal and the vehicle body respectively through a connecting rotating body, so that the two connecting support rods, the pedal and the vehicle body form a quadrangle; the connection rotating body is driven by a driving mechanism arranged on the vehicle body, so that the pedal and the vehicle body can be driven by the two connecting supporting rods to move in a relative translation mode.